CN105890517A - Precision measurement method based on complex irregular shape precise measuring lens - Google Patents

Precision measurement method based on complex irregular shape precise measuring lens Download PDF

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CN105890517A
CN105890517A CN201510035890.4A CN201510035890A CN105890517A CN 105890517 A CN105890517 A CN 105890517A CN 201510035890 A CN201510035890 A CN 201510035890A CN 105890517 A CN105890517 A CN 105890517A
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coordinate
accurate measurement
normal
whole
cos
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CN201510035890.4A
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CN105890517B (en
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逯运通
李海飞
贺晓洋
张正峰
舒燕
张旭辉
柏江
王彤
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北京空间飞行器总体设计部
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Abstract

The present invention discloses a spacecraft precision measurement method based on a complex irregular shape precise measurement lens. According to the method, through setting a complex precise measuring mirror, the precise measuring optical path in closed cabin interior equipment is led out, and the precise measurement of the high precision equipment in the closed cabin in a whole machine closed cabin state is realized. According to the method, the precision measurement state of the high precision equipment and a flight state converge, the precision error of a traditional closed spacecraft brought by measuring cabin interior equipment in a cabin opening or cabin segment pull state is eliminated, and the effectiveness of precision measurement data is ensured.

Description

A kind of accuracy measurement method based on Complex Different Shape accurate measurement mirror

Technical field

The invention belongs to spacecraft-testing technical field, be specifically related in a kind of airtight spacecraft module based on Complex Different Shape accurate measurement mirror The accuracy measurement method of equipment.

Background technology

The measure of precision of spacecraft typically by equipment under test install prism square realize, prism square be standard cube Body structure, by the measurement of prism square adjacent plane can obtain two vectors being mutually perpendicular to plane, recycles vector multiplication cross Calculate the vector obtaining another plane the most vertical with the two plane.

Generally, the nacelle reentering return class spacecraft and manned class spacecraft is designed as airtight form, and part has essence Survey the equipment required to be arranged in device.In airtight spacecraft device, equipment is when carrying out measure of precision, high precision apparatus cube accurate measurement The accurate measurement light path of mirror is blocked by nacelle, it is impossible to carry out accurate measurement under whole device closes cabin state.General solution has 2 kinds:

A) airtight spacecraft decomposed or draw high, enabling on high precision apparatus the accurate measurement light path of cube accurate measurement mirror not by nacelle Block;

B) in nacelle, offer accurate measurement hole or hatch door, accurate measurement light path is drawn.

Both approaches can solve the problem that the problem that airtight nacelle accurate measurement light path is blocked, but there is also certain drawback, affects accurate measurement The effectiveness of data, as described below:

A) spacecraft closes cabin state relative to whole device, owing to the difference of stress causes structure at decomposing state or under drawing high state Certain deformation can occur, and then cause the accurate measurement data of accurate measurement benchmark and high precision apparatus to change, and actually spacecraft State of flight be that whole device closes cabin state, there is certain error at decomposing state or the accurate measurement data under drawing high state in spacecraft;

B) in airtight nacelle, offer accurate measurement hole the seal of nacelle is had a certain impact, need to carry out after completing accurate measurement specially Closure, improve the complexity of system, be unfavorable for the hermetic design of nacelle, reduce the reliability of system.

Summary of the invention

Present invention solves the technical problem that and there is provided a kind of high-precision measuring method based on Complex Different Shape accurate measurement mirror, the method energy Enough installation accuracies measuring below deck equipment under the whole device of spacecraft closes cabin state, and need not offer special accurate measurement hole.

The present invention proposes a kind of accuracy measurement method based on Complex Different Shape accurate measurement mirror, comprises the following steps:

1) two oblique reflection faces A, B are processed on the regular hexahedron accurate measurement mirror that will be installed on high precision apparatus, different described in formation Shape accurate measurement mirror, the outer normal direction line of described oblique reflection face A, B and the basic machine coordinate system of equipment have certain angle requirement, this folder The angle at angle make when whole device close cabin by the accurate measurement light path of described oblique reflection face A, B from the existing operation in spacecraft surface Mouth or spacecraft surface equipment installing port are drawn;Described A face, oblique reflection face normal, B face, oblique reflection face normal composition flat Face is C face;Described B face, oblique reflection face normal, the plane of C face normal composition are D face;Described B face, oblique reflection face method The coordinate system that line, C face normal and D face normal are constituted is tilting coordinate system;Under unit state, set device abnormity accurate measurement mirror is oblique The outer normal direction line of reflecting surface A, B and the angle of plant machinery body coordinate, obtained at plant machinery body coordinate by described angle Reflecting surface A face normal vector a write by special-shaped accurate measurement mirror in systemj, B face, oblique reflection face normal vector bj, C face normal vector cj With D face normal vector dj, it is calculated described tilting coordinate and is tied to the transition matrix of plant machinery body coordinate system;

2) the A face, oblique reflection face of equipment abnormity accurate measurement mirror, the outer normal direction in B face, oblique reflection face are measured under the whole device of spacecraft closes cabin state The angle of line and whole device mechanical coordinate system, obtains the special-shaped accurate measurement mirror oblique reflection in whole device mechanical coordinate system by described angle A face, face normal vector ae, B face, oblique reflection face normal vector be, C face normal vector ceWith D face normal vector de, calculate Obtain described tilting coordinate and be tied to the transition matrix of whole device mechanical coordinate system;

3) according to step 1) tilting coordinate be tied to transition matrix and the step 2 of plant machinery body coordinate system) tilting coordinate It is tied to the transition matrix of whole device mechanical coordinate system, is calculated the plant machinery body coordinate system conversion square to whole device mechanical coordinate system Battle array, thus obtain accurate results.

For further illustrating method proposed by the invention, described transform matrix calculations is as follows:

Step 1) described in tilting coordinate system be xx-yx-zx, described plant machinery body coordinate system is xj-yj-zj, the described A face, oblique reflection face at unit shape set device abnormity accurate measurement mirror, the outer normal direction line in B face and equipment Basic machine coordinate system xj-yj-zjAngle be respectively (αxj, αyj, αzj)、(βxj, βyj, βzj), described abnormity Accurate measurement mirror oblique reflection face A face normal vector aj, B face, oblique reflection face normal vector bj, C face normal vector cjWith D face normal Vector djIn apparatus body coordinate system xj-yj-zjIn be expressed as follows:

aj=[a1j, a2j, a3j]=[cos (αxj), cos (αyj), cos (αzj)]

bj=[b1j, b2j, b3j]=[cos (βxj), cos (βyj), cos (βzj)]

c j = a j × b j | a j × b j | = [ c 1 j , c 2 j , c 3 j ]

d j = b j × c j | b j × c j | = [ d 1 j , d 2 j , d 3 j ]

Described tilting coordinate system xx-yx-zxTo plant machinery body coordinate system xj-yj-zjTransition matrix be:

C xj = b j c j d j = b 1 j b 2 j b 3 j c 1 j c 2 j c 3 j d 1 j d 2 j d 3 j ;

Step 2) described in whole device mechanical coordinate system be xe-ye-ze, the whole device of described spacecraft closes to measure under the state of cabin and sets The standby abnormity A face, oblique reflection face of accurate measurement mirror, outer normal direction line and the whole device mechanical coordinate system x in B facee-ye-zeAngle be respectively (αxe, αye, αze)、(βxe, βye, βze);Described special-shaped accurate measurement mirror oblique reflection face A face normal vector ae, the most anti- Penetrate B face, face normal vector be, C face normal vector ceWith D face normal vector deAt whole device mechanical coordinate system xe-ye-zeIn It is expressed as follows:

ae=[a1e, a2e, a3e]=[cos (αxe), cos (αye), cos (αze)]

be=[b1e, b2e, b3e]=[cos (βxe), cos (βye), cos (βze)]

c e = a e × b e | a e × b e | = [ c 1 e , c 2 e , c 3 e ]

d e = b e × c e | b e × c e | = [ d 1 e , d 2 e , d 3 e ]

Described tilting coordinate system xx-yx-zxTo whole device mechanical coordinate system xe-ye-zeTransition matrix be:

C xe = b e c e d e = b 1 e b 2 e b 3 e c 1 e c 2 e c 3 e d 1 e d 2 e d 3 e ;

Step 3) described in plant machinery body coordinate system xj-yj-zjTo whole device mechanical coordinate system xe-ye-zeTurn Changing matrix is:

Cje=inv (Cxj)×Cxe

The accurate measurement light path of high precision apparatus in airtight spacecraft module can be drawn by the accurate measurement method that the present invention provides, and need not out If special accurate measurement hole, the high precision apparatus installed in enabling closed cabin body carries out measure of precision under whole device closes cabin state, makes The accurate measurement state of high precision apparatus reaches unanimity with state of flight, it is ensured that the effectiveness of accurate measurement data.This method avoid simultaneously Offer accurate measurement hole at airtight nacelle device table, advantageously ensure that the airtight performance of airtight nacelle, the reliability of beneficially raising system.

Accompanying drawing explanation

Fig. 1 Complex Different Shape accurate measurement mirror is intended to;

Fig. 2 airtight nacelle accurate measurement view.

Detailed description of the invention

In order to be more fully understood that technical scheme, below in conjunction with the accompanying drawings and be embodied as case and the present invention done further in detail Thin description.

The invention provides the accurate measurement method of the below deck equipment of a kind of closed spacecraft, specifically comprise the following steps that

A) two oblique reflection faces are processed on the regular hexahedron accurate measurement mirror installed on high precision apparatus, the special-shaped accurate measurement mirror described in formation, As it is shown in figure 1, be defined as reflecting surface A and reflecting surface B, the outer normal direction line of reflecting surface A, B and the basic machine coordinate system of equipment There is certain angle requirement, to ensure when whole device closes cabin, the accurate measurement light path of reflecting surface A, B is existing from spacecraft surface Gathering hole or device table equipment installing port draw (need not offer special accurate measurement hole).

High precision apparatus refers to the equipment all having higher requirements installation site and Installation posture.Such as camera space and airspace engine, Only could shoot when the camera lens of camera space points to specific direction and obtain required image, only when the spray of airspace engine When specific direction is pointed in mouth direction, the thrust of guarantee electromotor carries out effective gesture stability and orbits controlling to spacecraft.

Definition A face, oblique reflection face normal, the plane of B face, oblique reflection face normal composition are C face;Definition B face normal, C face method The plane of line composition is D face;The coordinate system that definition abnormity accurate measurement mirror B face normal, C face normal and D face normal are constituted is tilting Coordinate system xx-yx-zx

Normal direction line and plant machinery outside the A face, oblique reflection face of set device abnormity accurate measurement mirror, B face, oblique reflection face under unit state Body coordinate system xj-yj-zjAngle be respectively (αxj, αyj, αzj)、(βxj, βyj, βzj)。

Abnormity accurate measurement mirror A face normal vector aj, B face normal vector bj, C face normal vector cjWith D face normal vector dj? Apparatus body coordinate system xj-yj-zjIn be expressed as follows:

aj=[a1j, a2j, a3j]=[cos (αxj), cos (αyj), cos (αzj)]

bj=[b1j, b2j, b3j]=[cos (βxj), cos (βyj), cos (βzj)]

c j = a j × b j | a j × b j | = [ c 1 j , c 2 j , c 3 j ]

d j = b j × c j | b j × c j | = [ d 1 j , d 2 j , d 3 j ]

From tilting coordinate system xx-yx-zxTo plant machinery body coordinate system xj-yj-zjTransition matrix be:

C xj = b j c j d j = b 1 j b 2 j b 3 j c 1 j c 2 j c 3 j d 1 j d 2 j d 3 j

B) measure the A face of equipment abnormity accurate measurement mirror under the whole device of spacecraft closes cabin state, the outer normal direction line in B face is sat with whole device machinery Mark system xe-ye-zeAngle be respectively (αxe, αye, αze)、(βxe, βye, βze)。

Abnormity accurate measurement mirror A face normal vector ae, B face normal vector be, C face normal vector ceWith D face normal vector de? Whole device mechanical coordinate system xe-ye-zeIn be expressed as follows:

ae=[a1e, a2e, a3e]=[cos (αxe), cos (αye), cos (αze)]

be=[b1e, b2e, b3e]=[cos (βxe), cos (βye), cos (βze)]

c e = a e × b e | a e × b e | = [ c 1 e , c 2 e , c 3 e ]

d e = b e × c e | b e × c e | = [ d 1 e , d 2 e , d 3 e ]

From tilting coordinate system xx-yx-zxTo whole device mechanical coordinate system xe-ye-zeTransition matrix be:

C xe = b e c e d e = b 1 e b 2 e b 3 e c 1 e c 2 e c 3 e d 1 e d 2 e d 3 e

C) according to the accurate measurement result under the setting result under equipment unit state and whole device state, it is calculated plant machinery body and sits Mark system xj-yj-zjTo whole device mechanical coordinate system xe-ye-zeTransition matrix be:

Cje=inv (Cxj)×Cxe

Specifically with the accurate measurement of certain model recoverable capsule inner laser IMU (Inertial Measurement Units, inertial measuring unit) Illustrate as a example by method, as shown in Figure 2.Recoverable capsule is the closed spacecraft performing to reenter return task, and device table has antenna Window and filling action pane are installed, can be when accurate measurement as the passage of accurate measurement light path;There is the laser IMU peace of accurate measurement requirement Being contained on device inner bearing structure, complicated special-shaped accurate measurement mirror is installed at equipment top, and this abnormity accurate measurement mirror arranges 2 accurate measurement inclined-planes altogether, As it is shown in figure 1, the angle of the outer normal direction line in 2 accurate measurement faces and the apparatus body coordinate system of laser IMU is respectively set to (67.5075 °, 43.4765 °, 55.1173 °) and (65.4487 °, 68.065 °, 146.0314 °), this accurate measurement presss from both sides The setting at angle can ensure that 2 accurate measurement light paths can be installed window from the filling window on spacecraft surface and antenna and be drawn, such as Fig. 2 Shown in.

Definition A face normal, the plane of B face normal composition are C face;Definition B face normal, the plane of C face normal composition are D face; The coordinate system that definition abnormity accurate measurement mirror B face normal, C face normal and D face normal are constituted is tilting coordinate system xx-yx-zx

Abnormity accurate measurement mirror A face normal, B face normal, C face normal and D face normal are in IMU body coordinate system xj-yj-zj's Vector is as follows:

aj=[0.382563,0.725657,0.571898]

bj=[0.415508,0.373554 ,-0.82934]

c j = a j × b j | a j × b j | = [ c 1 j , c 2 j , c 3 j ] = [ - 0.816254,0.555449 , - 0.158764 ]

d j = b j × c j | b j × c j | = [ d 1 j , d 2 j , d 3 j ] = [ 0.401351,0.742923,0.535708 ]

Obtain from tilting coordinate system xx-yx-zxTo IMU body coordinate system xj-yj-zjTransition matrix be:

C xj = b j c j d j = 0.415508 0.373554 - 0.82934 - 0.816254 0.555449 - 0.158764 0.401351 0.742923 0.535708

B) under the whole device of spacecraft closes cabin state, on measurement equipment, the outer normal direction line in 2 accurate measurement faces of abnormity accurate measurement mirror is mechanical with whole device Coordinate system xe-ye-zeAngle be respectively (67.5226 °, 43.4358 °, 55.1492 °), (65.4205 °, 68.0999 °, 146.0344 °).

Abnormity accurate measurement mirror A face normal, B face normal, C face normal and D face normal are at whole device mechanical coordinate system xe-ye-ze's Vector is as follows:

ae=[0.382319,0.726146,0.571441]

be=[0.415955,0.372989 ,-0.829373]

c e = a e × b e | a e × b e | = [ - 0.81618 , 0.555318 , - 0.159599 ]

d e = b e × c e | b e × c e | = [ d 1 e , d 2 e , d 3 e ] = [ 0.401038,0.743304,0.535414 ]

Tilting coordinate system x can be obtainedx-yx-zxTo whole device mechanical coordinate system xe-ye-zeTransition matrix:

C xj = b e c e d e = 0.415955 0.372989 - 0.829373 - 0.816180 0.555318 - 0.159599 0.401038 0.743304 0.535414

C) according to the accurate measurement result under the accurate measurement result under equipment unit state and whole device state, formula is passed through Cje=inv (Cxj)×CxeIt is calculated apparatus body coordinate system xj-yj-zjTo whole device mechanical coordinate system xe-ye-ze's Transition matrix:

C je = 1 0.000025 0.000551 - 0.000024 1 - 0.000693 - 0.000551 0.000693 1

In sum, these are only presently preferred embodiments of the present invention, be not intended to limit protection scope of the present invention.All Within the spirit and principles in the present invention, any modification, equivalent substitution and improvement etc. made, should be included in the protection of the present invention Within the scope of.

Claims (3)

1. an accuracy measurement method based on Complex Different Shape accurate measurement mirror, it is characterised in that comprise the following steps:
1) two oblique reflection faces A, B are processed on the regular hexahedron accurate measurement mirror that will be installed on high precision apparatus, different described in formation Shape accurate measurement mirror, the outer normal direction line of described oblique reflection face A, B and the basic machine coordinate system of equipment have certain angle requirement, this folder The angle at angle make when whole device close cabin by the accurate measurement light path of described oblique reflection face A, B from the existing operation in spacecraft surface Mouth or spacecraft surface equipment installing port are drawn;Described A face, oblique reflection face normal, B face, oblique reflection face normal composition flat Face is C face;Described B face, oblique reflection face normal, the plane of C face normal composition are D face;Described B face, oblique reflection face method The coordinate system that line, C face normal and D face normal are constituted is tilting coordinate system;Under unit state, set device abnormity accurate measurement mirror is oblique The outer normal direction line of reflecting surface A, B and the angle of plant machinery body coordinate, obtained at plant machinery body coordinate by described angle Reflecting surface A face normal vector a write by special-shaped accurate measurement mirror in systemj, B face, oblique reflection face normal vector bj, C face normal vector cjAnd D Face normal vector dj, it is calculated described tilting coordinate and is tied to the transition matrix of plant machinery body coordinate system;
2) the A face, oblique reflection face of equipment abnormity accurate measurement mirror, the outer normal direction in B face, oblique reflection face are measured under the whole device of spacecraft closes cabin state The angle of line and whole device mechanical coordinate system, obtains the special-shaped accurate measurement mirror oblique reflection in whole device mechanical coordinate system by described angle A face, face normal vector ae, B face, oblique reflection face normal vector be, C face normal vector ceWith D face normal vector de, calculate Obtain described tilting coordinate and be tied to the transition matrix of whole device mechanical coordinate system;
3) according to step 1) tilting coordinate be tied to transition matrix and the step 2 of plant machinery body coordinate system) tilting coordinate It is tied to the transition matrix of whole device mechanical coordinate system, is calculated the plant machinery body coordinate system conversion square to whole device mechanical coordinate system Battle array, thus obtain accurate results.
A kind of accuracy measurement method based on Complex Different Shape accurate measurement mirror the most according to claim 1, it is characterised in that step 1) the tilting coordinate system described in is xx-yx-zx, described plant machinery body coordinate system is xj-yj-zj, described The A face, oblique reflection face at unit shape set device abnormity accurate measurement mirror, B face and plant machinery body coordinate system xj-yj-zj's Angle is respectively (αxj, αyj, αzj)、(βxj, βyj, βzj), described special-shaped accurate measurement mirror oblique reflection face A face normal vector aj、 B face, oblique reflection face normal vector bj, C face normal vector cjWith D face normal vector djIn apparatus body coordinate system xj-yj-zj In be expressed as follows:
aj=[a1j, a2j, a3j]=[cos (αxj), cos (αyj), cos (αzj)]
bj=[b1j, b2j, b3j]=[cos (βxj), cos (βyj), cos (βzj)]
c j = a j × b j | a j × b j | = [ c 1 j , c 2 j , c 3 j ]
d j = b j × c j | b j × c j | = [ d 1 j , d 2 j , d 3 j ]
Described tilting coordinate system xx-yx-zxTo plant machinery body coordinate system xj-yj-zjTransition matrix be:
C xj = b j c j d j = b 1 j b 2 j b 3 j c 1 j c 2 j c 3 j d 1 j d 2 j d 3 j ;
Step 2) described in whole device mechanical coordinate system be xe-ye-ze, the whole device of described spacecraft closes to measure under the state of cabin and sets The standby abnormity A face, oblique reflection face of accurate measurement mirror, outer normal direction line and the whole device mechanical coordinate system x in B facee-ye-zeAngle be respectively (αxe, αye, αze)、(βxe, βye, βze);Described special-shaped accurate measurement mirror oblique reflection face A face normal vector ae, the most anti- Penetrate B face, face normal vector be, C face normal vector ceWith D face normal vector deAt whole device mechanical coordinate system xe-ye-zeIn It is expressed as follows:
ae=[a1e, a2e, a3e]=[cos (αxe), cos (αye), cos (αze)]
be=[b1e, b2e, b3e]=[cos (βxe), cos (βye), cos (βze)]
c e = a e × b e | a e × b e | = [ c 1 e , c 2 e , c 3 e ]
d e = b e × c e | b e × c e | = [ d 1 e , d 2 e , d 3 e ]
Described tilting coordinate system xx-yx-zxTo whole device mechanical coordinate system xe-ye-zeTransition matrix be:
C xe = b e c e d e = b 1 e b 2 e b 3 e c 1 e c 2 e c 3 e d 1 e d 2 e d 3 e ;
Step 3) described in plant machinery body coordinate system xj-yj-zjTo whole device mechanical coordinate system xe-ye-zeTurn Changing matrix is:
Cje=inv (Cxj)×Cxe
A kind of accuracy measurement method based on Complex Different Shape accurate measurement mirror the most according to claim 1 and 2, it is characterised in that Described high precision apparatus is camera space, airspace engine, laser inertia measurement apparatus.
CN201510035890.4A 2015-01-23 2015-01-23 A kind of accuracy measurement method based on Complex Different Shape accurate measurement mirror CN105890517B (en)

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