为了解决吊件位置与姿态的监测难题，基于改进的April Tag技术提出了一种吊件位姿视觉测量方法。该方法采用专用磁吸式标签固定方式，降低标签安装难度和要求；通过视觉测量吊件上的April Tag标签位置，结合吊件关键尺寸信息，基于空间坐标变换理论实现了吊件位置和姿态的测量；同时根据标签间的相对关系对测量结果进行数据校验，提高测量精度。对架空输电线路双平臂落地抱杆组塔吊装施工的吊件进行了位置与姿态测量试验。结果表明：本文方法能够有效准确实现吊件空间位置与姿态的测量。

To solve the measuring problem of the hanger's position and attitude, an approach based on improved April Tag technology was proposed. The method adopted a special magnetic label fixing mode to reduce the difficulty and requirements of label installation. The position and attitude of the hanger were measured based on the spatial coordinate transformation theory, with the visual measuring results of the April Tag labels on the hanger and the key dimensions of the hanger. Meanwhile, the visual measuring results of the April Tag were screened based on the relative relationship between labels to enhance the accuracy. A positing and attitude measurement experiment was conducted on the hanger of the overhead transmission lines' tower assembled by floor-standing double boom derrick. The results show that the proposed approach can effectively and accurately measuring the spatial position and attitude of the hanger.