CN106772915B - A kind of installation method of satellite benchmark prism - Google Patents
A kind of installation method of satellite benchmark prism Download PDFInfo
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- CN106772915B CN106772915B CN201710091029.9A CN201710091029A CN106772915B CN 106772915 B CN106772915 B CN 106772915B CN 201710091029 A CN201710091029 A CN 201710091029A CN 106772915 B CN106772915 B CN 106772915B
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- prism
- satellite
- coordinate system
- benchmark
- measurement
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B7/00—Mountings, adjusting means, or light-tight connections, for optical elements
- G02B7/18—Mountings, adjusting means, or light-tight connections, for optical elements for prisms; for mirrors
- G02B7/1805—Mountings, adjusting means, or light-tight connections, for optical elements for prisms; for mirrors for prisms
Abstract
The invention discloses a kind of installation methods of satellite benchmark prism, include the following steps: S1, install benchmark prism to satellite main structure with screw；S2, the face+y and two, the face+x mirror surface that alignment fiducial prism is distinguished using two micrometer instruments, read the pitching angle reading of two theodolites；S3, measurement satellite machinery coordinate system；S4, prism is introduced into laser tracker；S5, prism levels coordinate system is established；S6, prism coordinate system and prism levels coordinate system relationship are found out；S7, the relationship for finding out benchmark prism Yu satellite mechanical references；S8, adjustment benchmark prism.The present invention realizes the mounting and adjusting of satellite benchmark prism by the combined measurement of theodolite and laser tracker, meet large-scale truss satellite benchmark prism measurement installation requirement, it can be achieved that different satellite model benchmark prisms measurement installation requirement.
Description
Technical field
The present invention relates to the measurement method of adjustment of prism, the installation method of specifically a kind of satellite benchmark prism.
Background technique
Prism is a kind of auxiliary tool being commonly used during assemble of the satellite.It generally uses quartz crystal or metal
Production, surface are coated with reflectance coating, and the accuracy of manufacture is high, two neighboring face verticality about 1 "~3 ", by being used as reference coordinate base
Standard is also securable to certain component, the subsidiary benchmark as orientation and positioning measurement.Benchmark prism is for replacing satellite sheet
Body coordinate system, the convenient rectangular specular surface body that precision single machine is measured.It is stable, strong that general benchmark prism is mounted on satellite structure
Spend high position, such as loaded cylinder, the carbon fiber truss of product.Benchmark prism installation requirement is higher, and general installation accuracy is wanted
Asking with index value is ± 10 ".
The mechanical references of conventional satellite mechanical references are normally at the geometric center of platform loaded cylinder Yu satellite and the rocket parting surface, and one
As use theodolite and accurate measurement turntable measurement method of adjustment.First by accurate measurement leveling turntable, then by satellite main structure and accurate measurement
Turntable is adjusted to coaxially.The measurement adjustment of benchmark prism is completed finally by the combined measurement of theodolite and turntable.And certain large sizes
Truss structure satellite mechanical references are located at the datum level of celestial body main structure, generally constitute satellite mechanical coordinate by two datum levels
System, therefore it is horizontal not to be available when using conventional method reference for installation prism accurate measurement turntable adjustment satellite, while also can not will
Satellite mechanical references are adjusted with accurate measurement turntable to coaxial.
In view of the above-mentioned problems, the present invention provides a kind of method of satellite benchmark prism measurement adjustment, large-scale purlin can be realized
The measurement of frame structure satellite benchmark prism adjusts.
Currently without the explanation or report for finding technology similar to the present invention, it is also not yet collected into money similar both at home and abroad
Material.
Summary of the invention
For large-scale truss structure satellite, traditional measurement tune is not available since its mechanical references is different from conventional satellite
The characteristic of adjusting method, the present invention provides a kind of installation methods of satellite benchmark prism.
The purpose of the present invention is achieved through the following technical solutions: a kind of installation method of satellite benchmark prism, including such as
Lower step:
S1, reference for installation prism
Benchmark prism is installed with screw to satellite main structure；
S2, measuring prism coordinate system
The face+y and two, the face+x mirror surface that alignment fiducial prism is distinguished using two micrometer instruments, read two theodolites
Pitching angle reading；
S3, measurement satellite machinery coordinate system
The earth level is measured using laser tracker, establishes the earth horizontal coordinates, it is then horizontal in the earth established
Using the laser tracker measurement face satellite mechanical reference surface+z and the face+x in coordinate system, finally using the fitting face+z of measurement and+x
Satellite machinery coordinate system is established in fitting face；
S4, prism is introduced into laser tracker
Prism is collimated using theodolite, by theodolite offset angle zero setting, holding theodolite offset angle is downward while being zero
Collimation axis is rotated, tracker measurement target ball and pedestal are placed in appropriate location on the ground, and adjusting base position keeps theodolite proper
Tracker target ball is collimated well, is used as fixed measuring point after pedestal and target ball are fixed, same method fixes 2~3 measurement points,
Measurement point is uniformly distributed, and 1m is not less than between measurement point；Then fixed measuring point is measured using laser tracker, by the point of measurement
On projection to big ground horizontal plane, and it is fitted straight line；
S5, prism levels coordinate system is established
Be with horizontal plane normal+z-axis, with fitting a straight line be+y-axis establishes prism levels coordinate system, then tracked in laser
Vector matrix of the satellite machinery coordinate system under prism levels coordinate system is obtained in instrument Survey Software；
S6, prism coordinate system and prism levels coordinate system relationship are found out
The vector that benchmark prism coordinate ties up under prism levels coordinate system is calculated by two pitch angles of benchmark prism
Matrix；
S7, the relationship for finding out benchmark prism Yu satellite mechanical references
Prism levels are tied up to by angle matrix of the satellite machinery coordinate system under prism levels coordinate system and prism coordinate
Angle matrix under coordinate system carries out matrix conversion, obtains the angle matrix of benchmark prism Yu satellite mechanical references；
S8, adjustment benchmark prism
According to the position of benchmark prism and the angle matrix of satellite mechanical references adjustment benchmark prism, continue to repeat after adjustment
The relationship of step S7 measuring basis prism and satellite mechanical references, until meeting installation requirement.
Compared with prior art, the invention has the following advantages:
The mounting and adjusting that satellite benchmark prism is realized by the combined measurement of theodolite and laser tracker, meets large size
Truss satellite benchmark prism measure installation requirement, it can be achieved that different satellite model benchmark prism measurement installation requirement.
Detailed description of the invention
Fig. 1 is satellite structure and benchmark prism schematic diagram
Fig. 2 is that laser tracker and theodolite combined measurement adjust benchmark prism schematic diagram.
Specific embodiment
The present invention is described in detail combined with specific embodiments below.Following embodiment will be helpful to the technology of this field
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill of this field
For personnel, without departing from the inventive concept of the premise, various modifications and improvements can be made.These belong to the present invention
Protection scope.
The embodiment of the invention provides a kind of installation methods of satellite benchmark prism, including satellite main structure 1, benchmark prism
2, laser tracker 3, micrometer instrument 4, laser tracker and theodolite combined measurement point 5, specifically comprise the following steps:
S1, reference for installation prism
As shown in Figure 1, being installed benchmark prism 2 with screw to satellite main structure 1；
S2, measuring prism coordinate system
The face+y and two, the face+x mirror surface (as shown in Figure 2) that alignment fiducial prism is distinguished using two micrometer instruments 4, are read
The pitching angle reading of two theodolites out；
S3, measurement satellite machinery coordinate system
The earth level is measured using laser tracker, establishes the earth horizontal coordinates, it is then horizontal in the earth established
Using the laser tracker measurement face satellite mechanical reference surface+z and the face+x in coordinate system, finally using the fitting face+z of measurement and+x
Satellite machinery coordinate system is established in fitting face；
S4, prism is introduced into laser tracker
Prism is collimated using theodolite 1, by theodolite offset angle zero setting, holding theodolite offset angle is downward while being zero
Collimation axis is rotated, tracker measurement target ball and pedestal are placed in appropriate location on the ground, and adjusting base position keeps theodolite proper
Tracker target ball is collimated well, is used as fixed measuring point after pedestal and target ball are fixed, same method fixes 2~3 measurement points,
Measurement point is uniformly distributed, and 1m is not less than between measurement point；Then fixed measuring point is measured using laser tracker, by the point of measurement
On projection to big ground horizontal plane, and it is fitted straight line；
S5, prism levels coordinate system is established
Be with horizontal plane normal+z-axis, with fitting a straight line be+y-axis establishes prism levels coordinate system, then tracked in laser
Vector matrix of the satellite machinery coordinate system under prism levels coordinate system is obtained in instrument Survey Software；
S6, prism coordinate system and prism levels coordinate system relationship are found out
The vector that benchmark prism coordinate ties up under prism levels coordinate system is calculated by two pitch angles of benchmark prism
Matrix；
S7, the relationship for finding out benchmark prism Yu satellite mechanical references
Prism levels are tied up to by angle matrix of the satellite machinery coordinate system under prism levels coordinate system and prism coordinate
Angle matrix under coordinate system carries out matrix conversion, obtains the angle matrix of benchmark prism Yu satellite mechanical references；
S8, adjustment benchmark prism
According to the position of benchmark prism and the angle matrix of satellite mechanical references adjustment benchmark prism, continue to repeat after adjustment
The relationship of step S7 measuring basis prism and satellite mechanical references, until meeting installation requirement.
So far the measurement adjustment of satellite benchmark prism is completed.The benchmark prism installation adjusting method through the invention
It has applied on Mr. Yu's model satellite, performance indicator fully meets design requirement after installation.
The production method solves traditional benchmark prism installation installation method and is unable to satisfy satellite type through the invention
The rapid survey installation of large-scale truss structure satellite benchmark prism is realized in number test requirements document.
Specific embodiments of the present invention are described above.It is to be appreciated that the invention is not limited to above-mentioned
Particular implementation, those skilled in the art can make various deformations or amendments within the scope of the claims, this not shadow
Ring substantive content of the invention.
Claims (1)
1. a kind of installation method of satellite benchmark prism, which comprises the steps of:
S1, reference for installation prism
Benchmark prism is installed with screw to satellite main structure；
S2, measuring prism coordinate system
The face+y and two, the face+x mirror surface that alignment fiducial prism is distinguished using two micrometer instruments, read bowing for two theodolites
Elevation angle reading；
S3, measurement satellite machinery coordinate system
The earth level is measured using laser tracker, the earth horizontal coordinates are established, then in the earth horizontal coordinate established
Using the laser tracker measurement face satellite mechanical reference surface+z and the face+x in system, finally it is fitted using the fitting face+z of measurement and+x
Satellite machinery coordinate system is established in face；
S4, prism is introduced into laser tracker
Prism is collimated using theodolite, by theodolite offset angle zero setting, holding theodolite offset angle rotates down while being zero
Collimation axis, tracker measurement target ball and pedestal are placed in appropriate location on the ground, and adjusting base position keeps theodolite just quasi-
Straight tracker target ball is used as fixed measuring point after fixing pedestal and target ball, and same method fixes 2~3 measurement points, measures
Point is uniformly distributed, and 1m is not less than between measurement point；Then fixed measuring point is measured using laser tracker, the point of measurement is projected
To big ground horizontal plane, and it is fitted straight line；
S5, prism levels coordinate system is established
Be with horizontal plane normal+z-axis, with fitting a straight line be+y-axis establishes prism levels coordinate system, then surveyed in laser tracker
Vector matrix of the satellite machinery coordinate system under prism levels coordinate system is obtained in amount software；
S6, prism coordinate system and prism levels coordinate system relationship are found out
The vector matrix that benchmark prism coordinate ties up under prism levels coordinate system is calculated by two pitch angles of benchmark prism；
S7, the relationship for finding out benchmark prism Yu satellite mechanical references
Prism levels coordinate is tied up to by angle matrix of the satellite machinery coordinate system under prism levels coordinate system and prism coordinate
Angle matrix under system carries out matrix conversion, obtains the angle matrix of benchmark prism Yu satellite mechanical references；
S8, adjustment benchmark prism
According to the position of benchmark prism and the angle matrix of satellite mechanical references adjustment benchmark prism, continue to repeat step after adjustment
The relationship of S7 measuring basis prism and satellite mechanical references, until meeting installation requirement.
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| CN201710091029.9A CN106772915B (en) | 2017-02-20 | 2017-02-20 | A kind of installation method of satellite benchmark prism |
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| CN201710091029.9A CN106772915B (en) | 2017-02-20 | 2017-02-20 | A kind of installation method of satellite benchmark prism |
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| CN108036777B (en) * | 2017-10-25 | 2020-07-24 | 上海卫星工程研究所 | Satellite phase center indirect measurement method |
| CN108775876B (en) * | 2018-05-04 | 2020-09-01 | 王晓伟 | Satellite adjusting, assembling and detecting integrated mobile platform |
| CN109631826B (en) * | 2018-12-29 | 2021-02-09 | 航天东方红卫星有限公司 | Satellite automation precision detection method |
| CN110006446B (en) * | 2019-03-21 | 2021-05-14 | 湖北三江航天红峰控制有限公司 | Prism-based inertial measurement unit output calibration method |
| CN112433337B (en) * | 2020-11-23 | 2021-08-17 | 中国科学院西安光学精密机械研究所 | Precise optical machine assembling method of trapezoidal prism optical system |
| CN113932782B (en) * | 2021-10-15 | 2023-05-26 | 北京卫星环境工程研究所 | Method for establishing coordinate system and transferring reference of large-size cabin structure of spacecraft |
| CN114719790B (en) * | 2022-04-08 | 2024-01-30 | 包头钢铁（集团）有限责任公司 | Method for adjusting horizontal straightness of split equipment by using laser tracker |
| CN115164824B (en) * | 2022-07-11 | 2023-06-09 | 上海宇航系统工程研究所 | Space-borne antenna compaction adaptive seat position measurement and adjustment method |
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| US6361177B2 (en) * | 1999-11-02 | 2002-03-26 | Fujitsu Denso Ltd. | Optical device fixing device |
| CN104344804B (en) * | 2014-10-23 | 2017-12-15 | 上海卫星工程研究所 | Satellite Simulation zero-g state unit pointing accuracy measuring method |
| CN104848833B (en) * | 2014-12-04 | 2017-05-03 | 上海卫星装备研究所 | Method for establishing joint measurement system based on electronic theodolite and laser tracker |
| CN105203103B (en) * | 2015-07-28 | 2017-12-08 | 上海卫星装备研究所 | The method for real-time measurement of the relatively geographical position relation of ground spacecraft |
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