CN105890517B  A kind of accuracy measurement method based on Complex Different Shape accurate measurement mirror  Google Patents
A kind of accuracy measurement method based on Complex Different Shape accurate measurement mirror Download PDFInfo
 Publication number
 CN105890517B CN105890517B CN201510035890.4A CN201510035890A CN105890517B CN 105890517 B CN105890517 B CN 105890517B CN 201510035890 A CN201510035890 A CN 201510035890A CN 105890517 B CN105890517 B CN 105890517B
 Authority
 CN
 China
 Prior art keywords
 faces
 coordinate
 accurate measurement
 normal
 whole
 Prior art date
Links
 238000000691 measurement method Methods 0.000 title claims description 9
 239000011159 matrix materials Substances 0.000 claims description 23
 238000009434 installation Methods 0.000 claims description 7
 239000000203 mixtures Substances 0.000 claims description 7
 238000006243 chemical reactions Methods 0.000 claims description 2
 239000002775 capsules Substances 0.000 description 2
 210000004279 Orbit Anatomy 0.000 description 1
 230000015572 biosynthetic process Effects 0.000 description 1
 238000010586 diagrams Methods 0.000 description 1
 238000005755 formation reactions Methods 0.000 description 1
 230000004048 modification Effects 0.000 description 1
 238000006011 modification reactions Methods 0.000 description 1
Abstract
Description
Technical field
The invention belongs to spacecrafttesting technical fields, and in particular to a kind of closed space flight based on Complex Different Shape accurate measurement mirror The accuracy measurement method of device below deck equipment.
Background technology
The precision measure of spacecraft generally realizes that prism square is standard by the prism square installed on equipment under test Cube structure recycled by the way that two vectors for being mutually perpendicular to plane can be obtained to the measurement of prism square adjacent plane Vector multiplication cross calculates the vector for obtaining another plane all vertical with the two planes.
Under normal circumstances, the nacelle for reentering return class spacecraft and manned class spacecraft is designed as closed form, part The equipment required with accurate measurement is mounted in device.For equipment when carrying out precision measure, high precision apparatus is vertical in closed spacecraft device The accurate measurement light path of cube accurate measurement mirror is blocked by nacelle, can not carry out accurate measurement in the case where whole device closes cabin state.General solution has 2 Kind：
A) closed spacecraft is decomposed or is drawn high, enable the accurate measurement light path of cube accurate measurement mirror on high precision apparatus not It is blocked by nacelle；
B) accurate measurement hole or hatch door are opened up in nacelle, and accurate measurement light path is drawn.
Both methods can solve the problems, such as that closed cabin accurate measurement light path is blocked, but there is also certain drawbacks, shadows The validity of accurate measurement data is rung, as described below：
A) spacecraft in decomposing state or is drawn high and closes cabin state relative to whole device under state, since the difference of stress is led It causes structure that certain deformation can occur, and then the accurate measurement data of accurate measurement benchmark and high precision apparatus is caused to change, and it is practical The state of flight of upper spacecraft is that whole device closes cabin state, and there are one in decomposing state or the accurate measurement data for drawing high under state for spacecraft Fixed error；
B) accurate measurement hole is opened up in closed cabin to have a certain impact to the seal of nacelle, is needed laggard in completion accurate measurement The special closure of row, improves the complexity of system, is unfavorable for the hermetic design of nacelle, reduce the reliability of system.
Invention content
The technical problem to be solved by the present invention is to provide a kind of highprecision measuring methods based on Complex Different Shape accurate measurement mirror, should Method can measure the installation accuracy of below deck equipment in the case where the whole device of spacecraft closes cabin state, and need not open up dedicated accurate measurement Hole.
The present invention proposes a kind of accuracy measurement method based on Complex Different Shape accurate measurement mirror, includes the following steps：
1) two oblique reflection faces A, B will be processed on the regular hexahedron accurate measurement mirror being installed on high precision apparatus, described in formation Specialshaped accurate measurement mirror, the outer normal direction line of the oblique reflection face A, B and the basic machine coordinate system of equipment have certain angle requirement, The angle of the angle makes to have the accurate measurement light path of described oblique reflection face A, B from spacecraft surface in the state that whole device closes cabin Gathering hole or spacecraft surface equipment installing port draw；The oblique reflection face faces the A normal, the oblique reflection face faces B normal group At plane be the faces C；The plane of the oblique reflection face faces the B normal, the faces C normal composition is the faces D；The oblique reflection face faces B The coordinate system that normal, the faces C normal and the faces D normal are constituted is tilting coordinate system；Set device abnormity accurate measurement mirror under single machine state The angle of oblique reflection face A, B outer normal direction line and plant machinery ontology coordinate, is obtained by the angle in plant machinery ontology Specialshaped accurate measurement mirror in coordinate system writes the faces reflecting surface A normal vector a_{j}, the oblique reflection face faces B normal vector b_{j}, the faces C normal vector c_{j} With the faces D normal vector d_{j}, be calculated the tilting coordinate system to plant machinery body coordinate system transition matrix；
2) the whole device of spacecraft closes the outer of the oblique reflection face faces A, the oblique reflection face faces B of measuring apparatus abnormity accurate measurement mirror under the state of cabin The angle of normal direction line and whole device mechanical coordinate system obtains the specialshaped accurate measurement mirror in whole device mechanical coordinate system by the angle The oblique reflection face faces A normal vector a_{e}, the oblique reflection face faces B normal vector b_{e}, the faces C normal vector c_{e}With the faces D normal vector d_{e}, calculate Obtain the tilting coordinate system to whole device mechanical coordinate system transition matrix；
3) according to the tilting of the transition matrix of the tilting coordinate system of step 1) to plant machinery body coordinate system and step 2) Plant machinery body coordinate system is calculated to whole device mechanical coordinate system to the transition matrix of whole device mechanical coordinate system in coordinate system Transition matrix, to obtain accurate results.
For the method for further illustrating the present invention proposed, the transform matrix calculations are as follows：
Tilting coordinate system described in step 1) is x_{x}y_{x}z_{x}, the plant machinery body coordinate system is x_{j}y_{j}z_{j}, The outer normal direction line and plant machinery ontology coordinate in the oblique reflection face faces A of single machine shape set device abnormity accurate measurement mirror, the faces B It is x_{j}y_{j}z_{j}Angle be respectively (α_{xj}, α_{yj}, α_{zj})、(β_{xj}, β_{yj}, β_{zj}), the specialshaped accurate measurement mirror oblique reflection face faces the A normal Vector a_{j}, the oblique reflection face faces B normal vector b_{j}, the faces C normal vector c_{j}With the faces D normal vector d_{j}In apparatus body coordinate system x_{j}y_{j} z_{j}It is middle to indicate as follows：
a_{j}=[a_{1j}, a_{2j}, a_{3j}]=[cos (α_{xj}), cos (α_{yj}), cos (α_{zj})]
b_{j}=[b_{1j}, b_{2j}, b_{3j}]=[cos (β_{xj}), cos (β_{yj}), cos (β_{zj})]
The tilting coordinate system x_{x}y_{x}z_{x}To plant machinery body coordinate system x_{j}y_{j}z_{j}Transition matrix be：
Whole device mechanical coordinate system described in step 2) is x_{e}y_{e}z_{e}, the whole device of the spacecraft closes to be measured under the state of cabin The oblique reflection face faces A of equipment abnormity accurate measurement mirror, the outer normal direction line in the faces B and whole device mechanical coordinate system x_{e}y_{e}z_{e}Angle be respectively (α_{xe}, α_{ye}, α_{ze})、(β_{xe}, β_{ye}, β_{ze})；The specialshaped accurate measurement mirror oblique reflection face faces the A normal vector a_{e}, the oblique reflection face faces B normal Vector b_{e}, the faces C normal vector c_{e}With the faces D normal vector d_{e}In whole device mechanical coordinate system x_{e}y_{e}z_{e}It is middle to indicate as follows：
a_{e}=[a_{1e}, a_{2e}, a_{3e}]=[cos (α_{xe}), cos (α_{ye}), cos (α_{ze})]
b_{e}=[b_{1e}, b_{2e}, b_{3e}]=[cos (β_{xe}), cos (β_{ye}), cos (β_{ze})]
The tilting coordinate system x_{x}y_{x}z_{x}To whole device mechanical coordinate system x_{e}y_{e}z_{e}Transition matrix be：
Plant machinery body coordinate system x described in step 3)_{j}y_{j}z_{j}To whole device mechanical coordinate system x_{e}y_{e}z_{e}Conversion Matrix is：
C_{je}=inv (C_{xj})×C_{xe}。
Accurate measurement method provided by the invention can draw the accurate measurement light path of high precision apparatus in closed spacecraft module, and not It needs to open up dedicated accurate measurement hole, the high precision apparatus installed in closed cabin is enable to carry out precision in the case where whole device closes cabin state It measures, so that the accurate measurement state of high precision apparatus is reached unanimity with state of flight, ensure that the validity of accurate measurement data.The party simultaneously Method is avoided opens up accurate measurement hole in closed cabin device table, advantageously ensures that the airtight performance of closed cabin, is conducive to raising system Reliability.
Description of the drawings
Fig. 1 Complex Different Shape accurate measurement mirrors are intended to；
Fig. 2 closed cabin accurate measurement status diagrams.
Specific implementation mode
Technical solution for a better understanding of the present invention, below in conjunction with the accompanying drawings and specific implementation case to the present invention do into One step is described in detail.
The present invention provides a kind of accurate measurement methods of the below deck equipment of closed spacecraft, are as follows：
A) two oblique reflection faces are processed on the regular hexahedron accurate measurement mirror installed on high precision apparatus, form the abnormity Accurate measurement mirror, as shown in Figure 1, being defined as reflecting surface A and reflecting surface B, the outer normal direction line of reflecting surface A, B and the basic machine of equipment are sat There is certain angle requirement in mark system, to ensure the accurate measurement light path of reflecting surface A, B in the state that whole device closes cabin from spacecraft surface Existing gathering hole or device table equipment installing port draw (need not open up dedicated accurate measurement hole).
High precision apparatus refers to the equipment having higher requirements to installation site and Installation posture.Such as camera space and space flight Engine could only shoot to obtain required image when the camera lens of camera space is directed toward specific direction, only work as space flight It just can guarantee that the thrust of engine carries out effective posture control to spacecraft when specific direction is directed toward in the spout direction of engine System and orbits controlling.
Define the oblique reflection face faces A normal, the plane of the oblique reflection face faces B normal composition is the faces C；Define the faces B normal, the faces C method The plane of line composition is the faces D；It is tilting seat to define the coordinate system that the abnormity faces accurate measurement mirror B normal, the faces C normal and the faces D normal are constituted Mark system x_{x}y_{x}z_{x}。
Normal direction line and equipment outside the oblique reflection face faces A, the oblique reflection face faces B of set device abnormity accurate measurement mirror under single machine state Basic machine coordinate system x_{j}y_{j}z_{j}Angle be respectively (α_{xj}, α_{yj}, α_{zj})、(β_{xj}, β_{yj}, β_{zj})。
The specialshaped faces accurate measurement mirror A normal vector a_{j}, the faces B normal vector b_{j}, the faces C normal vector c_{j}With the faces D normal vector d_{j}It is setting Standby body coordinate system x_{j}y_{j}z_{j}It is middle to indicate as follows：
a_{j}=[a_{1j}, a_{2j}, a_{3j}]=[cos (α_{xj}), cos (α_{yj}), cos (α_{zj})]
b_{j}=[b_{1j}, b_{2j}, b_{3j}]=[cos (β_{xj}), cos (β_{yj}), cos (β_{zj})]
From tilting coordinate system x_{x}y_{x}z_{x}To plant machinery body coordinate system x_{j}y_{j}z_{j}Transition matrix be：
B) faces A of measuring apparatus abnormity accurate measurement mirror, the outer normal direction line in the faces B and whole device machine in the case where the whole device of spacecraft closes cabin state Tool coordinate system x_{e}y_{e}z_{e}Angle be respectively (α_{xe}, α_{ye}, α_{ze})、(β_{xe}, β_{ye}, β_{ze})。
The specialshaped faces accurate measurement mirror A normal vector a_{e}, the faces B normal vector b_{e}, the faces C normal vector c_{e}With the faces D normal vector d_{e}Whole Device mechanical coordinate system x_{e}y_{e}z_{e}It is middle to indicate as follows：
a_{e}=[a_{1e}, a_{2e}, a_{3e}]=[cos (α_{xe}), cos (α_{ye}), cos (α_{ze})]
b_{e}=[b_{1e}, b_{2e}, b_{3e}]=[cos (β_{xe}), cos (β_{ye}), cos (β_{ze})]
From tilting coordinate system x_{x}y_{x}z_{x}To whole device mechanical coordinate system x_{e}y_{e}z_{e}Transition matrix be：
C) according to the accurate measurement under the setting result and whole device state under equipment single machine state as a result, plant machinery is calculated Body coordinate system x_{j}y_{j}z_{j}To whole device mechanical coordinate system x_{e}y_{e}z_{e}Transition matrix be：
C_{je}=inv (C_{xj})×C_{xe}
Specifically with laser IMU in certain model recoverable capsule (Inertial Measurement Units, inertial measuring unit) Accurate measurement method for illustrate, as shown in Figure 2.Recoverable capsule is to execute the closed spacecraft for reentering return task, device table There are antenna installation window and filling action pane, channel that can be in accurate measurement as accurate measurement light path；Swash with what accurate measurement required Light IMU is mounted on device inner bearing structure, and the complicated specialshaped accurate measurement mirror of installation, the abnormity accurate measurement mirror are arranged 2 altogether at the top of equipment Accurate measurement inclinedplane, as shown in Figure 1, the outer normal direction line in 2 accurate measurement faces and the angle of the apparatus body coordinate system of laser IMU are respectively set For (67.5075 °, 43.4765 °, 55.1173 °) and (65.4487 °, 68.065 °, 146.0314 °), the setting of the accurate measurement angle It can ensure that 2 accurate measurement light paths can install window from the filling window and antenna on spacecraft surface and draw, as shown in Figure 2.
Define the faces A normal, the plane of the faces B normal composition is the faces C；Define the faces B normal, the plane of the faces C normal composition is D Face；It is tilting coordinate system x to define the coordinate system that the abnormity faces accurate measurement mirror B normal, the faces C normal and the faces D normal are constituted_{x}y_{x}z_{x}。
The specialshaped faces accurate measurement mirror A normal, the faces B normal, the faces C normal and the faces D normal are in IMU body coordinate systems x_{j}y_{j}z_{j}Arrow Amount is as follows：
a_{j}=[0.382563,0.725657,0.571898]
b_{j}=[0.415508,0.373554, 0.82934]
It obtains from tilting coordinate system x_{x}y_{x}z_{x}To IMU body coordinate systems x_{j}y_{j}z_{j}Transition matrix be：
B) in the case where the whole device of spacecraft closes cabin state in measuring apparatus the outer normal direction line in 2 accurate measurement faces of specialshaped accurate measurement mirror with it is whole Device mechanical coordinate system x_{e}y_{e}z_{e}Angle be respectively (67.5226 °, 43.4358 °, 55.1492 °), (65.4205 °, 68.0999 °, 146.0344 °).
The specialshaped faces accurate measurement mirror A normal, the faces B normal, the faces C normal and the faces D normal are in whole device mechanical coordinate system x_{e}y_{e}z_{e}Arrow Amount is as follows：
a_{e}=[0.382319,0.726146,0.571441]
b_{e}=[0.415955,0.372989, 0.829373]
It can obtain tilting coordinate system x_{x}y_{x}z_{x}To whole device mechanical coordinate system x_{e}y_{e}z_{e}Transition matrix：
C) according to the accurate measurement under the accurate measurement result and whole device state under equipment single machine state as a result, passing through formula C_{je}=inv (C_{xj})×C_{xe}Apparatus body coordinate system x is calculated_{j}y_{j}z_{j}To whole device mechanical coordinate system x_{e}y_{e}z_{e}Transition matrix：
In conclusion the above is merely preferred embodiments of the present invention, being not intended to limit the scope of the present invention. All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in the present invention's Within protection domain.
Claims (3)
Priority Applications (1)
Application Number  Priority Date  Filing Date  Title 

CN201510035890.4A CN105890517B (en)  20150123  20150123  A kind of accuracy measurement method based on Complex Different Shape accurate measurement mirror 
Applications Claiming Priority (1)
Application Number  Priority Date  Filing Date  Title 

CN201510035890.4A CN105890517B (en)  20150123  20150123  A kind of accuracy measurement method based on Complex Different Shape accurate measurement mirror 
Publications (2)
Publication Number  Publication Date 

CN105890517A CN105890517A (en)  20160824 
CN105890517B true CN105890517B (en)  20180807 
Family
ID=56999657
Family Applications (1)
Application Number  Title  Priority Date  Filing Date 

CN201510035890.4A CN105890517B (en)  20150123  20150123  A kind of accuracy measurement method based on Complex Different Shape accurate measurement mirror 
Country Status (1)
Country  Link 

CN (1)  CN105890517B (en) 
Families Citing this family (1)
Publication number  Priority date  Publication date  Assignee  Title 

CN108426523A (en) *  20180302  20180821  北京空间技术研制试验中心  A kind of precision reference transfer method 
Citations (5)
Publication number  Priority date  Publication date  Assignee  Title 

JPS5990004A (en) *  19821115  19840524  Toshiba Corp  Device for measuring assembly precision 
CN101865653A (en) *  20100330  20101020  浙江大学  Method for measuring precision of 1# frame of plane general assembly 
CN102968401A (en) *  20121108  20130313  北京空间飞行器总体设计部  Spacecraft accurate measurement data processing system 
CN103076041A (en) *  20121226  20130501  北京空间飞行器总体设计部  Method for determining spacecraft equipment precision 
KR20140040469A (en) *  20120926  20140403  삼성전기주식회사  System for calibrating a scanner and method for calibrating the same 

2015
 20150123 CN CN201510035890.4A patent/CN105890517B/en active IP Right Grant
Patent Citations (5)
Publication number  Priority date  Publication date  Assignee  Title 

JPS5990004A (en) *  19821115  19840524  Toshiba Corp  Device for measuring assembly precision 
CN101865653A (en) *  20100330  20101020  浙江大学  Method for measuring precision of 1# frame of plane general assembly 
KR20140040469A (en) *  20120926  20140403  삼성전기주식회사  System for calibrating a scanner and method for calibrating the same 
CN102968401A (en) *  20121108  20130313  北京空间飞行器总体设计部  Spacecraft accurate measurement data processing system 
CN103076041A (en) *  20121226  20130501  北京空间飞行器总体设计部  Method for determining spacecraft equipment precision 
NonPatent Citations (2)
Title 

航天器总装精度测量中一种不规则棱镜矢量计算方法;王伟 等;《航天器环境工程》;20130228;第30卷(第1期);103106 * 
航天器总装精度测量方法分析;杨再华;《航天器环境工程》;20071231;第24卷(第6期);390392 * 
Also Published As
Publication number  Publication date 

CN105890517A (en)  20160824 
Similar Documents
Publication  Publication Date  Title 

CN104406598B (en)  A kind of noncooperative Spacecraft Attitude estimation method based on virtual sliding formwork control  
US10086956B2 (en)  Light adjustment control for cameras of an aerial vehicle  
EP3158412B1 (en)  Sensor fusion using inertial and image sensors  
CN104062977B (en)  Fullautonomous flight control method for quadrotor unmanned aerial vehicle based on vision SLAM  
CN105182995B (en)  Autonomous Landing of UAV system  
Kelly et al.  Visualinertial sensor fusion: Localization, mapping and sensortosensor selfcalibration  
Collinson  Introduction to avionics  
CN101726295B (en)  Unscented Kalman filterbased method for tracking inertial pose according to acceleration compensation  
CN105911866B (en)  The finite time fullorder sliding mode control method of quadrotor unmanned vehicle  
CN104567799B (en)  Multisensor information fusionbased method for measuring height of small unmanned gyroplane  
CN101858748B (en)  Faulttolerance autonomous navigation method of multisensor of highaltitude longendurance unmanned plane  
CN103323026B (en)  The attitude reference estimation of deviation of star sensor and useful load and modification method  
CN105760836A (en)  Multiangle face alignment method based on deep learning and system thereof and photographing terminal  
CN103697889B (en)  A kind of unmanned plane independent navigation and localization method based on multimodel Distributed filtering  
CN103676941B (en)  Satellite control system method for diagnosing faults based on kinematics and dynamics modeling  
CN103575299B (en)  Utilize dualaxis rotation inertial navigation system alignment and the error correcting method of External Observation information  
Yuan et al.  Error compensation of an optical gyro INS by multiaxis rotation  
CN103744372B (en)  The multisensor method for synchronizing time of unmanned plane electric inspection process and system  
CN103256928B (en)  Distributed inertial navigation system and posture transfer alignment method thereof  
BRPI0708990A2 (en)  Method and equipment for determining altitude of a mobile device  
WO2008054734A3 (en)  Access station for building monitoring systems  
CN105022401A (en)  SLAM method through cooperation of multiple quadrotor unmanned planes based on vision  
CN104848859A (en)  Threeaxis inertial stabilization platform and selfpositioning and orientation control method thereof  
CN104165640B (en)  Nearspace missileborne strapdown inertial navigation system transfer alignment method based on star sensor  
CN103323625B (en)  Error calibration compensation method of accelerometers in MEMSIMU under dynamic environment 
Legal Events
Date  Code  Title  Description 

PB01  Publication  
C06  Publication  
SE01  Entry into force of request for substantive examination  
C10  Entry into substantive examination  
SE01  Entry into force of request for substantive examination  
C10  Entry into substantive examination  
GR01  Patent grant  
GR01  Patent grant 