CN107144282A - A kind of contactless system and method for determining object space and posture - Google Patents
A kind of contactless system and method for determining object space and posture Download PDFInfo
- Publication number
- CN107144282A CN107144282A CN201710518161.3A CN201710518161A CN107144282A CN 107144282 A CN107144282 A CN 107144282A CN 201710518161 A CN201710518161 A CN 201710518161A CN 107144282 A CN107144282 A CN 107144282A
- Authority
- CN
- China
- Prior art keywords
- displacement
- positioning
- planes
- coordinate system
- posture
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 19
- 238000006073 displacement reaction Methods 0.000 claims abstract description 82
- 238000009434 installation Methods 0.000 claims abstract description 14
- 239000011159 matrix material Substances 0.000 claims description 4
- 239000013598 vector Substances 0.000 claims description 4
- 230000015572 biosynthetic process Effects 0.000 claims description 3
- 238000002474 experimental method Methods 0.000 abstract description 16
- 230000005486 microgravity Effects 0.000 abstract description 7
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 235000006508 Nelumbo nucifera Nutrition 0.000 description 1
- 240000002853 Nelumbo nucifera Species 0.000 description 1
- 235000006510 Nelumbo pentapetala Nutrition 0.000 description 1
- 230000004308 accommodation Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/24—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for cosmonautical navigation
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Astronomy & Astrophysics (AREA)
- Automation & Control Theory (AREA)
- General Physics & Mathematics (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
Abstract
The invention discloses a kind of contactless system and method for determining object space and posture, it is related to space flight technical field of experiment equipment.By setting three mutually orthogonal positioning planes in object under test or measuring environment, and by setting six displacement transducers to measure the shift value of measuring point in three positioning planes of correspondence respectively, then the displacement of measuring point and the installation site of displacement transducer in planes are positioned by three, the locus for obtaining three positioning planes is calculated respectively, and pass through three locus for positioning plane and the installation site relation on object under test, obtain position and the posture of object under test, and then realize control of the measuring targets (experiment porch) with respect to Space Vehicle position and posture, and serve the experiment load of high microgravity demand.
Description
Technical field
The present invention relates to space flight technical field of experiment equipment, more particularly to a kind of contactless determination object space and posture
System and method.
Background technology
In manned space flight field, people utilize the weightlessness in spacecraft, carry out a variety of basic physicses in spacecraft
Or scientific experiment, but spacecraft in orbit can be influenceed by various disturbances, it is difficult to ensure that preferably weightlessness, so that
The ideal conditions needed for experiment is destroyed, so, how to be provided preferably for spaceborne experiment load in orbit
High microgravity environment, the problem of having become the primary solution that experiment is smoothed out in spacecraft.
The content of the invention
It is an object of the invention to provide a kind of contactless system and method for determining object space and posture, so as to solve
Certainly foregoing problems present in prior art.
To achieve these goals, the technical solution adopted by the present invention is as follows：
A kind of contactless system for determining object space and posture, including：Three positioning planes and six displacement sensings
Device, three positioning planes are installed on object under test, and three positioning planes are mutually orthogonal two-by-two, described in six
Displacement transducer is installed in environment to be measured, three it is described positioning planes include first positioning plane, second positioning plane and
3rd positioning plane, six institute's displacement sensors include the first displacement transducer, second displacement sensor, triple motion sensing
Device, the 4th displacement transducer, the 5th displacement transducer and the 6th displacement transducer, first displacement transducer, second displacement
Sensor and triple motion sensor are respectively perpendicular alignment the first positioning Plane Installation, and are not arranged on the same straight line, institute
State the 4th displacement transducer and the 5th displacement transducer is respectively perpendicular alignment the second positioning Plane Installation, the 6th displacement
Sensor vertical alignment the 3rd positioning Plane Installation, the measuring points of six institute's displacement sensors is located at respectively each to be started pair
In accurate plane.
A kind of contactless method for determining object space and posture, using above-mentioned system, comprises the following steps：
S1, the intersection point using three planes of the dead-center position formation of three groups of displacement transducers is coordinate origin, and three are put down
The normal direction in face is that three reference axis set up fixed rectangular coordinate system S；Using three intersection points for positioning plane as coordinate origin,
The normal direction of three positioning planes sets up object under test body rectangular coordinate system B for three reference axis；
S2, records coordinate value of the measuring point of lower six displacement transducers of original state in fixed rectangular coordinate system S；
S3, during object of which movement, gathers the displacement readings of six displacement transducers；
S4, the displacement readings obtained according to the obtained coordinate values of S2 and S3, obtain three it is described positioning planes where it is several
After equation of what plane in fixed rectangular coordinate system S, simultaneous equations, the intersection point of three positioning planes is obtained fixed straight
Coordinate value in angular coordinate system S；
S5, according to the coordinate value obtained in S4, represents object under test body coordinate system B's in fixed rectangular coordinate system S
Three base vectors；
S6, according to S5 result, obtains the direction cosines that object under test body coordinate system B is relatively fixed rectangular coordinate system S
Matrix, determines position and the posture of object.
The beneficial effects of the invention are as follows：The contactless system for determining object space and posture provided in an embodiment of the present invention
And method, set six by setting three mutually orthogonal positioning planes in object under test or measuring environment, and passing through
Displacement transducer measures the shift value of measuring point in three positioning planes of correspondence respectively, then passes through the position of measuring point in three positioning planes
The installation site with displacement transducer is moved, the locus for obtaining three positioning planes is calculated respectively, and pass through three positioning
The locus of plane and the installation site relation on object under test, obtain position and the posture of object under test, and then realize
The control of the relative Space Vehicle position of measuring targets (experiment porch) and posture, and serve the experiment load of high microgravity demand
Lotus.
Brief description of the drawings
Fig. 1 is the contactless system structure diagram for determining object space and posture provided in an embodiment of the present invention.
In figure, the implication of each symbol is as follows：
1 first positioning plane, 2 second positioning planes, 3 the 3rd positioning planes, 4 first displacement transducers, 5 second displacements are passed
Sensor, 6 triple motion sensors, 7 the 4th displacement transducers, 8 the 5th displacement transducers, 9 the 6th displacement transducers, 10 determinands
Body.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, below in conjunction with accompanying drawing, the present invention is entered
Row is further described.It should be appreciated that embodiment described herein is not used to only to explain the present invention
Limit the present invention.
Embodiment one
In order to be provided for spaceborne experiment load in orbit in preferable high microgravity environment, the present invention,
By accurately being positioned with respect to spacecraft to experiment porch, it is carried out with respect to Space Vehicle position and posture so as to realize
Control, and then serve the experiment load of high microgravity demand.
As shown in figure 1, the embodiments of the invention provide a kind of contactless system for determining object space and posture, bag
Include：Three positioning planes and six displacement transducers, three positioning planes are installed on object under test, and described in three
Positioning plane is mutually orthogonal two-by-two, and six institute's displacement sensors are installed in environment to be measured, three positioning plane bags
The first positioning plane 1, second positioning positioning plane 3 of plane 2 and the 3rd is included, six institute's displacement sensors are passed including the first displacement
Sensor 4, second displacement sensor 5, triple motion sensor 6, the 4th displacement transducer 7, the 5th displacement transducer 8 and the 6th
Displacement sensor 9, the first displacement transducer 4, second displacement sensor 5 and triple motion sensor 6, which are respectively perpendicular alignment first, to be determined
Bit plane 1 is installed, and is not arranged on the same straight line, and the 4th displacement transducer 7 and the 5th displacement transducer 8 are respectively perpendicular alignment
Two positioning planes 2 are installed, and the perpendicular alignmnet the 3rd of the 6th displacement transducer 9 positioning plane 3 is installed, six institute's displacement sensors
Measuring point is located in the plane for each starting alignment respectively.
The operation principle of said structure is：
Displacement transducer is used for the displacement for obtaining object under test, in actual use, computer can be used to adopt
Collect the data on displacement transducer.During object under test is moved, the site of six displacement transducers is remained at most
In first each self aligned plane, point position and displacement data of the acquisition on respective alignment surface, and obtained measuring point position
The basic data that can be used as determining object space and posture with displacement data is put, position and the posture of object is obtained, further according to
The position of the object got and posture, are controlled it, so as to provide reason for spaceborne experiment load in orbit
The high microgravity environment thought.
Embodiment two
The embodiments of the invention provide a kind of contactless method for determining object space and posture, embodiment one is utilized
System, comprises the following steps：
S1, the intersection point using three planes of the dead-center position formation of three groups of displacement transducers is coordinate origin, and three are put down
The normal direction in face is that three reference axis set up fixed rectangular coordinate system S；Using three intersection points for positioning plane as coordinate origin,
The normal direction of three positioning planes sets up object under test body rectangular coordinate system B for three reference axis；
S2, records coordinate value of the measuring point of lower six displacement transducers of original state in fixed rectangular coordinate system S；
S3, during object of which movement, gathers the displacement readings of six displacement transducers；
S4, the displacement readings obtained according to the obtained coordinate values of S2 and S3, obtain three it is described positioning planes where it is several
After equation of what plane in fixed rectangular coordinate system S, simultaneous equations, the intersection point of three positioning planes is obtained fixed straight
Coordinate value in angular coordinate system S；
S5, according to the coordinate value obtained in S4, represents object under test body coordinate system B's in fixed rectangular coordinate system S
Three base vectors；
S6, according to S5 result, obtains the direction cosines that object under test body coordinate system B is relatively fixed rectangular coordinate system S
Matrix, determines position and the posture of object.
Specific embodiment：
If the normal direction of the first positioning plane is B coordinate system Z axis positive directions, the normal direction of the second positioning plane is B coordinate system Y-axis
Positive direction, the normal direction of the 3rd positioning plane is B coordinate system X-axis positive directions.Three measuring points of the wherein first positioning plane are in S coordinates
Coordinate in system is respectively (x1,y1,z1),(x2,y2,z2),(x3,y3,z3), two measuring points of the second positioning plane are in S coordinate systems
In coordinate be respectively (x4,y4,z4),(x5,y5,z5), the 3rd, which positions coordinate of the measuring point of plane in S coordinate systems, is
(x6,y6,z6)。
And set the reading respectively v that three positioning planes of alignment distinguish corresponding 6 displacement transducers1,v2,v3,v4,v5,
v6。
Then
z1=v1
z2=v2
z2=v3
y4=v4
y5=v5
x6=v6
If equation of the geometrical plane where the first positioning plane in coordinate system S is：
Z=A1x+B1y+C1,
The data of three measuring points of correspondence are substituted into, are obtained：
If equation of the geometrical plane where the second positioning plane in coordinate system S is：
Y=A2x+B2z+C2,
The data of 2 measuring points of correspondence are substituted into, and using its orthogonality relation with the first positioning plane, are obtained：
If equation of the geometrical plane where the 3rd positioning plane in coordinate system S is：
X=A3y+B3z+C3,
The data of 1 measuring point of correspondence are substituted into, and the orthogonality relation of plane is positioned using itself and A, B, are obtained：
Geometrical plane equation where this 3 positioning planes of simultaneous first, second, and third, obtains three positioning plane point of intersection
Coordinate in coordinate system S is：
Now object under test body coordinate system B 3 base vectors are expressed as in fixed rectangular coordinate system S：
Then, object under test body coordinate system B relative coordinate systems S direction cosine matrix is：
Then, the determination to object space and posture is completed using the reading of six displacement transducers.
It can be seen that, displacement and the installation site of displacement transducer by measuring point in three positioning planes can be resolved respectively
Go out the locus of three positioning planes.Pass through the locus and the installation site pass on object under test of three positioning planes
System, can obtain position and the posture of object under test.In the present invention, by using high-precision displacement transducer, to object
The determination of position and posture has higher precision, and simple in construction, highly versatile.
By using above-mentioned technical proposal disclosed by the invention, following beneficial effect has been obtained：The embodiment of the present invention is carried
The contactless determination object space and the system and method for posture supplied, by setting three in object under test or measuring environment
Individual mutually orthogonal positioning plane, and by setting six displacement transducers to measure measuring point in three positioning planes of correspondence respectively
Shift value, then the displacement by measuring point in three positioning planes and the installation site of displacement transducer, calculate obtain three respectively
The locus of plane is positioned, and passes through the locus and the installation site pass on object under test of three positioning planes
System, obtains position and the posture of object under test, and then realizes measuring targets (experiment porch) with respect to Space Vehicle position and posture
Control, and serve the experiment load of high microgravity demand.
Each embodiment in this specification is described by the way of progressive, what each embodiment was stressed be with
Between the difference of other embodiment, each embodiment identical similar part mutually referring to.
Those skilled in the art should be understood that the sequential for the method and step that above-described embodiment is provided can be entered according to actual conditions
Row accommodation, also can concurrently be carried out according to actual conditions.
All or part of step in the method that above-described embodiment is related to can be instructed by program correlation hardware come
Complete, described program can be stored in the storage medium that computer equipment can be read, for performing the various embodiments described above side
All or part of step described in method.The computer equipment, for example：Personal computer, server, the network equipment, intelligent sliding
Dynamic terminal, intelligent home device, wearable intelligent equipment, vehicle intelligent equipment etc.；Described storage medium, for example：RAM、
ROM, magnetic disc, tape, CD, flash memory, USB flash disk, mobile hard disk, storage card, memory stick, webserver storage, network cloud storage
Deng.
Finally, in addition it is also necessary to explanation, herein, such as first and second or the like relational terms be used merely to by
One entity or operation make a distinction with another entity or operation, and not necessarily require or imply these entities or operation
Between there is any this actual relation or order.Moreover, term " comprising ", "comprising" or its any other variant meaning
Covering including for nonexcludability, so that process, method, commodity or equipment including a series of key elements not only include that
A little key elements, but also other key elements including being not expressly set out, or also include be this process, method, commodity or
The intrinsic key element of equipment.In the absence of more restrictions, the key element limited by sentence "including a ...", is not arranged
Except also there is other identical element in the process including the key element, method, commodity or equipment.
Described above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications also should
Depending on protection scope of the present invention.
Claims (2)
1. a kind of contactless system for determining object space and posture, it is characterised in that including：Three position planes and six
Displacement transducer, three positioning planes are installed on object under test, and three positioning planes are mutually orthogonal two-by-two,
Six institute's displacement sensors are installed in environment to be measured, and three positioning planes are determined including the first positioning plane, second
Bit plane and the 3rd positioning plane, six institute's displacement sensors include the first displacement transducer, second displacement sensor, the 3rd
Displacement transducer, the 4th displacement transducer, the 5th displacement transducer and the 6th displacement transducer, first displacement transducer,
Second displacement sensor and triple motion sensor are respectively perpendicular alignment the first positioning Plane Installation, and not straight in same
On line, the 4th displacement transducer and the 5th displacement transducer are respectively perpendicular alignment the second positioning Plane Installation, described
3rd positioning Plane Installation described in 6th displacement transducer perpendicular alignmnet, the measuring point of six institute's displacement sensors is located at respectively respectively
From the plane for starting alignment.
2. a kind of contactless method for determining object space and posture, it is characterised in that be using described in claim 1
System, comprises the following steps：
S1, the intersection point using three planes of the dead-center position formation of three groups of displacement transducers as coordinate origin, three planes
Normal direction is that three reference axis set up fixed rectangular coordinate system S；Intersection point using three positioning planes is coordinate origin, three
The normal direction of positioning plane sets up object under test body rectangular coordinate system B for three reference axis；
S2, records coordinate value of the measuring point of lower six displacement transducers of original state in fixed rectangular coordinate system S；
S3, during object of which movement, gathers the displacement readings of six displacement transducers；
S4, the displacement readings obtained according to the obtained coordinate values of S2 and S3, the geometry where obtaining three positioning planes is put down
After equation of the face in fixed rectangular coordinate system S, simultaneous equations, the intersection point for obtaining three positioning planes is sat at fixed right angle
Coordinate value in mark system S；
S5, according to the coordinate value obtained in S4, represents three of object under test body coordinate system B in fixed rectangular coordinate system S
Base vector；
S6, according to S5 result, obtains the direction cosine matrix that object under test body coordinate system B is relatively fixed rectangular coordinate system S,
Determine position and the posture of object.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710518161.3A CN107144282A (en) | 2017-06-29 | 2017-06-29 | A kind of contactless system and method for determining object space and posture |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710518161.3A CN107144282A (en) | 2017-06-29 | 2017-06-29 | A kind of contactless system and method for determining object space and posture |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107144282A true CN107144282A (en) | 2017-09-08 |
Family
ID=59784567
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710518161.3A Pending CN107144282A (en) | 2017-06-29 | 2017-06-29 | A kind of contactless system and method for determining object space and posture |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107144282A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112729285A (en) * | 2020-12-22 | 2021-04-30 | 清华大学 | Positioning method and system based on multi-mode fusion |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106556388A (en) * | 2015-09-25 | 2017-04-05 | 广州汽车集团股份有限公司 | The measurement apparatus of movement locus of object, measuring method and caliberating device |
| RU2620288C1 (en) * | 2016-02-19 | 2017-05-24 | Федеральное государственное бюджетное образовательное учреждение высшего образования "Московский государственный университет имени М.В. Ломоносова" (МГУ) | Method and device for determining orientation of space or air crafts |
| CN206847637U (en) * | 2017-06-29 | 2018-01-05 | 中国科学院空间应用工程与技术中心 | A kind of contactless system for determining object space and posture |
-
2017
- 2017-06-29 CN CN201710518161.3A patent/CN107144282A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106556388A (en) * | 2015-09-25 | 2017-04-05 | 广州汽车集团股份有限公司 | The measurement apparatus of movement locus of object, measuring method and caliberating device |
| RU2620288C1 (en) * | 2016-02-19 | 2017-05-24 | Федеральное государственное бюджетное образовательное учреждение высшего образования "Московский государственный университет имени М.В. Ломоносова" (МГУ) | Method and device for determining orientation of space or air crafts |
| CN206847637U (en) * | 2017-06-29 | 2018-01-05 | 中国科学院空间应用工程与技术中心 | A kind of contactless system for determining object space and posture |
Non-Patent Citations (1)
| Title |
|---|
| 龙龙， 李宗峰: "基于激光位移传感器的3 维位置测量算法研究", 激光技术 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112729285A (en) * | 2020-12-22 | 2021-04-30 | 清华大学 | Positioning method and system based on multi-mode fusion |
| CN112729285B (en) * | 2020-12-22 | 2023-03-10 | 清华大学 | Positioning method and system based on multi-mode fusion |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN1323282C (en) | Apparatus and method of compensating for the attitude change of an earth magnetic sensor | |
| Zappa et al. | On the number and placement of accelerometers for angular velocity and acceleration determination | |
| CN105091744A (en) | Pose detection apparatus and method based on visual sensor and laser range finder | |
| CN103874904B (en) | Offset estimation device, deviation estimating method, bias estimation program and signal conditioning package | |
| US20110248706A1 (en) | Method and system for navigation using magnetic dipoles | |
| CN103411589B (en) | A kind of 3-D view matching navigation method based on four-dimensional real number matrix | |
| CN108225370A (en) | A kind of data fusion and calculation method of athletic posture sensor | |
| CN103389808B (en) | A kind of space mouse and the method obtaining space mouse displacement | |
| CN102155887A (en) | Method for measuring flexibility of mass centre | |
| Wu et al. | A novel calibration method for non-orthogonal shaft laser theodolite measurement system | |
| CN107390155B (en) | Magnetic sensor calibration device and method | |
| CN106643717A (en) | Method and device for performance detection of nine-axis sensor | |
| CN109633541B (en) | Magnetic source positioning device and magnetic source positioning method | |
| CN104677355A (en) | Multi-sensor fusion based virtual gyroscope and method | |
| CN107144282A (en) | A kind of contactless system and method for determining object space and posture | |
| CN206847637U (en) | A kind of contactless system for determining object space and posture | |
| CN114964259A (en) | Attitude calculation method and system based on infrared focal plane array time domain signal and infrared image | |
| CN109443604A (en) | A kind of three-dimensional soil pressure cell with incline measurement and accurate positioning function | |
| Papafotis et al. | Multiple accelerometers and magnetometers joint calibration and alignment | |
| CN105758422B (en) | A kind of test method of integration type closed-loop fiber optic gyroscope | |
| CN106908058B (en) | Method for determining aperture of geomagnetic positioning array | |
| CN111811461B (en) | Impression system and method for simultaneously measuring drilling tendency, inclination angle and perforation crack surface appearance | |
| Williams et al. | Minimal spatial accelerometer configurations | |
| CN103995239A (en) | Novel measurement method for magnetic field gradient parameters | |
| CN109356568B (en) | Calibration method for inclinometer probe tube sensor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170908 |