CN106314821A - Method and device for transmitting supporting position of large component of aircraft - Google Patents

Abstract

The invention relates to a method for transmitting the supporting position of a large component of an aircraft. The method comprises the following steps of A. respectively generating a local coordinate system for each of supporting components; B. measuring local coordinates of arbitrary M auxiliary points on each of the local coordinate systems; C. measuring local coordinates of arbitrary N measuring points on a contact surface of each technical ball head and a corresponding ball socket; D. according to the local coordinates of the N measuring points, calculating the local coordinate of the ball center of a corresponding spherical surface enveloped by the N measuring points; E. fixing the large component of the aircraft to the supporting components; F. generating a global coordinate system for an aircraft assembling site platform formed by the supporting components; G. measuring global coordinates of M auxiliary points on the global coordinate system; H. calculating a transformational relation of the local coordinate and the global coordinate of each of the M auxiliary points; I. converting the local coordinate of the ball center into the global coordinate of the ball center according to the transformational relation; and J. transmitting the global coordinate of the ball center to the supporting components of a next station. Through the adoption of the method disclosed by the invention, transmission of the supporting position of the large component of the aircraft between the stations is realized.

Description

For the method and apparatus transmitting Large Aircraft Components Support Position

Technical field

The present invention relates to Large Aircraft Components assembling field, in particular it relates to a kind of method for transmitting Large Aircraft Components Support Position.

Background technology

In aircraft assembling docking processing, in order to ensure assembly precision, need to realize Large Aircraft Components, under different erect-positions, there is unified support coordinate.But, the locator structure of different erect-positions can be different, and such as, portion uses hand-rail type localizer in the dress stage, and the general assembly stage uses digital control location device.Digital control location device is capable of real time position feedback, grating scale accuracy guarantee and self adaptation and enters the advantages such as position.And traditional hand-rail type localizer is portable, it can not realize being synchronized with the movement between position and each hand localizer accurately, thus aircraft components can be caused to have internal stress and produce.Therefore, during the hand localizer erect-position of use to use digital control location device erect-position, it is difficult to realize the most accurately transmission of data.

It practice, after a upper erect-position completes Large Aircraft Components mounting and adjusting by hand location, the ball-and-socket center of hand localizer is the numerical control positioning target location of next erect-position.In order to obtain this target location, it is possible to demarcate auxiliary magnet and the relation at ball-and-socket center by increasing aided measurement device on hand location.In parts adjust, the rigid body that auxiliary magnet and ball-and-socket are centrally formed on the whole moves.Therefore, it is possible to application singular value decomposition carrys out the final coordinate of reverse target location.

Summary of the invention

A kind of for transmitting the method for Large Aircraft Components Support Position and corresponding device between multiple erect-positions owing to the most also not having, therefore, it is an object of the invention to provide the device of method for transmitting Large Aircraft Components Support Position, thus realize Large Aircraft Components, under different erect-positions, there is unified support coordinate.

For achieving the above object, a first aspect of the present invention provides a kind of method for transmitting Large Aircraft Components Support Position, wherein, described Large Aircraft Components has the technique bulb in the ball-and-socket for being fixed on multiple support member, said method comprising the steps of: A. is that each support member generates local coordinate system respectively；B. fastening in each local coordinate and measure the local coordinate of any M auxiliary magnet, wherein, M is the integer more than or equal to 3；C. measuring any N number of local coordinate measuring point on the contact surface of described technique bulb and described ball-and-socket, wherein, N is the integer more than or equal to 3；D. described any N number of centre of sphere local coordinate measuring the sphere that some envelope becomes is calculated according to described any N number of local coordinate measuring point；E. described Large Aircraft Components is fixed in the plurality of support member；F. the aircraft erecting yard platform for being made up of the plurality of support member generates global coordinate system；G. fasten at described world coordinates and measure the world coordinates of described M auxiliary magnet；H. the transformational relation between local coordinate and the world coordinates of described M auxiliary magnet is calculated；I. according to described transformational relation, described centre of sphere local coordinate is converted to centre of sphere world coordinates；And described centre of sphere world coordinates is passed to the support member of next erect-position by J..

Pass through said method so that position, the next stop is obtained in that centre of sphere world coordinates, thus the support coordinate of Large Aircraft Components can be unified between different erect-positions, improves the precision of assembling.

According to the present invention in a kind of embodiment of the method for transmitting Large Aircraft Components Support Position, measure the local coordinate of described M auxiliary magnet and world coordinates by laser tracker and described N number of measure the local coordinate put.In this way, it is possible to simply and accurately measurement space coordinate figure.

In a kind of embodiment according to the method being used for transmitting Large Aircraft Components Support Position of the present invention, least-square fitting approach is used to calculate described N number of centre of sphere local coordinate measuring the sphere that some envelope becomes.

In a kind of embodiment according to the method being used for transmitting Large Aircraft Components Support Position of the present invention, represent described transformational relation by spin matrix and translation matrix.

In a kind of embodiment according to the method being used for transmitting Large Aircraft Components Support Position of the present invention, the quantity of described auxiliary magnet is three.

In a kind of embodiment according to the method being used for transmitting Large Aircraft Components Support Position of the present invention, the described quantity measuring point is four.

A second aspect of the present invention provides a kind of device for transmitting Large Aircraft Components Support Position, wherein, described Large Aircraft Components has the technique bulb in the ball-and-socket for being fixed on multiple support member, described device includes: the first signal generating unit, and described first signal generating unit is for generating local coordinate system for each support member；First measuring unit, described first measuring unit measures the local coordinate of any M auxiliary magnet for fastening in each local coordinate, and wherein, M is the integer more than or equal to 3；Second measuring unit, described second measuring unit is for measuring the local coordinate of any N number of measurement point on the contact surface of described technique bulb and described ball-and-socket, and wherein, N is the integer more than or equal to 3；First computing unit, described first computing unit is for calculating described any N number of centre of sphere local coordinate measuring the sphere that some envelope becomes according to described any N number of local coordinate measuring point；Fixed cell, described fixed cell is for being fixed on the plurality of support member by described Large Aircraft Components；Second signal generating unit, described second signal generating unit generates global coordinate system for the aircraft erecting yard platform for being made up of the plurality of support member；3rd measuring unit, described 3rd measuring unit measures the world coordinates of described M auxiliary magnet at described world coordinates for fastening；Second computing unit, described second computing unit transformational relation between local coordinate and the world coordinates calculating described M auxiliary magnet；Converting unit, described converting unit is for being converted to centre of sphere world coordinates according to described transformational relation by described centre of sphere local coordinate；Transfer unit, described transfer unit for passing to the support member of next erect-position by described centre of sphere world coordinates.

The method according to the invention and device, it is possible to effectively overcome the support member of the most hand localizer to lack the deficiency of position feedback, it is achieved that the digitized transmission of fabrication data between erect-position.Additionally, auxiliary device on the supporting member is simple and reliable, and Method Modeling is simple, and solving precision is high.Furthermore, which further improves the automatization of aircraft assembling, level of digital.

Accompanying drawing explanation

Embodiments of the invention are explained further, wherein with reference to figure below and explanation:

Fig. 1 shows the schematic diagram of the support member according to one embodiment of the present invention；

Fig. 2 shows the schematic diagram of the aircraft erecting yard platform being made up of multiple support members according to one embodiment of the present invention；

Fig. 3 shows the flow chart of the method for transmitting Large Aircraft Components Support Position according to one embodiment of the present invention.

Detailed description of the invention

In the specific descriptions of following preferred embodiment, by with reference to constituting the accompanying drawing appended by a present invention part.Appended accompanying drawing has been illustrated by way of example and has been capable of specific embodiment.The embodiment of example is not intended as the limit all embodiments according to the present invention.It is appreciated that without departing from the scope of the present invention, it is possible to use other embodiments, it is also possible to carry out the structural or amendment of logicality.Therefore, following specific descriptions are the most nonrestrictive, and the scope of the present invention is defined by the claims appended hereto.

Fig. 1 shows the schematic diagram of the support member according to one embodiment of the present invention.

As it is shown in figure 1, support means is implemented as hand-rail type localizer 100.Being provided with aided measurement device 101 on this hand-rail type localizer, this aided measurement device 101 has multiple dowel hole being used as to measure auxiliary magnet.According to one embodiment of present invention, only use three dowel holes P1, P2 and P3.This three dowel holes coordinate in local coordinate system can measure by means of laser tracker.

The top of hand-rail type localizer 100 is provided with ball-and-socket, and this ball-and-socket can combine with the technique bulb on Large Aircraft Components.Owing to there is not any entity at the centre of sphere C of ball-and-socket, so the centre of sphere directly cannot be measured by laser tracker.

Fig. 2 shows the schematic diagram of the aircraft erecting yard platform being made up of multiple support members according to one embodiment of the present invention.

As in figure 2 it is shown, support member includes four hand-rail type localizers 201,202,203 and 204, for supporting Large Aircraft Components 200.Three dowel holes being used as to measure auxiliary magnet it are provided with on each hand-rail type localizer.The coordinate that these dowel holes are fastened at world coordinates also can be recorded by laser tracker.

Fig. 3 shows the flow chart of the method for transmitting Large Aircraft Components Support Position according to one embodiment of the present invention.

In step S301, generate local coordinate system respectively for each support member.In geometric space, this local coordinate system includes three axis of orientations.The direction of these three axis of orientation and the initial point of coordinate system can be arbitrary.

In step s 302, fasten in each local coordinate and measure the local coordinate of any 3 auxiliary magnets.The local coordinate of 3 dowel holes as shown in Figure 1 is such as measured by laser tracker

In step S303, measure any 4 local coordinates S measuring point on the contact surface of technique bulb and ball-and-socket₁: S₄。

In step s 304, these 4 centre of sphere local coordinates C measuring the sphere that some envelope becomes are calculated according to these 4 local coordinates measuring point^Local。

According to one embodiment of the present of invention, it is possible to use least-square fitting approach to calculate centre of sphere local coordinate C^Local.Specifically comprise the following steps that

Calculate the midpoint M of four seamed edges₁: M₄For:

$\left\{\begin{array}{c}{M}_1=(S_1+S_2)/2\\ M_2=(S_2+S_3)/2\\ M_3=(S_3+S_4)/2\\ M_4=(S_4+S_1)/2\end{array}\right.$

Calculate for the direction vector n of four seamed edges₁: n₄For:

$\left\{\begin{array}{c}{n}_1=S_1-S_2\\ n_2=S_2-S_3\\ n_3=S_3-S_4\\ n_4=S_4-S_1\end{array}\right.$

Use M₁: M₄And n₁: n₄Represented vertical plane α for rib direction in seamed edge₁: α₄, it is respectively as follows:

$\left\{\begin{array}{cc}{\mathrm{\α}}_1:& n_{1x}(x-M_{1x})+n_{1y}(y-M_{1y})+n_{1z}(z-M_{1z})=0\\ {\mathrm{\α}}_2:& n_{2x}(x-M_{2x})+n_{2y}(y-M_{2y})+n_{2z}(z-M_{2z})=0\end{array}\right.$

$\left\{\begin{array}{cc}{\mathrm{\α}}_3:& n_{3x}(x-M_{3x})+n_{3y}(y-M_{3y})+n_{3z}(z-M_{3z})=0\\ {\mathrm{\α}}_4:& n_{4x}(x-M_{4x})+n_{4y}(y-M_{4y})+n_{4z}(z-M_{4z})=0\end{array}\right.$

Simultaneous solution plane α₁With plane α₂, plane α₃With plane α₄Respectively obtain intersection l₁With intersection l₂For:

$\left\{\begin{array}{cc}{l}_1:& \frac{x-x_1}{m_1}=\frac{y-y_1}{n_1}=\frac{z-z_1}{p_1}\\ l_2:& \frac{x-x_2}{m_2}=\frac{y-y_2}{n_2}=\frac{z-z_2}{p_2}\end{array}\right.$

Wherein, (x₁, y₁, z₁)、(x₂, y₂, z₂) and (m₁, n₁, p₁)、(m₂, n₂, p₂) represent intersection intersection l respectively₁And l₂The point of process and direction vector.

Last simultaneous intersection l₁With plane α₁Solve its intersection point

$C_0^1=(x_0^1,y_0^1,z_0^1)$

In like manner can solve intersection l₁With plane α₂Intersection pointIntersection l₂With plane α₁Intersection pointIntersection l₂With plane α₂Intersection point

$C_0^2=(x_0^2,y_0^2,z_0^2)$

$C_0^3=(x_0^3,y_0^3,z_0^3)$

$C_0^4=(x_0^4,y_0^4,z_0^4)$

TakeThe midpoint of these four points is as the initial value of sphere centre coordinate:

$\left\{\begin{array}{c}{C}_0^{Local}=(x_0,y_0,z_0)\\ x_0=x_0^1+x_0^2+x_0^3+x_0^4\\ y_0=y_0^1+y_0^2+y_0^3+y_0^4\\ z_0=z_0^1+z_0^2+z_0^3+z_0^4\end{array}\right.$

When obtaining initial valueAfter, build least squares equation as follows:

$min\mathrm{\Σ}{1}^2=\underset{i=1}{\overset{N}{\Σ}}({(x_i^{Local}-x_C^{Local})}^2+{(y_i^{Local}-y_C^{Local})}^2+{(z_i^{Local}-z_C^{Local})}^2)$

Wherein, spherical surface measurement point: $S_i^{Local}={\left[\begin{array}{ccc}{x}_i^{Local}& y_i^{Local}& z_i^{Local}\end{array}\right]}^T$

Equation min ∑ l²To solve be a nonlinear least square problem, use nonlinear optimization method L-M algorithm, known variables ismin∑l²It is equivalent to

MinS (X)=f (x)^TF (x), then $f\left(x\right)=\left[\begin{array}{c}{x}_1^{Local}-x_C^{Local}\\ y_1^{Local}-y_C^{Local}\\ z_1^{Local}-z_C^{Local}\\ M\\ x_N^{Local}-x_C^{Local}\\ y_N^{Local}-y_C^{Local}\\ z_N^{Local}-z_C^{Local}\end{array}\right],$ It is as follows that specific algorithm realizes process:

(1-1) initial point x is given⁽⁰⁾=[x₀ y₀ z₀]^T, Selecting All Parameters β ∈ (0,1), μ ＞ 1, v ＞ 1 and precision ε ＞ 0, puts k=0；

(1-2) f (x is calculated^(k)), S (x^(k))；

(1-3) calculate

(1-4) calculate $\▿S\left(x^{\left(k\right)}\right)={(\▿f(x^{\left(k\right)}\left)\right)}^T\·f\left(x^{\left(k\right)}\right);$

(1-5) order $Q={(\▿f(x^{\left(k\right)}\left)\right)}^T\·(\▿f(x^{\left(k\right)}),$ Solve equation $\[Q+\mathrm{\μ}I\]\mathrm{\Δ}x=-\▿S\left(x^{\left(k\right)}\right);$

(1-6) x is made^(k+1)=x^(k)+ Δ x, calculates whether end condition meets, and is unsatisfactory for turning (1-7)；

If (1-7)Make μ=μ/v, turn (1-8), otherwise make μ=μ v, turn (1-5)；

(1-8) make k=k+1, turn (1-3).

In step S305, Large Aircraft Components is fixed in multiple support member.Large Aircraft Components for example, airframe cylinder section, aircraft wing etc..

In step S306, generate global coordinate system for the aircraft erecting yard platform being made up of multiple support members.The most as shown in Figure 2.In geometric space, this global coordinate system includes three axis of orientations.The direction of these three axis of orientation and the initial point of global coordinate system can be arbitrary.

In step S307, fasten the world coordinates measuring 3 auxiliary magnets at world coordinates.The world coordinates of measurement and positioning pin-and-hole is such as carried out by laser tracker

In step S308, calculate the transformational relation between local coordinate and the world coordinates of 3 auxiliary magnets.For instance, it is possible to determine that local coordinate is tied to spin matrix and the translation vector of global coordinate system by SVD decomposition method, specifically comprise the following steps that

(2-1) according to auxiliary magnet at the coordinate of local coordinate systemWith the coordinate under global coordinate systemSet up following least square relational expression:

$\mathrm{\Σ}{2}^2=\underset{i=1}{\overset{3}{\Σ}}\left|\right|P_i^{Globe}-({\mathrm{RP}}_i^{Local}+T)|{|}^2$

Wherein P_i ^GlobeIt is auxiliary magnet coordinate under global coordinate system, P_i ^LocalBeing auxiliary magnet coordinate under local coordinate system, R is spin matrix, and T is translation matrix.

(2-2) according to three auxiliary magnets at the coordinate of local coordinate systemWith the coordinate under global coordinate systemBased on singular value decomposition method, with ∑ 2²Obtain minima and solve least square relation, obtain spin matrix and translation vector.

Order ${\mathrm{\μ}}^{Globe}=\frac{1}{n}\underset{i=1}{\overset{n}{\Σ}}{P}_i^{Globe},{\mathrm{\μ}}^{Local}=\frac{1}{n}\underset{i=1}{\overset{n}{\Σ}}{P}_i^{Local},$

Make again $q_i^{Globe}=P_i^{Globe}-{\mathrm{\μ}}^{Globe},q_i^{Local}=P_i^{Local}-{\mathrm{\μ}}^{Local},$ So above formula can be reduced to:

$\mathrm{\Σ}{2}^2=\underset{i=1}{\overset{3}{\Σ}}\left|\right|q_i^{Globe}-({\mathrm{Rq}}_i^{Local}+T)|{|}^2$

Launch above formula

$\begin{array}{c}\mathrm{\Σ}{2}^2=\underset{i=1}{\overset{n}{\Σ}}{(q_i^{Globe}-{\mathrm{Rq}}_i^{Local})}^T(q_i^{Globe}-{\mathrm{Rq}}_i^{Local})\\ =\underset{i=1}{\overset{n}{\Σ}}({\left(q_i^{Globe}\right)}^T{q}_i^{Globe}+{\left(q_i^{Local}\right)}^T{R}^T{\mathrm{Rq}}_i^{Local}-{\left(q_i^{Globe}\right)}^T{\mathrm{Rq}}_i^{Local}-{\left(q_i^{Local}\right)}^T{R}^T{q}_i^{Globe})\\ =\underset{i=1}{\overset{n}{\Σ}}({\left(q_i^{Globe}\right)}^T{q}_i^{Globe}+{\left(q_i^{Local}\right)}^T{q}_i^{Local}-2{\left(q_i^{Globe}\right)}^T{\mathrm{Rq}}_i^{Local})\end{array}$

So, ∑ 2 is solved²Minima be just to solve for the maximum of following formula:

$F=\underset{i=1}{\overset{n}{\Σ}}{\left(q_i^{Globe}\right)}^T{\mathrm{Rq}}_i^{Local}\≤Trace\left(\underset{i=1}{\overset{n}{\Σ}}{\mathrm{Rq}}_i^{Local}{\left(q_i^{Globe}\right)}^T\right)=Trace\left(RH\right)$

Wherein: Trace is matrix trace,First matrix H is carried out singular value decomposition so that:

H=UDV^T

Wherein: D is a diagonal matrix, U and V is orthogonal matrices.Spin matrix R can be calculated by below equation: H=VU^T.Translation matrix T is solved by spin matrix: T=μ^Globe-Rμ^LocalIf det (R)=+ 1, then R is exactly required calculated solution；If det (R)=-1, observing three host elements of diagonal matrix D, if the host element that existence value is order, then row corresponding to matrix V take negative.Such as: if the 3rd of D the host element is zero, then order:

V '=[v₁ v₂ v₃]

Wherein: v1 is the 1st row of matrix V, 1=1,2,3.

Then selection matrix R is: R=V ' U^T。

Same method is used to be calculated translation matrix T.

If in the present invention in the case of det (R)=-1, there is not the host element that value is zero in matrix V, then cannot find optimal coupling, need to use additive method.

In step S309, according to transformational relation above, centre of sphere local coordinate is converted to centre of sphere world coordinates.It is to say, according to formula C^Globe=RC^Local+ T is by ball-and-socket centre coordinate under local coordinate systemIt is transformed into global coordinate systemUnder.

In step S310, centre of sphere world coordinates is passed to the support member of next erect-position, thus enter the reference position of position for the Digital location device self adaptation of next erect-position.

In order to implement above-mentioned method, present invention also offers a kind of device for transmitting Large Aircraft Components Support Position.nullThis device includes the first signal generating unit for generating local coordinate system for each support member、For fastening the first measuring unit of the local coordinate measuring any 3 auxiliary magnets in each local coordinate、For measuring the second measuring unit of any 4 local coordinates measuring point on the contact surface of technique bulb and ball-and-socket、For measuring the first computing unit that the local coordinate of point calculates the centre of sphere local coordinate of the sphere that its envelope becomes according to 4、For Large Aircraft Components being fixed on the fixed cell in the plurality of support member、The second signal generating unit of global coordinate system is generated multiple support members for the aircraft erecting yard platform for being made up of、For fastening the 3rd measuring unit of the world coordinates measuring 3 auxiliary magnets at world coordinates、Second computing unit of the transformational relation between local coordinate and the world coordinates calculating described 3 auxiliary magnets、For centre of sphere local coordinate being converted to according to transformational relation the converting unit of centre of sphere world coordinates、For centre of sphere world coordinates being passed to the transfer unit of the support member of next erect-position.

Although above only describes 3 auxiliary magnets and 4 to measure the situations of point, but, more than or equal to 3 auxiliary magnets with measure all of situations of point more than or equal to 3 all within protection scope of the present invention.

Although the foregoing describing the detailed description of the invention of the present invention, but those skilled in the art can make various changes and modifications within the scope of the appended claims.

Claims (12)

1. for the method transmitting Large Aircraft Components Support Position, wherein, described aircraft Big parts have the technique bulb in the ball-and-socket for being fixed on multiple support member, described method Comprise the following steps:

A. local coordinate system is generated respectively for each support member；

B. fasten in each local coordinate and measure the local coordinate of any M auxiliary magnet, wherein, M is the integer more than or equal to 3；

C. any N number of measurement on the contact surface of described technique bulb and described ball-and-socket is measured The local coordinate of point, wherein, N is the integer more than or equal to 3；

D. described any N number of measurement is calculated according to described any N number of local coordinate measuring point The centre of sphere local coordinate of the sphere that some envelope becomes；

E. described Large Aircraft Components is fixed in the plurality of support member；

F. the aircraft erecting yard platform for being made up of the plurality of support member generates overall situation seat Mark system；

G. fasten at described world coordinates and measure the world coordinates of described M auxiliary magnet；

H. calculate the conversion between local coordinate and the world coordinates of described M auxiliary magnet to close System；

I. according to described transformational relation, described centre of sphere local coordinate is converted to centre of sphere world coordinates； And

J. described centre of sphere world coordinates is passed to the support member of next erect-position.

Method the most according to claim 1, it is characterised in that pass through laser tracker Measure the local coordinate of described M auxiliary magnet and world coordinates and described N number of measurement point Local coordinate.

Method the most according to claim 1, it is characterised in that use least square to intend Conjunction method calculates described N number of centre of sphere local coordinate measuring the sphere that some envelope becomes.

Method the most according to claim 1, it is characterised in that by spin matrix peace Move matrix and represent described transformational relation.

Method the most according to claim 1, it is characterised in that the number of described auxiliary magnet Amount is three.

Method the most according to claim 1, it is characterised in that the number of described measurement point Amount is four.

7. for transmitting a device for Large Aircraft Components Support Position, wherein, described aircraft Big parts have the technique bulb in the ball-and-socket for being fixed on multiple support member, described device Including:

First signal generating unit, described first signal generating unit is for generating local for each support member Coordinate system；

First measuring unit, described first measuring unit is for fastening measurement in each local coordinate The arbitrarily local coordinate of M auxiliary magnet, wherein, M is the integer more than or equal to 3；

Second measuring unit, described second measuring unit is for measuring in described technique bulb and institute Stating any N number of local coordinate measuring point on the contact surface of ball-and-socket, wherein, N is for being more than In the integer of 3；

First computing unit, described first computing unit is for according to described any N number of measurement point Local coordinate calculate and described any N number of measure the centre of sphere local coordinate of sphere that some envelope becomes；

Fixed cell, described fixed cell is for being fixed on the plurality of by described Large Aircraft Components In support member；

Second signal generating unit, described second signal generating unit is used for as by the plurality of support member structure The aircraft erecting yard platform become generates global coordinate system；

3rd measuring unit, described 3rd measuring unit is for fastening measurement at described world coordinates The world coordinates of described M auxiliary magnet；

Second computing unit, described second computing unit is for calculating described M auxiliary magnet Transformational relation between local coordinate and world coordinates；

Converting unit, described converting unit is for according to described transformational relation by the described centre of sphere locally Coordinate Conversion is centre of sphere world coordinates；

Transfer unit, described transfer unit is for passing to the next stop by described centre of sphere world coordinates The support member of position.

Method the most according to claim 7, it is characterised in that measure described first Unit, the second measuring unit and the 3rd measuring unit are embodied as laser tracker.

Method the most according to claim 7, it is characterised in that described first calculates list Unit uses least-square fitting approach to calculate described N number of ball measuring the sphere that some envelope becomes Heart local coordinate.

Method the most according to claim 7, it is characterised in that by spin matrix peace Move matrix and represent described transformational relation.

11. methods according to claim 7, it is characterised in that the number of described auxiliary magnet Amount is three.

12. methods according to claim 7, it is characterised in that the number of described measurement point Amount is four.