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 PDF

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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
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faces
coordinate
accurate measurement
normal
whole
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CN201510035890.4A
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CN105890517A (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 invention discloses a kind of spacecraft accurate measurement methods based on Complex Different Shape accurate measurement mirror, this method is drawn the accurate measurement light path of closed cabin internal unit by the way that complicated accurate measurement minute surface is arranged, and to realize, high precision apparatus closes the precision measure under the state of cabin in whole device in closed cabin.This method can make the accurate measurement state of high precision apparatus reach unanimity with state of flight, eliminate conventional containment spacecraft and opening the cabin door or subdivision section draws high the trueness error that equipment belt comes in survey room under state, ensure that the validity of accurate measurement data.

Description

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

Technical field

The invention belongs to spacecraft-testing 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 high-precision 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 Special-shaped 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 Special-shaped accurate measurement mirror in coordinate system writes the faces reflecting surface A normal vector aj, the oblique reflection face faces B normal vector bj, the faces C normal vector cj With the faces D normal vector dj, 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 special-shaped accurate measurement mirror in whole device mechanical coordinate system by the angle The oblique reflection face faces A normal vector ae, the oblique reflection face faces B normal vector be, the faces C normal vector ceWith the faces D normal vector de, 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 xx-yx-zx, the plant machinery body coordinate system is xj-yj-zj, 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 xj-yj-zjAngle be respectively (αxj, αyj, αzj)、(βxj, βyj, βzj), the special-shaped accurate measurement mirror oblique reflection face faces the A normal Vector aj, the oblique reflection face faces B normal vector bj, the faces C normal vector cjWith the faces D normal vector djIn apparatus body coordinate system xj-yj- zjIt is middle to indicate as follows：

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

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

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

Whole device mechanical coordinate system described in step 2) is xe-ye-ze, 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 xe-ye-zeAngle be respectively (αxe, αye, αze)、(βxe, βye, βze)；The special-shaped accurate measurement mirror oblique reflection face faces the A normal vector ae, the oblique reflection face faces B normal Vector be, the faces C normal vector ceWith the faces D normal vector deIn whole device mechanical coordinate system xe-ye-zeIt is middle to indicate as follows：

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

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

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

Plant machinery body coordinate system x described in step 3)j-yj-zjTo whole device mechanical coordinate system xe-ye-zeConversion Matrix is：

Cje=inv (Cxj)×Cxe。

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 xx-yx-zx。

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 xj-yj-zjAngle be respectively (αxj, αyj, αzj)、(βxj, βyj, βzj)。

The special-shaped faces accurate measurement mirror A normal vector aj, the faces B normal vector bj, the faces C normal vector cjWith the faces D normal vector djIt is setting Standby body coordinate system xj-yj-zjIt is middle to indicate as follows：

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

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

From tilting coordinate system xx-yx-zxTo plant machinery body coordinate system xj-yj-zjTransition 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 xe-ye-zeAngle be respectively (αxe, αye, αze)、(βxe, βye, βze)。

The special-shaped faces accurate measurement mirror A normal vector ae, the faces B normal vector be, the faces C normal vector ceWith the faces D normal vector deWhole Device mechanical coordinate system xe-ye-zeIt is middle to indicate as follows：

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

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

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

Cje=inv (Cxj)×Cxe

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 special-shaped accurate measurement mirror of installation, the abnormity accurate measurement mirror are arranged 2 altogether at the top of equipment Accurate measurement inclined-plane, 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 constitutedx-yx-zx。

The special-shaped 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 xj-yj-zjArrow Amount is as follows：

aj=[0.382563,0.725657,0.571898]

bj=[0.415508,0.373554, -0.82934]

It obtains from tilting coordinate system xx-yx-zxTo IMU body coordinate systems xj-yj-zjTransition 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 special-shaped accurate measurement mirror with it is whole Device mechanical coordinate system xe-ye-zeAngle be respectively (67.5226 °, 43.4358 °, 55.1492 °), (65.4205 °, 68.0999 °, 146.0344 °).

The special-shaped 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 xe-ye-zeArrow Amount is as follows：

ae=[0.382319,0.726146,0.571441]

be=[0.415955,0.372989, -0.829373]

It can obtain tilting coordinate system xx-yx-zxTo whole device mechanical coordinate system xe-ye-zeTransition 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 Cje=inv (Cxj)×CxeApparatus body coordinate system x is calculatedj-yj-zjTo whole device mechanical coordinate system xe-ye-zeTransition 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)

1. a kind of accuracy measurement method based on Complex Different Shape accurate measurement mirror, which is characterized in that include 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, be formed described different Shape 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 folder The angle at angle makes the accurate measurement light path of described oblique reflection face A, B in the state that whole device closes cabin from the existing behaviour in spacecraft surface Make mouth or spacecraft surface equipment installing port is drawn；The oblique reflection face faces the A normal, the oblique reflection face faces B normal composition Plane is 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 the B normal, The coordinate system that the faces C normal and the faces D normal are constituted is tilting coordinate system；The oblique reflection of set device abnormity accurate measurement mirror under single machine state The angle of face A, B outer normal direction line and plant machinery ontology coordinate, is obtained by the angle in plant machinery body coordinate system In the special-shaped accurate measurement mirror oblique reflection face faces A normal vector aj, the oblique reflection face faces B normal vector bj, the faces C normal vector cjWith the faces D method Line vector bj, be calculated the tilting coordinate system to plant machinery body coordinate system transition matrix；The high-precision Equipment refers to the equipment having higher requirements to installation site and Installation posture；
2) the whole device of spacecraft closes the outer normal direction in the oblique reflection face faces A, the oblique reflection face faces B of measuring apparatus abnormity accurate measurement mirror under the state of cabin It is tiltedly anti-to obtain the special-shaped accurate measurement mirror in whole device mechanical coordinate system by the angle for the angle of line and whole device mechanical coordinate system Penetrate the face faces A normal vector ae, the oblique reflection face faces B normal vector be, the faces C normal vector ceWith the faces D normal vector de, it is calculated Transition matrix of the tilting coordinate system to whole device mechanical coordinate system；
3) according to the tilting coordinate of the transition matrix of the tilting coordinate system of step 1) to plant machinery body coordinate system and step 2) It is the transition matrix to whole device mechanical coordinate system, conversion of the plant machinery body coordinate system to whole device mechanical coordinate system is calculated Matrix, to obtain accurate results.
2. a kind of accuracy measurement method based on Complex Different Shape accurate measurement mirror according to claim 1, which is characterized in that step
1) the tilting coordinate system described in is xx-yx-zx, the plant machinery body coordinate system is xj-yj-zj, the list Normal direction line and plant machinery body coordinate system x outside the oblique reflection face faces A, the faces B of set device abnormity accurate measurement mirror under machine statej-yj- zjAngle be respectively (αxj, αyj, αzj)、(βxj, βyj, βzj), the special-shaped accurate measurement mirror oblique reflection face faces the A normal vector aj, tiltedly The faces reflecting surface B normal vector bj, the faces C normal vector cjWith the faces D normal vector djIn apparatus body coordinate system xj-yj-zjMiddle expression It is as follows：
aj=[a1j, a2j, a3j]=[cos (αxj), cos (αyj), cos (αzj)]
bj=[b1j, b2j, b3j]=[cos (βxj), cos (βyj), cos (βzj)]
The tilting coordinate system xx-yx-zxTo plant machinery body coordinate system xj-yj-zjTransition matrix be：
Whole device mechanical coordinate system described in step 2) is xe-ye-ze, the whole device of the spacecraft closes measuring apparatus under the state of cabin The oblique reflection face faces A of special-shaped accurate measurement mirror, the outer normal direction line in the faces B and whole device mechanical coordinate system xe-ye-zeAngle be respectively (αxe, αye, αze)、(βxe, βye, βze)；The special-shaped accurate measurement mirror oblique reflection face faces the A normal vector ae, the oblique reflection face faces B normal vector be, the faces C normal vector ceWith the faces D normal vector deIn whole device mechanical coordinate system xe-ye-zeIt is middle to indicate as follows：
ae=[a1e, a2e, a3e]=[cos (αxe), cos (αye), cos (αze)]
be=[b1e, b2e, b3e]=[cos (βxe), cos (βve), cos (βze)]
The tilting coordinate system xx-yx-zxTo whole device mechanical coordinate system xe-ye-zeTransition matrix be：
Plant machinery body coordinate system x described in step 3)j-yj-zjTo whole device mechanical coordinate system xe-ye-zeTransition matrix For：
Cje=inv (Cxj)×Cxe。
3. a kind of accuracy measurement method based on Complex Different Shape accurate measurement mirror according to claim 1 or 2, which is characterized in that The high precision apparatus is camera space, airspace engine, laser inertia measuring device.
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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