Fast and Robust Online Calibration of a Multi-laser Tracking System

The issue of this paper is a fast and robust online calibration method for a multi laser tracking system (MLTS). The MLTS is able to track the movement of a retro-reflector that can be mounted on an arbitrary target. After introducing the MLTS and its functionality, the algorithm based on trilateration is depicted. The key issues applying the trilateration are varying parameters, which are dependent on the initial position of the target. In order to solve this problem a fast and robust calibration algorithm is proposed. The applied optimization algorithm, a Gauss-Newton approach, is explained, implemented and tested on a real time control system. After describing the calibration process the MLTS is explored by reference to measurements. The results are discussed and affecting factors are stated.