Abstract：Measuring robot is the main equipment of subway monitoring,its measurement verification is difficult,so it is urgent to establish a feasible calibration scheme.Based on the practical application scenario of the measuring robot, an online measurement calibration method is proposed, and three key technical indexes of ATR angle resolution, range resolution and spatial distance measurement error are established. Then, taking the resolution test stand and the length scale with the spherical prism as the standard equipment,the specific calibration method is studied and determined,and the measurement uncertainty is evaluated. Finally,the simulation experiments and on-line calibration of 4 sets of Wuhan Metro monitoring equipment reflect the technical performance of different equipment accurately,and verify the feasibility and effectiveness of the method.The method also provides a reference for ATR function calibration of all measuring robots.
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2024, Vol. 45 
