CN102426011A

CN102426011A - Airplane digital leveling technology and method

Info

Publication number: CN102426011A
Application number: CN2011102266538A
Authority: CN
Inventors: 李丽娟; 周娜; 林雪竹; 王劲松; 安志勇; 朱运东
Original assignee: Changchun University of Science and Technology
Current assignee: Changchun University of Science and Technology
Priority date: 2011-08-09
Filing date: 2011-08-09
Publication date: 2012-04-25

Abstract

The invention aims to bring forward a digital leveling technology during airplane profile measurement, key parts or airborne avionics calibration installation and a method thereof. The technology is characterized in that without manual airplane leveling steps, three-dimensional digital measuring devices such as a laser tracker, a laser radar and the like are adopted to measure horizontal marking point of the airplane and the measurement result in the current measuring coordinate system O-X1Y1Z1 is converted in the airplane horizontal coordinate system O-XYZ so as to realize airplane digital leveling.

Description

Aircraft numeral leveling technology and method

Technical field

The present invention relates to a kind of being applicable to aircraft is carried out profile measurement, critical component or airborne avionics Equipment Alignment digitizing leveling technology and the method when installing, belong to aircraft topography measurement technical field.

Background technology

When aircraft is installed in the calibration of carrying out horizontal survey, profile measurement, critical component or airborne avionics equipment, to aircraft be adjusted into horizontality usually.Present domestic aircraft level-off is usually with the traditional optical surveying instrument---and spirit-leveling instrument, optical theodolite, steel tape etc. are main; Measured key point and fuselage front and back key point under the wing through transit and level meter before this; Obtain the correlation parameter of above-mentioned measurement point with the manual metering system of surveying work personnel, calculate the horizontality that these deviations on the fuselage change in coordinate axis direction are adjusted aircraft again.After the full machine level-off of aircraft, carry out the measurement of other key points or parts again, with the installation accuracy that detects the aircraft associated components etc.The shortcoming of the method is: precision is low, labour intensity is big, efficient is low.

Summary of the invention

The object of the invention is to propose a kind of being applicable to aircraft is carried out profile measurement, critical component or airborne avionics Equipment Alignment digitizing leveling technology and the method when installing; It is characterized in that need not aircraft is carried out artificial level-off step; Adopt the horizontal gauge point of 3-dimensional digital measuring instrument survey aircrafts such as laser tracker, laser radar, current measurement coordinate system O-X ₁Y ₁Z ₁Under measurement result through being transformed under the aircraft horizontal coordinates O-XYZ, realize the digitizing leveling of aircraft.

The Rule of judgment of known level coordinate system is: the coordinate (X of horizontal reference point i under coordinate system O-XYZ _i, Y _i, Z _i), i=h1, h2, k1, k2, d1, d2 satisfy Z _H1-Z _H2=± σ, Z _K1-Z _K2=l _k± σ, Z _D1-Z _D2=± σ, X _D1=X _D2=0, wherein σ is the standard deviation of horizontal survey.Then O-XYZ is the aircraft horizontal coordinates, and the XY face is a surface level, and the YZ face is the aircraft plane of symmetry.If aircraft lateral fiducial point h1, h2, vertical reference point k1, k2, symmetrical reference point d1, d2, the measured value under current measurement coordinate system are (x _i, y _i, z _i), i is reference point h1, h2, k1, k2, d1, the d2 of level-off.

As shown in Figure 1, current measurement coordinate system O-X ₁Y ₁Z ₁Then the conversion method of horizontal coordinates is following to aircraft horizontal coordinates O-XYZ:

Method one: establish the theoretical that H is h1, h2, K is the theoretical of k1, k2, and D is the theoretical of d1, d2.Might as well establish current coordinate system is O-X ₁Y ₁Z ₁, initial point is defined as the d2 point, and measurement coordinate system is rotated γ around initial point respectively, α, θ can obtain the aircraft horizontal coordinates.

γ = \arcsin (\frac{z_{h 1} - z_{h 2}}{H})

α = \frac{1}{2} (\arcsin \frac{(z_{k 1} - z_{k 2})}{K} - \arcsin \frac{l_{k}}{K})

Making current coordinate system is O-X ₁Y ₁Z ₁Respectively around Y ₁Axle, X ₁Axle anglec of rotation γ, α angle obtain new coordinate system O-X ₂Y ₂Z ₂Be located at O-X ₂Y ₂Z ₂Down, some d ₁, d ₂Coordinate be (x ' _D1, y ' _D1, z ' _D1), (x ' _D2, y ' _D2, z ' _D2), make O-X ₂Y ₂Z ₂Around Z ₂Axle gyrobearing angle

Obtain horizontal coordinates O-XYZ.

Method two: the coordinate of establishing reference point i under the horizontal coordinates O-XYZ is (X _i, Y _i, Z _i), M is for being tied to the transformation matrix of the aircraft frame of reference by current coordinate; By current measurement coordinate system be: M (x to the transformation equation of aircraft horizontal coordinates O-XYZ _i, y _i, z _i) ^T=(X _i, Y _i, Z _i) ^T, i=h ₁, h ₂, k ₁, k ₂, d ₁, d ₂

If constraint condition: Z _H1-Z _H2=± σ, Z _K1-Z _K2=l _k± σ, Z _D1-Z _D2=± σ, X _D1=0, X _D2=0.

Obtain the residual equation group by constraint condition:

v_{1} = &PlusMinus; σ - (Z_{h_{1}} - Z_{h_{2}})

v_{2} = l_{k} &PlusMinus; σ - (Z_{k_{1}} - Z_{k_{2}})

v_{3} = &PlusMinus; σ - (Z_{d_{1}} - Z_{d_{2}})

v_{4} = - X_{d_{1}}

v_{5} = - X_{d_{2}}

Introduce weight factor

[ω v^{2}] = Σ ω_{i} v_{i}^{2} = \min

Residual sum of squares (RSS) is minimum, tries to achieve transform matrix M, at last all level points is carried out coordinate conversion, realizes aircraft digitizing leveling.At this moment, the XY face is the aircraft surface level, and the YZ face is the aircraft plane of symmetry.

The present invention is suitable for the airplane horizontal survey requirement fully, has characteristics such as high precision, high-level efficiency, has broken away from a large amount of manual operations in the conventional airplane horizontal survey, has realized altitude figureization, greatly reduces labour intensity.

Description of drawings

The current measurement coordinate system O of Fig. 1 ₁-X ₁Y ₁Z ₁O-XYZ concerns synoptic diagram with the aircraft horizontal coordinates.

Claims

One kind be applicable to aircraft carry out that profile is measured, digitizing leveling technology and method when critical component assembling or airborne avionics Equipment Alignment are installed; It is characterized in that need not aircraft is carried out artificial level-off step; Adopt the horizontal gauge point of 3-dimensional digital measuring instrument survey aircrafts such as laser tracker, laser radar, current measurement coordinate system O-X ₁Y ₁Z ₁Under measurement result through being transformed under the aircraft horizontal coordinates O-XYZ, realize the digitizing leveling of aircraft.
2. technology according to claim 1 is characterized in that: the Rule of judgment of known level coordinate system is: the coordinate (X of horizontal reference point i under coordinate system O-XYZ _i, Y _i, Z _i), i=h1, h2, k1, k2, d1, d2 satisfy Z _H1-Z _H2=± σ, Z _K1-Z _K2=l _k± σ, Z _D1-Z _D2=± σ, X _D1=X _D2=0, wherein σ is the standard deviation of horizontal survey.Then O-XYZ is the aircraft horizontal coordinates, and the XY face is a surface level, and the YZ face is the aircraft plane of symmetry.If aircraft lateral fiducial point h1, h2, vertical reference point k1, k2, symmetrical reference point d1, d2, the measured value under current measurement coordinate system are (x _i, y _i, z _i), i is reference point h1, h2, k1, k2, d1, the d2 of level-off.

As shown in Figure 1, current measurement coordinate system O-X ₁Y ₁Z ₁Then the conversion method of horizontal coordinates is following to aircraft horizontal coordinates O-XYZ:

Method one: establish the theoretical that H is h1, h2, K is the theoretical of k1, k2, and D is the theoretical of d1, d2.Might as well establish current coordinate system is O-X ₁Y ₁Z ₁, initial point is defined as the d2 point, and measurement coordinate system is rotated γ around initial point respectively, α, θ can obtain the aircraft horizontal coordinates.

$γ = \arcsin (\frac{z_{h 1} - z_{h 2}}{H})$

$α = \frac{1}{2} (\arcsin \frac{(z_{k 1} - z_{k 2})}{K} - \arcsin \frac{l_{k}}{K})$

Making current coordinate system is O-X ₁Y ₁Z ₁Respectively around Y ₁Axle, X ₁Axle anglec of rotation γ, α angle obtain new coordinate system O-X ₂Y ₂Z ₂Be located at O-X ₂Y ₂Z ₂Down, some d ₁, d ₂Coordinate be (x ' _D1, y ' _D1, z ' _D1), (x ' _D2, y ' _D2, z ' _D2), make O-X ₂Y ₂Z ₂Around Z ₂Axle gyrobearing angle
Obtain horizontal coordinates O-XYZ.

Method two: the coordinate of establishing reference point i under the horizontal coordinates O-XYZ is (X _i, Y _i, Z _i), M is for being tied to the transformation matrix of the aircraft frame of reference by current coordinate; By current measurement coordinate system be: M (x to the transformation equation of aircraft horizontal coordinates O-XYZ _i, y _i, z _i) ^T=(X _i, Y _i, Z _i) ^T, i=h ₁, h ₂, k ₁, k ₂, d ₁, d ₂

If constraint condition: Z _H1-Z _H2=± σ, Z _K1-Z _K2=l _k± σ, Z _D1-Z _D2=± σ, X _D1=0, X _D2=0.

Obtain the residual equation group by constraint condition:

$v_{1} = &PlusMinus; σ - (Z_{h_{1}} - Z_{h_{2}})$

$v_{2} = l_{k} &PlusMinus; σ - (Z_{k_{1}} - Z_{k_{2}})$

$v_{3} = &PlusMinus; σ - (Z_{d_{1}} - Z_{d_{2}})$

$v_{4} = - X_{d_{1}}$

$v_{5} = - X_{d_{2}}$

Introduce weight factor

$[ω v^{2}] = Σ ω_{i} v_{i}^{2} = \min$

Residual sum of squares (RSS) is minimum, tries to achieve transform matrix M, at last all level points is carried out coordinate conversion, realizes aircraft digitizing leveling.At this moment, the XY face is the aircraft surface level, and the YZ face is the aircraft plane of symmetry.

The present invention is suitable for the airplane horizontal survey requirement fully, has characteristics such as high precision, high-level efficiency, has broken away from a large amount of manual operations in the conventional airplane horizontal survey, has realized altitude figureization, greatly reduces labour intensity.