WP3 The LiCAS Laser Straightness Monitor (LSM)
description
Transcript of WP3 The LiCAS Laser Straightness Monitor (LSM)
WP3The LiCAS Laser Straightness
Monitor (LSM)Greg Moss
Contents
• Introduction• The LSM ray tracer• Reconstruction• Calibration Constants• Determining Calibration Constants• Planned work
• (Marker Reconstruction simulation)
Straightness Monitor Basics
• LSM is used to measure:- Transverse translations- Rotations
• Require 1µm precision over length of train
z
-y Translation:Spots move same direction
Rotation:Spots move opposite directions
CCD Camera
Retro reflectorIncoming beam
Outgoing beam
The train needs to know how it is aligned internally.
Achieved by internal FSI and the Laser Straightness Monitor.
Sensitivity of Internal Components
Component TrX TrY TrZ RotX RotY RotZ
LSM √ √ √ √
FSI ± ± √ ± ±
Inclinometer √(not
used)
√
Ray Tracer•Ray tracer written in C++
•Open GL interface
•Highly flexible
•Agrees with Fortran version
•Can use many setups:
-Lab
-Car
-‘Virtual’ setups
-Any general setup
A ‘virtual’ setup has a mirror/camera combination replaced by the image of the camera in the mirror. It is mathematically equivalent (if the CCD X axes are inverted).
Reconstruction
Ray tracer is used as a part of a fit function for the Minuit fitting package
– Position & orientation of the LSM block used as the fit parameters
– CCD spots fitted by Chi-squared Minimisation– 100% effective to within nm with good
convention choice and no noise
Reconstruction• If perfectly set up reconstruction is limited by
beam spot fit precision (limited by camera noise)
• 0.7 microns currently used (Lab in air)• Gives reconstruction
precision of 0.24
microns & 1.67
micro-radians
Calibration
• Still need to know the exact position of the components
• These are the calibration constants
• The errors on the constants give the systematic error
• There are different possible sets of constants
Effect of Errors in Constants
• A large set of ray traces with many different calibration constants was taken.
• Error on the reconstructed parameters then plotted against each calibration constant.
• The gradient gives the dependence on
the constant.
With Standard SetupReconstruction Dependence on Calibration Constants - Standard Lab Setup
-3.00E+00 -2.00E+00 -1.00E+00 0.00E+00 1.00E+00 2.00E+00 3.00E+00
lsmBlockX
lsmBlockY
lsmBlockRotXpp_s
lsmBlockRotYp_s
Re
co
ns
tru
cti
on
Pa
ram
ete
r
Error Correlation
CCD3RotZ_s
CCD3RotYp_sCCD3RotXpp_s
CCD3Z
CCD3YCCD3X
CCD2RotZ_sCCD2RotYp_s
CCD2RotXpp_s
CCD2ZCCD2Y
CCD2X
CCD1RotZ_sCCD1RotYp_s
CCD1RotXpp_s
CCD1ZCCD1Y
CCD1X
CCD0RotZ_sCCD0RotYp_s
CCD0RotXpp_sCCD0Z
CCD0Y
CCD0XBS1RotZ_s
BS1RotYp_s
BS1RotXpp_sBS1Z
BS1Y
BS1XBS0RotZ_s
BS0RotYp_s
BS0RotXpp_sBS0Z
BS0YBS0X
lsmBlockRotYp_s
lsmBlockRotXpp_slsmBlockY
lsmBlockX
With Virtual Setup
Reconstruction Dependence on Calibration Constants - Virtual Lab Setup
-3 -2 -1 0 1 2 3
lsmBlockX
lsmBlockY
lsmBlockRotXpp_s
lsmBlockRotYp_s
Rec
on
stru
ctio
n P
aram
eter
Error Correlation
CCD3RotZ_s
CCD3RotYp_s
CCD3RotXpp_s
CCD3Z
CCD3Y
CCD3X
CCD2RotZ_s
CCD2RotYp_s
CCD2RotXpp_s
CCD2Z
CCD2Y
CCD2X
CCD1RotZ_s
CCD1RotYp_s
CCD1RotXpp_s
CCD1Z
CCD1Y
CCD1X
CCD0RotZ_s
CCD0RotYp_s
CCD0RotXpp_s
CCD0Z
CCD0Y
CCD0X
lsmBlockRotYp_s
lsmBlockRotXpp_s
lsmBlockY
lsmBlockX
Calibration Constant Determination
• Constants are being measured using a CMM• To determine the calibration constants more
accurately a brute force method is in development.
• The LSM block produces data in many different orientations
• Using externally measured orientation data (from a laser tracker) the calibration constants can be determined
• See next slide for details
Calibration Constant Determination
True Orientation (measured by laser tracker)
Setup RayTracer
Calibration Constants
Do Ray-trace
Traced BSSMeasured BSS(taken by cameras)
Compare
Add difference tototal chi squared
Set Correct Orientation
For n Orientations
Change calibration constants until chi-squared is a minimum
Calibration constantsin model should match their real life counterparts
Measured data
Variables changed
Data produced by ray-tracer
Start
•This method compares spot positions generated with a set of calibration constants with the measured values (knowing the correct orientation).
•Many orientations are used
•It changes the calibration constants until the difference between the measured spots are the same as the calculated spots
Calibration Constant Determination
• Problems with Standard model – constants are heavily dependent on each other: correct minimum not found easily
• Virtual model gives correct answers to O(10-14)m if given perfect data
• If given realistic data some constants are found to O(10-7)m, some fail to be found within 10-5m.
• However, the constants that are found well are the ones the reconstruction is sensitive to!
• Reconstructing using these constants as the only source of error gives precision of 0.037 microns & 0.25 micro-radians. (Currently only done twice – complete test planned)
• Adding 0.7 micron error to spot positions gives errors of 0.23 microns & 1.6 micro-radians - remaining miscalibration has no effect
Planned Work
• Some CMM measurements not made yet• Errors on laser tracker data not accounted for• Optimal number of measurements to take yet to
be found• Advanced error propagation not completed• Detailed investigation into covariance not
completed• Real Data to be taken in May• Combine with calibration of other RTRS
elements
Conclusions
• The LSM is a critical part of the LiCAS RTRS
• Highly precise & accurate reconstruction needed
• Needs to be well calibrated
• Some Calibration constants critical
• They can be found to the accuracy required
Marker Reconstruction Simulation
• The following are slides from Grzegorz Grzelak
• They show how a complete simulation of a tunnel survey is performed
• After the process the (mis)alignment can be put into PLACET and a beam simulation effected.
https://savannah.cern.ch/projects/placet/
Partially Calibrated Reconstruction
Virtual Setup – partially calibrated
Reconstruction Dependence on Calibration Constants - Virtual Setup with Camera positions known to 0.1 microns
-3.00E+00 -2.00E+00 -1.00E+00 0.00E+00 1.00E+00 2.00E+00 3.00E+00
lsmBlockX
lsmBlockY
lsmBlockRotXpp_s
lsmBlockRotYp_s
Rec
on
stru
ctio
n P
aram
eter
Error Correlation
CCD3RotZ_s
CCD3RotYp_s
CCD3RotXpp_s
CCD3Z
CCD3Y
CCD3X
CCD2RotZ_s
CCD2RotYp_s
CCD2RotXpp_s
CCD2Z
CCD2Y
CCD2X
CCD1RotZ_s
CCD1RotYp_s
CCD1RotXpp_s
CCD1Z
CCD1Y
CCD1X
CCD0RotZ_s
CCD0RotYp_s
CCD0RotXpp_s
CCD0Z
CCD0Y
CCD0X
lsmBlockRotYp_s
lsmBlockRotXpp_s
lsmBlockY
lsmBlockX