Calibration the tracker’s angle measurement error for LINAC control network
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摘要: 根据关键设备在直线加速器隧道内的布局，控制网布设在隧道地面和墙面。跟踪仪是直线加速器控制网测量的主要仪器，跟踪仪的测角误差是影响设备精度的关键因素。根据隧道墙面和地面网点的布局以及跟踪仪测量方案，对跟踪仪所有测量状态下的水平角和垂直角进行分解；然后通过高精度三坐标测量仪和跟踪仪联动测试，对分解后的角度进行高精度求解，解算值用于修正跟踪仪的实测角度。结果表明，不管是哪种测量状态，跟踪仪实测角度值均大于解算值；地面网点垂直角和水平角的偏差与跟踪仪的标称精度基本相当；墙面点水平角超过15°时，测角误差随着角度的增加而增大，在隧道控制网测量时需要对墙面点水平角进行修正。Abstract: LINAC control network is the reference for optical axis transmission. According to the layout of key equipment in LINAC tunnel, the control network is laid out on the ground and wall of the tunnel. Tracker is the main instrument for measuring LINAC control network, and the angle measurement error is a key factor affecting the accuracy of the tracker. Based on the layout of wall and ground network points and the measurement plan, laser tracker’s angles were decomposed horizontal and vertical angles in all measurement states. Then, through the linkage testing of high-precision CMM and laser trackers, all the decomposed angles were calculated, and the calculated values are used to correct the tracker’s measurement angles. Based on the test results, regardless of the measurement state, measured angle of the tracker is larger than the calculated value. The ground network points’ vertical angle deviation and horizontal angle deviation almost equal to the nominal accuracy of the tracker. When the horizontal angle of wall points exceeds 15 degree, deviation increase significantly, and the deviation should be corrected while measuring the wall network points.
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图 1 光束线隧道横截面控制网点布局以及坐标系
Figure 1. Layout of control network in beamline tunnel cross-section and coordinate system
表 1 跟踪仪测量角度分解值
Table 1. Decomposition values of the tracker’s measurement angle
Tunnel section Distance/(m) ground network points wall network points
horizontal angle/(°)vertical angle/(°) horizontal angle/(°) 2 4.5 111.8 10.08 32.6 3 7.5 103.5 6.09 21.14 4 10.5 99.73 4.36 15.43 5 13.5 97.59 3.39 12.12 6 16.5 96.23 2.78 9.97 7 19.5 95.27 2.35 8.46 8 22.5 94.57 2.04 7.34 9 25.5 94.04 1.8 6.49 10 28.5 93.61 1.61 5.81 
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表 2 垂直角前视数据
Table 2. Vertical angle forward looking data
Tracker CMM Error/(″) D/(mm) θH/(°) θV/(°) Displayed
angle/(°)X/(mm) Y/(mm) Z/(mm) Calculated
angle /(°)1555.992 0.0006 90.0006 567.3841 486.9879 682.2063 1559.096 0.0009 93.6095 3.6089 567.384 486.9884 584.0774 3.6089 0 1559.885 0.0012 94.0399 4.0393 567.3842 486.9883 572.3393 4.0385 −2.88 1560.978 0.0013 94.5711 4.5705 567.3843 486.9884 557.8323 4.5698 −2.52 1562.621 0.0014 95.2702 5.2696 567.3843 486.9883 538.7067 5.2693 −1.08 1565.269 0.0018 96.231 6.2304 567.3845 486.9882 512.3521 6.2296 −2.88 1569.909 0.0016 97.5401 7.5395 567.3846 486.9878 474.88 7.5389 −2.16 1578.741 0.0016 99.7302 9.7296 567.3847 486.9873 415.4226 9.7287 −3.24 1600.258 0.0015 103.5003 13.4997 567.3843 486.9879 308.6595 13.499 −2.52
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表 3 垂直角后视前标定数据
Table 3. Vertical angle backward looking data
Tracker CMM Error/(″) D/(mm) θH/(°) θV/(°) Displayed
angle/(°)X/(mm) Y/(mm) Z/(mm) Calculated
angle /(°)1605.503 179.9998 89.9997 436.3315 508.5864 577.4946 1608.703 179.9994 93.6099 3.6102 436.3322 508.586 476.2022 3.6098 −1.44 1609.519 179.9995 94.0398 4.0401 436.3322 508.5859 464.1014 4.0401 0 1610.635 179.9995 94.5701 4.5704 436.3323 508.5859 449.1584 4.5705 0.36 1612.333 179.9992 95.2704 5.2707 436.3325 508.5857 429.3875 5.2706 −0.36 1615.056 179.9993 96.2303 6.2306 436.3326 508.5855 402.2223 6.2301 −1.8 1619.718 179.999 97.5903 7.5906 436.3327 508.5856 363.5459 7.5903 −1.08 1628.969 179.9988 99.7306 9.7309 436.3325 508.5861 302.171 9.7307 −0.72 1651.164 179.9986 103.5005 13.5008 436.3323 508.5859 192.0205 13.5007 −0.36
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表 4 地面点水平角顺时针标定数据
Table 4. Horizontal angle clockwise data for ground control network
Tracker CMM Error/(″) D/(mm) θH/(°) θV/(°) Displayed
angle/(°)X/(mm) Y/(mm) Z/(mm) Calculated
angle /(°)1561.288 0.0003 90.0004 567.3756 4.4533 680.3061 1561.992 1.6101 90.0002 1.6098 567.7426 48.3293 680.3059 1.6105 −0.76 1562.163 1.8008 90.0004 1.8005 567.5629 53.5393 680.3058 1.801 −0.36 1562.395 2.0406 90.0005 2.0403 567.5628 60.0795 680.3059 2.0404 −1.8 1562.737 2.3499 90.0005 2.3496 567.5451 68.5197 680.3059 2.35 −0.72 1563.244 2.7501 90.0004 2.7498 567.5451 79.4458 680.3059 2.7493 −3.96 1564.221 3.3899 90.0004 3.3896 567.5666 96.937 680.3061 3.3892 −3.6 1566.068 4.3605 90.0003 4.3602 567.459 123.5187 680.3063 4.3601 −2.52 1570.487 6.0891 90.0001 6.0888 567.4737 171.0359 680.3068 6.0886 −2.88 1586.344 10.0807 90 10.0804 567.459 282.1039 680.3078 10.0801 −3.24
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表 5 地面点水平角逆时针标定数据
Table 5. Horizontal angle anticlockwise data for ground control network
Tracker CMM Error/(″) D/(mm) θH/(°) θV/(°) Displayed
angle/(°)X/(mm) Y/(mm) Z/(mm) Calculated
angle /(°)1569.297 −0.0002 90.0005 525.1197 989.4216 681.9518 1568.723 1.61 90.0008 1.6102 525.1194 945.3409 681.952 1.6096 −2.16 1568.735 1.7993 90.0008 1.7995 525.1193 940.1496 681.9519 1.7992 −1.08 1568.779 2.041 90.0008 2.0412 525.1193 933.5449 681.9518 2.0404 −2.88 1568.873 2.3492 90.0007 2.3494 525.1193 925.1026 681.952 2.3486 −2.88 1569.079 2.7792 90.0011 2.7794 525.1191 913.3313 681.952 2.779 −1.44 1569.525 3.3902 90.001 3.3904 525.1187 896.5895 681.9518 3.3892 −4.32 1570.601 4.3604 90.0011 4.3606 525.1183 869.9824 681.9518 4.3601 −1.8 1573.637 6.0905 90.001 6.0907 525.1182 822.4136 681.9513 6.0897 −3.6 1586.219 10.0796 90.0009 10.0798 525.1182 711.7248 681.9501 10.0788 −3.6
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表 6 墙面点水平角顺时针标定数据
Table 6. Horizontal angle clockwise data for wall control network
Tracker CMM Error/(″) D/(mm) θH/(°) θV/(°) Displayed
angle/(°)X/(mm) Y/(mm) Z/(mm) Calculated
angle /(°)1561.288 0.0003 90.0004 567.3756 4.4533 680.3061 1569.678 5.8107 90.0003 5.8104 567.4584 163.361 680.3068 5.8106 0.72 1571.728 6.4904 90.0001 6.4901 567.5732 182.1064 680.3069 6.4898 −1.08 1574.603 7.3401 90.0001 7.3398 567.4812 205.6098 680.3071 7.3398 0 1578.941 8.4601 90 8.4598 567.4809 236.7345 680.3075 8.4595 −1.08 1585.798 9.9704 89.9999 9.9701 567.4807 278.994 680.3078 9.9695 −2.16 1597.976 12.1196 89.9999 12.1193 567.4584 339.8554 680.3083 12.1159 -12.24 1620.553 15.429 89.9996 15.4287 567.3514 435.5624 680.3085 15.4279 −2.88 1675.225 21.1393 89.9992 21.139 567.3539 608.5579 680.3097 21.1376 −5.04 1856.061 32.6204 89.9994 32.6201 567.3552 1004.9197 680.3116 32.6174 −9.72
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表 7 墙面点水平角逆时针标定数据
Table 7. Horizontal angle anticlockwise data for wall control network
Tracker CMM Error/(″) D/(mm) θH/(°) θV/(°) Displayed
angle/(°)X/(mm) Y/(mm) Z/(mm) Calculated
angle /(°)1569.297 −0.0002 90.0005 525.1197 989.4216 681.9518 1573.046 5.8106 90.0009 5.8108 525.1181 830.1243 681.9516 5.81 −2.88 1574.544 6.4897 90.001 6.4899 525.1182 811.4113 681.9511 6.4893 −2.16 1576.74 7.3407 90.0009 7.3409 525.1182 787.9031 681.951 7.3402 −2.52 1580.165 8.4607 90.001 8.4609 525.1182 756.8625 681.9505 8.4599 −3.6 1585.767 9.9699 90.0009 9.9701 525.1183 714.7948 681.9502 9.9692 −3.24 1595.745 12.1209 90.0009 12.1211 525.1184 654.2506 681.95 12.1203 −2.88 1615.814 15.4296 90.0011 15.4298 525.1178 559.3949 681.9498 15.4285 −4.68 1664.965 21.1394 90.0009 21.1396 525.1165 388.7797 681.9485 21.1382 −5.04 1831.187 32.6191 90.0011 32.6193 525.1191 1.993 681.9465 32.6174 −6.84
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