CN107576283B - Method for indirectly determining aircraft water splash angle by means of optical measurement parameters - Google Patents

Method for indirectly determining aircraft water splash angle by means of optical measurement parameters Download PDF

Info

Publication number
CN107576283B
CN107576283B CN201710804703.3A CN201710804703A CN107576283B CN 107576283 B CN107576283 B CN 107576283B CN 201710804703 A CN201710804703 A CN 201710804703A CN 107576283 B CN107576283 B CN 107576283B
Authority
CN
China
Prior art keywords
angle
coordinate system
splash
water splashing
axis
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.)
Active
Application number
CN201710804703.3A
Other languages
Chinese (zh)
Other versions
CN107576283A (en
Inventor
高扬
杜毅洁
潘鹏飞
申晓霞
李飞行
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Chinese Flight Test Establishment
Original Assignee
Chinese Flight Test Establishment
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Chinese Flight Test Establishment filed Critical Chinese Flight Test Establishment
Priority to CN201710804703.3A priority Critical patent/CN107576283B/en
Publication of CN107576283A publication Critical patent/CN107576283A/en
Application granted granted Critical
Publication of CN107576283B publication Critical patent/CN107576283B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Abstract

The invention belongs to a test technology, and particularly relates to a method for indirectly determining a water splashing angle of an airplane by means of optical measurement parameters. The invention provides a coordinate transformation-based splash track angle optical determination method, which specifically comprises the following steps of 1: establishing a geometric relation between the original coordinate system and the converted new coordinate system; step 2: arranging cameras in the oblique front and on two sides of the runway according to requirements; and step 3: carrying out a water splashing test, and calculating a front viewing angle and a side viewing angle of a water splashing track under a new coordinate system by means of an optical camera; and 4, step 4: and (4) indirectly calculating to obtain a positive visual angle and a side visual angle of the splash track under the original coordinate by means of the coordinate system incidence relation established in the step (1). The invention provides a new testing method for solving the problem of obtaining a water splashing track in a water splashing test of an original complete machine.

Description

Method for indirectly determining aircraft water splash angle by means of optical measurement parameters
Technical Field
The method is applied to the whole machine water splashing test, the water splashing angle of the airplane is indirectly determined by means of the optical measurement result, and a basis is provided for judging the test result.
Background
The whole machine splash test is a test subject specified by civil aircraft research and development, qualification approval and military aircraft identification and setting. After the test is finished, characteristic splash angles of the whole machine are required to be provided, wherein the characteristic splash angles comprise a front view angle and a side view angle of a splash track. The water splashing angle obtained in the test can be compared with a design calculation value, and the checking of the prediction method is realized.
The determination of the splash angle is usually carried out by optical measurement methods. The most direct mode for acquiring the positive visual angle is to erect a camera in the dead ahead of the aircraft sliding for shooting, the shooting effect is difficult to guarantee due to the influence of the distance, and hidden dangers can be brought to the flight safety by shooting in the dead ahead. If the angle is acquired by means of aerial photography, only an approximate normal viewing angle can be obtained on one hand, and on the other hand, flight safety is affected.
Aiming at the problems of determining the whole machine water splashing test angle, an indirect determination method by means of optical measurement parameters is provided, firstly, a measurement coordinate system is transformed, the water splashing angle in the transformed coordinate system is determined, and then the water splashing angle in the coordinate system before transformation is indirectly obtained by combining a transformation relation formula between the coordinate systems, so that the problems caused by the traditional method are effectively avoided.
The invention relates to a method for indirectly determining a splash angle, measuring coordinate transformation, arrangement of optical measuring equipment and the like.
Disclosure of Invention
The purpose of this patent is: an optical measurement method is designed for indirectly determining the water splashing angle of an airplane in a complete machine water splashing test.
The technical scheme of this patent is:
the method for indirectly determining the splash angle of the airplane by means of optical measurement parameters comprises five parts, namely definition of an original coordinate system, parameter transformation relation of a rotating coordinate system, design of a camera position layout scheme, determination of the splash angle of the rotating coordinate system and determination of the splash angle of the original coordinate system.
Step 1: defining the course of the airplane as an X axis, the reverse direction of gravity as a Y axis, defining a Z axis according to a left-hand rule, recording a water splashing trajectory line in a three-dimensional rectangular coordinate system as OP, a water splashing side view angle theta as an included angle between the projection of the OP on a YOZ plane and the Z axis, and a water splashing forward view angle gamma as an included angle between the projection of the OP on an XOZ plane and the X axis;
step 2: and rotating the original coordinate system counterclockwise by an angle epsilon around a Y axis in the vertical direction, and establishing an incidence relation between geometrical angles between the coordinate systems before and after rotation, wherein X and Z are coordinates before transformation, X 'and Z' are coordinates of a new coordinate system after rotation, and epsilon is a rotation angle.
The relation is satisfied between the coordinates before and after rotation:
cosε·x′=x+z′·sinε (1)
then there are: x '. cos ε -z'. sin ε (2)
The method comprises the following steps: z ═ x '. sin epsilon + z'. cos epsilon (3)
And the coordinate of the vertical direction before and after rotation is unchanged, namely:
y=y′ (4)
the relationship between the coordinate systems before and after rotation can be expressed as:
Figure BDA0001402422110000021
and step 3: high-speed cameras are arranged on two sides of a runway and used for shooting a splash track, the camera C3 is arranged in the direction that the water inlet point of the airplane forms an epsilon angle with the heading direction, and the cameras A1 and B2 are respectively arranged on two sides of a water pool in the direction perpendicular to the direction.
And 4, step 4: the front view gamma 'and the side view angle theta' of the splash track in the coordinate system after rotation can be obtained by utilizing the cameras A1, B2 and C3;
and 5: obtaining a water splashing track front view angle and a side view angle in a coordinate system before rotation by adopting the following expressions:
Figure BDA0001402422110000022
Figure BDA0001402422110000031
and the depression angle of the water splashing track in the coordinate system before rotation:
Figure BDA0001402422110000032
the advantage of this patent is:
the indirect determination method by means of the optical measurement parameters is provided, firstly, a measurement coordinate system is transformed, the splashing angle in the transformed coordinate system is determined, and then the splashing angle in the coordinate system before transformation is indirectly obtained by combining a transformation relational expression between the coordinate systems, so that the problems of test safety and calculation result accuracy brought by the traditional method are effectively solved.
Drawings
Fig. 1 is a three-dimensional geometric schematic diagram of a splash trajectory, and a definition diagram of a front view, a side view and a top view.
FIG. 2 is a schematic diagram of the geometrical relationship before and after the rotation of the coordinate system.
Fig. 3 is a schematic diagram of the position of an optical camera used in a splash test to indirectly determine the splash angle.
Detailed Description
1) Determination of the rotation angle epsilon of a coordinate system
The rotation angle epsilon is selected as the actual situation, in order to ensure the image definition and the image quality, the front camera C3 should not be too far away, the farthest distance should not exceed 500m, and the arrangement of the cameras should not affect the normal operation of the test, for example, the distances between the cameras A1 and B2 and the center line of the runway should not be less than 50m, as shown in FIG. 1. In order to ensure the imaging quality of the three cameras simultaneously, the maximum value of the rotation angle epsilon is preferably 3-5 degrees, as shown in fig. 2.
2) Determination of intersection point O between connecting line of cameras A1 and B2 and perpendicular line of camera C3
In order to ensure that a fully developed splash trajectory can be obtained, the determination of the intersection point O is selected as much as possible at the center of the splash tank close to the water outlet side of the aircraft and on the center line of the splash tank, as shown in fig. 3.

Claims (1)

1. The method for indirectly determining the splash angle of the airplane by means of optical measurement parameters is characterized by comprising five parts, namely definition of an original coordinate system, parameter transformation relation of a rotating coordinate system, design of a camera position layout scheme, determination of the splash angle of the rotating coordinate system and determination of the splash angle of the original coordinate system; defining the original coordinate system as X axis, Y axis in the opposite direction of gravity, defining Z axis according to left-hand rule, recording the water splashing trajectory line in the three-dimensional rectangular coordinate system as OP, the side view angle theta of water splashing as the included angle between the projection of OP on the YOZ plane and the Z axis, and the forward view angle gamma of water splashing as the included angle between the projection of OP on the XOZ plane and the X axis; the parameter transformation relation of the rotating coordinate system is specifically that the original coordinate system rotates counterclockwise by an angle epsilon around a Y axis in the vertical direction, and an incidence relation between geometrical angles between the coordinate systems before and after rotation is established, wherein X and Z are coordinates before transformation, X 'and Z' are coordinates of a new coordinate system after rotation, epsilon is a rotation angle, and the relation between the coordinate systems before and after rotation can be expressed as:
Figure FDA0003028622630000011
the design of the position layout scheme of the cameras is that high-speed cameras are arranged on two sides of a runway and used for shooting a splash track, a camera 3 is arranged in the direction that the water entry point of an airplane forms an epsilon angle with the course, and cameras 1 and 2 are respectively arranged on two sides of a pool in the direction vertical to the direction;
the splash angle of the rotating coordinate system is determined specifically, a splash track front view gamma 'and a side view angle theta' in the rotating coordinate system can be obtained by utilizing the cameras 1, 2 and 3; the determination of the splashing angle of the original coordinate system specifically comprises the following steps of obtaining a splashing track positive visual angle, a side visual angle and a depression angle in the coordinate system before rotation by adopting the following expressions:
Figure FDA0003028622630000012
Figure FDA0003028622630000013
Figure FDA0003028622630000014
CN201710804703.3A 2017-09-08 2017-09-08 Method for indirectly determining aircraft water splash angle by means of optical measurement parameters Active CN107576283B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201710804703.3A CN107576283B (en) 2017-09-08 2017-09-08 Method for indirectly determining aircraft water splash angle by means of optical measurement parameters

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201710804703.3A CN107576283B (en) 2017-09-08 2017-09-08 Method for indirectly determining aircraft water splash angle by means of optical measurement parameters

Publications (2)

Publication Number Publication Date
CN107576283A CN107576283A (en) 2018-01-12
CN107576283B true CN107576283B (en) 2021-08-03

Family

ID=61032872

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201710804703.3A Active CN107576283B (en) 2017-09-08 2017-09-08 Method for indirectly determining aircraft water splash angle by means of optical measurement parameters

Country Status (1)

Country Link
CN (1) CN107576283B (en)

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4220754A1 (en) * 1992-06-24 1994-01-05 Aeg Schienenfahrzeuge Drive mechanism for railway locomotive - has labyrinth seal with oil drainage channels having smooth transition surface to oil grooves in seal ring
CN202227217U (en) * 2011-08-24 2012-05-23 尹玉珍 Road brick capable of preventing water from splashing on road
CN103954220A (en) * 2014-05-06 2014-07-30 福建江夏学院 Ship motion state digital image measuring method in bridge collision test
CN104670521A (en) * 2013-12-02 2015-06-03 中国飞行试验研究院 Transport aircraft inlet splash testing method
CN105203415A (en) * 2015-10-15 2015-12-30 华北理工大学 Automatic simulation impact force determination device for high-pressure water jet punching
CN106544805A (en) * 2016-09-30 2017-03-29 无锡小天鹅股份有限公司 Nozzle component for washing machine and the washing machine with which

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4220754A1 (en) * 1992-06-24 1994-01-05 Aeg Schienenfahrzeuge Drive mechanism for railway locomotive - has labyrinth seal with oil drainage channels having smooth transition surface to oil grooves in seal ring
CN202227217U (en) * 2011-08-24 2012-05-23 尹玉珍 Road brick capable of preventing water from splashing on road
CN104670521A (en) * 2013-12-02 2015-06-03 中国飞行试验研究院 Transport aircraft inlet splash testing method
CN103954220A (en) * 2014-05-06 2014-07-30 福建江夏学院 Ship motion state digital image measuring method in bridge collision test
CN105203415A (en) * 2015-10-15 2015-12-30 华北理工大学 Automatic simulation impact force determination device for high-pressure water jet punching
CN106544805A (en) * 2016-09-30 2017-03-29 无锡小天鹅股份有限公司 Nozzle component for washing machine and the washing machine with which

Non-Patent Citations (3)

* Cited by examiner, † Cited by third party
Title
Visualization of the impact of drops on a substrate in plasma spraying: Deposition and splashing modes;Escure, C;《International Thermal Spray Conference》;20011231;全文 *
机场污染跑道飞机轮胎的溅水问题;徐绯;《航空学报》;20151231;全文 *
飞机轮胎溅水计算方法及翻边轮胎挡水原理分析;张岳青;《科学技术与工程》;20140228;全文 *

Also Published As

Publication number Publication date
CN107576283A (en) 2018-01-12

Similar Documents

Publication Publication Date Title
CN103218607B (en) A kind of cooperative target for unmanned plane autonomous landing on the ship designs and localization method
CN104180808B (en) Aerial autonomous refueling circular taper sleeve vision position and attitude resolving method
CN109443207B (en) A kind of light pen robot in-situ measurement system and method
CN103616016B (en) Based on the pose vision measuring method of dotted line assemblage characteristic
CN106767540B (en) A kind of intersection measurement camera optical axis and reflecting mirror angle error scaling method
CN104034261B (en) A kind of curved surface normal direction measurement apparatus and curved surface normal direction measuring method
CN104634248B (en) Revolving shaft calibration method under binocular vision
CN105067011A (en) Overall measurement system calibration method based on vision calibration and coordinate transformation
CN103364171A (en) Video measuring system and measuring method for model gestures in high-speed wind tunnel
CN106403900B (en) Flying object tracking location system and method
CN102183250B (en) Automatic navigation and positioning device and method for field road of agricultural machinery
CN110047111B (en) Parking apron corridor bridge butt joint error measuring method based on stereoscopic vision
CN108225273B (en) Real-time runway detection method based on sensor priori knowledge
CN110044374A (en) A kind of method and odometer of the monocular vision measurement mileage based on characteristics of image
CN110148177A (en) For determining the method, apparatus of the attitude angle of camera, calculating equipment, computer readable storage medium and acquisition entity
Aoto et al. Position estimation of near point light sources using a clear hollow sphere
CN102589424A (en) On-line detection vision positioning method for combination surface hole group of engine cylinder
CN109579701A (en) Elliptical center projection distortion removing method based on structure light vision measuring systems
CN103954220B (en) Hit ship motion status number image measuring method in bridge test
Minghui et al. Deep learning enabled localization for UAV autolanding
CN107576283B (en) Method for indirectly determining aircraft water splash angle by means of optical measurement parameters
Xu et al. Study on binocular stereo camera calibration method
CN111998823B (en) Target ranging method based on binocular different-light-source ranging device
CN105424059A (en) Wide baseline infrared camera pose estimation method
CN109035343A (en) A kind of floor relative displacement measurement method based on monitoring camera

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
GR01 Patent grant
GR01 Patent grant