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Alignment and field check procedures for the Leica Laser Tracker LTD 500
Raimund Loser, Stephen Kyle
Leica Geosystems AG, 5035 Unterentfelden, Switzerland
1. Abstract
Laser tracker systems are based on hi-tech instrumentation and have a wide range of industrial
applications. In recent years a significant number of such systems have come into use and users
expectations are growing. Along with technical improvements, system accuracy is one of the most
important issues. Users can take control of a number of factors which influence system accuracy, in
particular a software correction model which compensates for geometrical manufacturing tolerances
through a set of alignment parameters.
This set of parameters can be determined by a few measurements which are part of an alignment
procedure. The following paper explains optimal measurement procedures, the mathematics of the
correction formulae and the influences of slightly different measurement setups. Especially where
users must make alignment measurements in a confined or restricted area, knowledge about the
effects and importance of these parameters is fundamental to the achievable accuracy.
In addition to basic system alignment, short field check measurements are described. These enable
users to estimate system accuracy and improves their level of confidence in the results.
2. Introduction
The laser tracker combines different measurement technologies into one system. A prime result of the
system accuracy requirement is that most of the individual components operate close to physical
limitations. Unfortunately it is impossible to manufacture the tracker exactly according to design and
the small deviations from design give rise to significant systematic errors. This is particularly relevant
in the case of the mechanical arrangement of laser beams, mirrors, rotation axes, motors and
encoders and without some form of compensation maximum accuracy cannot be attained.
A perfect design has some relatively simple alignment requirements. For example the laser beam
should be parallel to the primary (standing) axis and the standing axis should intersect the transit axis
at right angles. Deviations from such alignment requirements, caused by manufacturing tolerances,
can be quantified by making suitable measurements and their negative effects on further
measurements eliminated by software compensation. Corrected measurements then only show small
random effects.
Leica has developed a correction model based on the physical alignment deviations which arise
during tracker manufacture. The mathematical correction is described by 15 parameters which each
correspond to some physical quantity. These are known as the alignment parameters of the trackers
error model and the Axyz LTM software provides the functions to calculate them.
The Axyz LTM software also supports the necessary measurement functions to collect individual
tracker data for the alignment process and subsequent parameter calculation. In addition to alignment
computation, these functions can be used to monitor the adjustment of the laser tracker in the working
environment through a field check. Users can therefore make field check measurements to assure
themselves of the tracker's accuracy and improve confidence in the job results.
Finally, distances measured by the tracker's interferometer (IFM) or Absolute Distance Meter (ADM)
must clearly be known to a high accuracy. For the IFM this requires the calculation of an accurately
know distance to a fixed reference point on the tracker housing, known as the Home Point or Birdbath.
For the ADM a datum position and scale factor are required to ensure compatibility with IFM distance
values.
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Mirror offset, f
Beam offset,
O1x and O1y
Mirror tilt, c
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Ex
Kx
180
Horizontal encoder
eccentricity, Ex, Ey
Vertical encoder
eccentricity, Kx, Ky
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Note
Although these parameters have the property of error reversal this does not imply they can be
individually detected. This is true in some cases but in others combinations will operate together.
3.6 Birdbath distance
The interferometer is the device which makes tracking possible but it can only measure a change of
distance, not an absolute distance. What is required is the absolute distance to the centre of a
reflector from the centre of the tracking mirror. By starting interferometric measurement from a point
whose distance is already known, interferometric changes can be converted to absolute distances.
The Birdbath offers a convenient fixed location on the tracker housing which provides this reference
location.
Note
The Birdbath distance depends on the physical dimensions of the reflector and its location in the
Birdbath itself. The distance is therefore different for different reflector types.
3.6.1 Simple concept for calculating Birdbath distance
To calculate an absolute distance using the IFM, 2 points separated by a known length L are required.
A reflector is tracked between the points. This provides a measurement of the subtended angle a and
range difference d. The value d is the difference between the approximate absolute distances to each
point, based on an assumed distance to the Birdbath. (Each distance measurement will be in error by
the error in Birdbath distance but their difference correctly gives d.)
The following calculations correct the absolute distance D to the first point. This can then be compared
with the provisional measured value and the difference used to correct the Birdbath distance.
d 2 L2
=0
2(1 cos( a ))
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2( d 2 L2 )
(1 cos( a ) )
The interferometric distance d is inherently very accurate. It can also be shown that the effect of
uncertainties in the measured angle, a, can be eliminated when a = 180.
It is common on Leica instruments for the zero pointing on the vertical circle to point up, i.e. towards
the zenith. Angles in the vertical plane are then measured positive down and on through to 360, i.e.
they take only positive values in the range 0 - 360. In this case a horizontal pointing is represented
by the value 90 or 270. These may also be called "vertical angles" but to avoid ambiguity the terms
zenith angle or zenith distance are also used.
3.9.1 Formula to correct the measured horizontal angle
Correction due to transit axis tilt i:
Vm
i tan
2
Correction due to mirror tilt c:
c
Vm
cos
2
O2 x
Dm sin(Vm)
Correction due to horizontal encoder eccentricity, Ex and Ey:
1
O1x cos( Hm) O1y sin( Hm) + O2 x + Hoff
Ix cos( Hm) Iy sin( Hm) +
Dm
sin(Vm)
Vm
i sin + c
2
Hcorr = Hm +
Note
The additional term Hoff comes from the internally corrected PSD measurement and provides a
further correction when measuring moving reflectors.
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O2 y
Dm
Correction due to transit axis offset e:
2e 2 Vm
cos
2
Dm
2 f Vm
cos
Dm 2
Vm
Vm
Kx cos + Ky sin
2
2
Corrected vertical (zenith) angle:
Vm
Vm
Vm 2
cos
e cos + f + Kx + Ky sin
2
2
2 Dm
Notes
The vertical index offset j is directly applied when reading the angle, i.e. the measured vertical angle
Vm is already corrected for index error.
The additional term Voff comes from the internally corrected PSD measurement and provides a further
correction when measuring moving reflectors.
3.9.3 Formula to correct the measured distance
Correction due to transit axis offset e:
e sin(Vm)
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Vm
2 f sin
2
Corrected distance:
Vm
Vm
Dcorr = Dm 2 sin e cos + f
2
2
The requirement here is to make 2-face measurements to a near point A and a far point B. Both points
lie on line with the tracker, approximately at tracker height.
Recommendations for near and far points:
Near point A ideally < 0.4m
Far point B ideally > 5m
Zenith angles approximately 90
Horizontal angle difference between A and B should be either zero degrees or 180.
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2-face measurements on a vertical line should cover the whole range of vertical angle measurement
and ensure that a range of distances is incorporated.
Recommendations for vertical line points:
At a range of 1.4m ideally establish 7 reflector positions in the range -40 to +40 with approximately
10 between each position.
The positions should be measured at 3 tracker ranges, approximately 1.4m, 2.0m and 2.5m. It is not
necessary to measure all points at all ranges, as indicated in the diagram.
2-face measurements in the horizontal plane:
The requirement here is a number of evenly spaced 2-face measurements to roughly equidistant
points at approximately tracker height.
Recommendations for horizontal plane points:
For good results, 16 evenly spaced measurements are recommended. They should be at
approximately the same horizontal distance, somewhere between 1.5m and 2.5m.
If space is restricted:
Try rotating the tracker rather than moving the reflector.
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Recommendations:
Ideally the Ball Bar should be measured in 8 positions. 4 positions should be close to the tracker (1m
or less) and 4 positions at between 3m and 5m from the tracker.
Positions should be roughly equally spaced. The Ball Bar centres then appear roughly at 45 intervals
in the horizontal plane, as indicated in the diagram.
Ball Bar centres should be approximately at tracker height.
Ball Bar plane should be vertical and facing the tracker to avoid oblique viewing
The Ball Bar locations should be alternately measured in face 1 and 2, as indicated.
Use a slow rotation speed.
Record points all around the circle.
If space is restricted:
Try to get at least 2 positions at different ranges with alternate face measurement.
It is also permissible to move the tracker rather than the Ball Bar. Rotating the tracker, for example,
will place the Ball Bar in different measurement quadrants. This can also help to create a good
distribution of positions in a confined test area.
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The 2-point method implements the simple concept of measuring two points with a known separation
L by using 2 free-standing, unknown points.
The distance L between the points is first measured by placing the tracker close to the extended line
of the points and using it almost as a pure interferometer to determine their separation L. The
interferometric distance d is then almost equal to the separation L. Any existing errors in the Birdbath
distance, or in the subtended angle (a), have only a small effect on the calculation of L which is
therefore very accurate.
The tracker is then moved between the points such that the subtended angle (A) is almost 180. This
angle then accurately measured.
With this information the Bird Bath distance can be accurately calculated. The actual equations used
in calculating absolute distance take full account of the geometry of the setup and are not a one-toone implementation of the equations shown earlier for the simple concept.
Recommendations:
Alignment points at approximately tracker height.
In offset position 1 keep the subtended angle within 5 of zero.
In central position 2 keep the subtended angle within 5 of 180.
The points can be close to the tracker.
4.3 Measurements for ADM parameters
These measurements must be made with a hollow corner cube reflector. The Birdbath distance for the
selected reflector must first be calculated, if not already known to a good accuracy.
The idea is to measure several fixed reflector locations with both the interferometer (IFM) and ADM.
Normally an ADM measurement simply re-sets the IFM distance and results in an IFM recording but a
special recording mode preserves both sets of data.
Recommendations:
An absolute minimum of 2 test points is required for a solution and a minimum of 5 is recommended.
The points should be equally spaced out approximately on a line at tracker height, starting at a
minimum distance of around 3.5m and ideally going up to the maximum range around 30m.
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cc
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