CN109871664A - It is a kind of to turn station precision optimizing method towards aircraft assembly large scale multi-court position measurement field - Google Patents
It is a kind of to turn station precision optimizing method towards aircraft assembly large scale multi-court position measurement field Download PDFInfo
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- CN109871664A CN109871664A CN201910297458.0A CN201910297458A CN109871664A CN 109871664 A CN109871664 A CN 109871664A CN 201910297458 A CN201910297458 A CN 201910297458A CN 109871664 A CN109871664 A CN 109871664A
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Abstract
It is a kind of to turn station precision optimizing method towards aircraft assembly large scale multi-court position measurement field, it is characterized in that on the basis of aircraft assembles common TB/ERS point etc. turn station datum mark, introduce a kind of interim, gear shaper without theoretical value enhancing point that turns to stand, enhance point by making two and more than two measurement erect-positions while measuring such turn of station, turn station adjustment constraint between different measurement erect-positions to increase, reduce measurement erect-position to turn station parameter variance-covariance matrix for assembling global erect-position, improves and turn station precision.The invention is characterized in that: 1) it compared to the laying quantity that increases TB/ERS point etc. turn station datum mark realizes the optimization for turning station precision, since a turn station enhancing point does not have theoretical value, greatly reduces laying and late maintenance cost.2) turning station enhancing point can require the open implementations of difference, in-site measurement to carry out temporary flexible arrangement according to the measurement accuracy of the parts to be tested different zones, be easy to use.
Description
Technical field
It is improved when being measured the present invention relates to aircraft alignment measurement technical field, especially a kind of large scale multi-court position and turns station ginseng
The method of number precision, it is specifically a kind of to turn station precision optimizing method towards aircraft assembly large scale multi-court position measurement field.
Background technique
Since the product structures size such as aircraft, ship is big, in product testing, assembling process on-line measurement, it usually needs
Multiple erect-positions are set to carry out product complete measurement, are transformed into global coordinate system firstly the need of by each erect-position measurement coordinate system
Under.The previous station method that turns depends on the datum marks such as the TB/ERS point laid in advance, lays and maintenance cost is high, and often
Situations such as there are datum marks to block, abrasion leads to turn station error to greatly increase, directly affects alignment measurement precision.
Therefore, it is necessory to be improved to the prior art to solve the deficiency of the prior art.
Summary of the invention
The purpose of the present invention is there is laying and dimension for the station measurement method that turns put on the basis of the existing point by TB/ERS
It protects at high cost, and often there is situations such as datum mark is blocked, worn, lead to turn station error to greatly increase, directly affect assembly and survey
The problem of accuracy of measurement, provides a kind of turn station precision optimizing method towards aircraft assembly large scale multi-court position measurement field, can
Effectively overcome the shortcomings of that existing TB/ERS point turns station method, turns station precision when improving multi-court position measurement.
In technical solution of the present invention:
It is a kind of to turn station precision optimizing method towards aircraft assembly large scale multi-court position measurement field comprising the parts to be tested,
The datum marks such as large-scale metrology system, TB/ERS point turn station enhancing point, it is characterised in that: are commonly based on TB/ in aircraft assembly
The datum marks such as ERS point turn station method on the basis of, introduce it is a kind of interim, gear shaper without theoretical value turn station enhancing point, by more
Such turn of station enhancing point is measured when erect-position measures simultaneously, increases and turns station parameter adjustment constraint, it is global to assembly to reduce measurement erect-position
Erect-position turns station parameter variance-covariance matrix, turns station error or improve to turn station precision to reduce.
Specific steps are as follows shown:
1) turn parameter rough estimate of standing
If m erect-position need to be laid altogether by completing alignment measurement, that is, need to turn station m-1 times.kpi=[kxi kyi kzi]T(i=1,
2,…,Nk) indicate erect-position k (k=1,2 ..., m) measurement i-th of TB/ERS point coordinate, the erect-position measurement all TB/
ERS quantity is Nk。kqj=[0xj 0yj 0zj]T(j=1,2 ..., N) it is that name of the corresponding TB/ERS point in assembling coordinate system is sat
Mark, N (N >=Nk) be all TB/ERS points total quantity.Pass through the Point set matchings algorithm pair such as standard svd algorithm, Quaternion Algorithm
{kpi}、{kqjMatched to obtain thick transformation parameterCoordinate after then convertingkp′iIt will be very close in nominal valuekqj,
It is calculated as
Wherein By the angle RPYIt indicates
In formula (2)
2) turn modeling of standing without turn station enhancing point
A) Bursa-Wolf model indicates
After implementing thick conversion,kqj、kp′iIt will be very close to.It enableskμ is zoom factor,kεx、kεy、kεzFor slight rotation angles,ktx、kty、ktzFor small translational movement, thenkqj、kp′iIt can be indicated with approximate Bursa-Wolf model:
kqj=kp′i+kMkp′i+kT (3)
Wherein kT=[ktx kty ktz]T。
Since measurement coordinate is there are measurement error, formula (3) left and right is not fully equal.It enableskΔp′iIndicate measurement error arrow
It measures, then correct transformational relation are as follows:
kqj-(kp′i-kΔp′i)=kM(kp′i-kΔp′i)+kT (4)
Due tokΔp′i、kεx、kεy、kεzIt is small value, andkμ is very close in zero, therefore equation (4) can approximate representation
Are as follows:
kLi=kAi kξ-kΔp′i(5)
WhereinkLi=kqj-kp′i,kξ=[ktx kty ktz kεx kεy kεz kμ]TTo turn station parameter vector,kAiFor variable square
Battle array:
B) turn parameter indirect adjustment resolving of standing
It enablesFor the measurement of the TB/ERS point of erect-position k
Error vector, then all TB/ERS points of erect-position k are transformed into global coordinate system are as follows:
kL=kAkξ-kΔp′ (7)
All erect-positions 1,2 ..., m is transformed into global coordinate system and is represented by indirect adjustment model, if L=[1LT 2LT …mLT]T, V=[1Δp′T 2Δp′T…mΔp′T]T, A=Diag (1A,2A,…,mA), which is
V=A ξ-L (8)
Wherein ξ iskThe vectorial combination of ξ.Adjustment objective function are as follows:
In formula (9), QVVFor the variance-covariance matrix of measurement error, according to the precision parameter of measuring system according to block pair
The building of angular moment battle array.Then turn the least square adjustment solution of station parameter are as follows:
Turn the variance-covariance matrix of station parameter are as follows:
3) enhance the coordinate transform modeling of point comprising turning station
A) single erect-position, single turn of station enhancing point conversion indicate
For any two erect-position k1, k2, if the two measures N altogetherk1,k2A common station that turns enhances point, these points are thick
Coordinate after conversion is,It enablesFor
Matrix of variables,For error vector, then both being transformed under global coordinate system should be equal, such as schemes
Shown in 2, have
Whereink1ξ、k2ξ is turn station parameter of k1, k2.
It enablesFormula (12) is expressed as
B) turn adjustment Models of standing containing turn station enhancing point
For all N of k1, k2k1,k2A public turn of station enhancing point has
H(k1,k2)-S(k1,k2)=[0k1A(k1,k2)0-k2A(k1,k2)0]ξ (14)
In view of there may be public turn of stations to enhance point for any two erect-position, erect-position combination can be (1,2), (1,3) ...
(1, m), (2,3), (2,4) ... (2, m)；(m-1,m).The station enhancing point that turns of all erect-position combinations constitutes following equation
ξ=0 H-S-B (15)
Wherein
Convolution (8), (15) can construct extension Gauss-Markov model
C) turn stand parameter and its variance-covariance matrix
The adjustment objective function of formula (17) is
To realize that function Ψ is minimized, must meetThen have
(17) are substituted into (19) and transposition obtains
Finally turning station parameter ξ is
Due to QVV、QSSFor symmetrical matrix, enableIt is also symmetrical matrix, is had
By comparing formula (11), the variance-covariance matrix of (22) respective turn of station parameter error Intuitively find out, introduce after turning station enhancing point, the variance-covariance matrix for turning station parameter is reduced,
It improves and turns station precision.
The invention has the following beneficial effects:
1) optimization for turning station precision is realized compared to the laying quantity for increasing TB/ERS point etc. turn station datum mark, since a turn station increases
Strong point does not have theoretical value, therefore greatly reduces laying and late maintenance cost.
2) difference, the open disposition of in-site measurement can be required according to the measurement accuracy of the parts to be tested different zones by turning station enhancing point
Condition carries out temporary flexible arrangement, is easy to use；
Detailed description of the invention
Fig. 1 is that alignment measurement field of the invention turns station precision optimizing schematic diagram.
Fig. 2 is that the station that turns of the invention enhances point schematic illustration.
1- the parts to be tested；2- large-scale metrology system；3-TB/ERS point；4- turns station enhancing point；5- measures erect-position；6- assembly
Global erect-position.
Specific embodiment
It please refers to shown in Fig. 1, the present invention turns station precision optimizing method towards aircraft assembly large scale multi-court position measurement field
Including the parts to be tested 1, large-scale metrology system 2, TB/ERS point 3, turns station enhancing point 4, measurement erect-position 5, assembles global erect-position 6
(see Fig. 2).Wherein large-scale metrology system 2 is measured for the key feature of the parts to be tested 1, and TB/ERS point 3 is that aircraft assembly is normal
Turn station datum mark, turning station enhancing point 4 is a kind of interim, gear shaper without theoretical value multi-court position datum mark, plays increase
Multi-court position turns station adjustment constraint, improves the effect for turning station precision.
Please refer to Fig. 1, shown in 2.It is a kind of to turn station precision optimizing method towards aircraft assembly large scale multi-court position measurement field,
Specifically comprise the following steps:
1) turn parameter rough estimate of standing
If m measurement erect-position 5 (hereinafter referred to as erect-position) need to be laid altogether by completing alignment measurement, that is, need to turn station m-1 times, each
Erect-position all has the measurement coordinate system (MCS) of itself.kpi=[kxi kyi kzi]T(i=1,2 ..., Nk) expression erect-position k (k=1,
2 ..., m) measurement i-th of TB/ERS point 3 coordinate, the erect-position measurement all TB/ERS points 3 quantity be Nk。kqj=
[0xj 0yj 0zj]T(j=1,2 ..., N) is that corresponding TB/ERS point 3 is assembling the nominal coordinate in global erect-position 6, N (N >=Nk) be
The total quantity of all TB/ERS points 3.By the Point set matchings such as standard svd algorithm, Quaternion Algorithm algorithm tokpi}、{kqjInto
Row matching obtains thick transformation parameterCoordinate after then convertingkp′iIt will be very close in nominal valuekqj, it is calculated as
Wherein By the angle RPYIt indicates
In formula (2)
2) turn modeling of standing without turn station enhancing point
A) Bursa-Wolf model indicates
After implementing thick conversion,kqj、kp′iIt will be very close to.It enableskμ is zoom factor,kεx、kεy、kεzFor slight rotation angles,ktx、kty、ktzFor small translational movement, thenkqj、kp′iIt can be indicated with approximate Bursa-Wolf model:
kqj=kp′i+kMkp′i+kT (3)
Wherein kT=[ktx kty ktz]T。
Since measurement coordinate is there are measurement error, formula (3) left and right is not fully equal.It enableskΔp′iIndicate measurement error arrow
It measures, then correct transformational relation are as follows:
kqj-(kp′i-kΔp′i)=kM(kp′i-kΔp′i)+kT (4)
Due tokΔp′i、kεx、kεy、kεzIt is small value, andkμ is very close in zero, therefore equation (4) can approximate representation
Are as follows:
kLi=kAi kξ-kΔp′i (5)
WhereinkLi=kqj-kp′i,kξ=[ktx kty ktz kεx kεy kεz kμ]TTo turn station parameter vector,kAiFor variable square
Battle array:
B) turn parameter indirect adjustment resolving of standing
It enablesFor the measurement of the TB/ERS point 3 of erect-position k
Error vector, then all TB/ERS points 3 of erect-position k are transformed into the global erect-position 6 of assembly are as follows:
kL=kAkξ-kΔp′ (7)
Erect-position 1,2 ..., m are transformed into the global erect-position 6 of assembly and are represented by indirect adjustment model, if L=[1LT 2LT …mLT]T, V=[1Δp′T 2Δp′T …mΔp′T]T, A=Diag (1A,2A,…,mA), which is
V=A ξ-L (8)
Adjustment objective function are as follows:
In formula (9), QVVFor the variance-covariance matrix of measurement error, according to the precision parameter of measuring system according to block pair
The building of angular moment battle array.Then turn the least square adjustment solution of station parameter are as follows:
Turn the variance-covariance matrix of station parameter are as follows:
3) enhance the coordinate transform modeling of point comprising turning station
A) single erect-position 5, single turn of 4 conversion of station enhancing point indicate
For any two erect-position 5k1, k2, if the two measures N altogetherk1,k2A common station that turns enhances point 4, these points exist
Coordinate after thick conversion is,It enablesFor Matrix of variables,For error vector, then the two is transformed under the global erect-position 6 of assembly and answers
This is equal, as shown in Fig. 2, having
Whereink1ξ、k2ξ is turn station parameter of k1, k2.
It enablesFormula (12) is expressed as
B) turn adjustment Models of standing containing turn station enhancing point 4
For all N of k1, k2k1,k2A public turn of station enhancing point 4 has
H(k1,k2)-S(k1,k2)=[0k1A(k1,k2)0-k2A(k1,k2)0]ξ (14)
In view of any two erect-position is there may be public turn of station enhancing point 4, erect-position combination can be (1,2), (1,3) ...
(1, m), (2,3), (2,4) ... (2, m)；(m-1,m).The station enhancing point 4 that turns of all erect-position combinations constitutes following equation
ξ=0 H-S-B (15)
Wherein
Convolution (8), (15) can construct extension Gauss-Markov model
C) turn stand parameter and its variance-covariance matrix
The adjustment objective function of formula (17) is
To realize that function Ψ is minimized, must meetThen have
(17) are substituted into (19) and transposition obtains
Finally turning station parameter ξ is
Due to QVV、QSSFor symmetrical matrix, enableIt is also symmetrical matrix, is had
By comparing formula (11), the variance-covariance matrix of (22) respective turn of station parameter error Intuitively find out, introduces after turning station enhancing point 4, the variance-covariance matrix for turning station parameter is subtracted
It is small, that is, it improves and turns station precision.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
It for member, can also make several improvements without departing from the principle of the present invention, these improvement also should be regarded as of the invention
Protection scope.
Part that the present invention does not relate to is same as the prior art or can be realized by using the prior art.
Claims (3)
1. a kind of turn station precision optimizing method towards aircraft assembly large scale multi-court position measurement field, it is characterized in that: filling in aircraft
On the basis of turning station datum mark with common TB/ERS point (3), a kind of interim, gear shaper without theoretical value station that turns of introducing enhances point (4),
By making two and more than two measurement erect-positions (5) while measuring such turn of station enhancing point (4), to increase different measuring stations
The station adjustment that turns between position (5) constrains, and reduces measurement erect-position (5) to turn station parameter error for assembling global erect-position (6), improves and turn
It stands precision.
2. according to the method described in claim 1, it is characterized in that it includes the following steps:
1) turn parameter rough estimate of standing；
If m measurement erect-position (5) need to be laid altogether by completing alignment measurement, that is, need to turn station m-1 times.kpi=[kxi kyi kzi]T(i=
1,2,…,Nk) indicate to measure the coordinate of i-th of TB/ERS point (3) of erect-position (5) k (k=1,2 ..., m) measurement, the measuring station
All TB/ERS point (3) quantity of position (5) measurement are Nk。kqj=[0xj 0yj 0zj]T(j=1,2 ..., N) it is corresponding TB/ERS
Point (3) is assembling the nominal coordinate in global erect-position (6), N (N >=Nk) be all TB/ERS points (3) total quantity；Pass through standard
The Point set matchings such as svd algorithm, Quaternion Algorithm algorithm tokpi}、{kqjMatched to obtain thick transformation parameterThen turn
Change rear coordinatekpi' will be very close in nominal valuekqj, it is calculated as
Wherein By Eulerian angles (RPY)andIt indicates
In formula (2)
2) turn modeling of standing without turn station enhancing point
A) Bursa-Wolf model indicates
After implementing thick conversion,kqj、kp′iIt will be very close to.It enableskμ is zoom factor,kεx、kεy、kεzFor slight rotation angles,ktx、kty、ktzFor small translational movement, thenkqj、kp′iIt can be indicated with approximate Bursa-Wolf model:
kqj=kp′i+kMkp′i+kT (3)
Wherein kT=[ktx kty ktz]T。
Since measurement coordinate is there are measurement error, formula (3) left and right is not fully equal.It enableskΔp′iIndicate measurement error vector, then
Correct transformational relation are as follows:
kqj-(kp′i-kΔp′i)=kM(kp′i-kΔp′i)+kT (4)
Due tokΔp′i、kεx、kεy、kεzIt is small value, andkμ is very close in zero, therefore equation (4) can approximate representation are as follows:
kLi=kAi kξ-kΔp′i (5)
WhereinkLi=kqj-kp′i,kξ=[ktx kty ktz kεx kεy kεz kμ]TTo turn station parameter vector,kAiFor matrix of variables:
B) turn parameter indirect adjustment resolving of standing
It enablesFor the TB/ERS point (3) for measuring erect-position (5) k
Measurement error vector, measurement all TB/ERS points (3) of erect-position (5) k are transformed into the global erect-position (6) of assembly are as follows:
kL=kAkξ-kΔp′ (7)
All measurement erect-positions (5) 1,2 ..., m is transformed into the global erect-position (6) of assembly and is represented by indirect adjustment model, if L=
[1LT2LT…mLT]T, V=[1Δp′T 2Δp′T...mΔp′T]T, A=Diag (1A,2A,…,mA), which is
V=A ξ-L (8)
Wherein ξ iskThe vectorial combination of ξ.The adjustment objective function of above formula are as follows:
In formula (9), QVVFor the variance-covariance matrix of measurement error, according to the precision parameter of measuring system according to block to angular moment
Battle array building；Then turn the least square adjustment solution of station parameter are as follows:
Turn the variance-covariance matrix of station parameter are as follows:
3) enhance the coordinate transform modeling of point comprising turning station
A) single-measurement erect-position (5), single turn of station enhancing point (4) conversion indicate
Erect-position (5) k1, k2 is measured for any two, if the two measures N altogetherk1,k2A common station that turns enhances point (4), these
Point coordinate after coarse conversion is,It enablesForMatrix of variables,For error vector, then the two is transformed into the global station of assembly
Should be equal under position, have
Whereink1ξ、k2ξ is turn station parameter of k1, k2；
It enablesFormula (12) is expressed as
B) containing turn station adjustment Models for turning station enhancing point (4)
For all N of k1, k2k1,k2A public turn of station enhancing point has
H(k1,k2)-S(k1,k2)=[0k1A(k1,k2) 0-k2A(k1,k2) 0]ξ (14)
In view of there may be public turn of stations to enhance point (4) for any two measurement erect-position (5), the combination of measurement erect-position (5) can
For (1,2), (1,3) ... (1, m), (2,3), (2,4) ... (2, m)；(m-1,m)；All measurement erect-position (5) combinations turn station enhancing
Point (4) constitutes following equation
ξ=0 H-S-B (15)
Wherein
Convolution (8), (15) can construct extension Gauss-Markov model
C) turn stand parameter and its variance-covariance matrix
The adjustment objective function of formula (17) is
To realize that function Ψ is minimized, must meetThen have
(17) are substituted into (19) and transposition obtains
Finally turning station parameter ξ is
Due to QVV、QSSFor symmetrical matrix, enableIt is also symmetrical matrix, is had
3. according to the method described in claim 2, it is characterized by: introducing turn station of a kind of gear shaper without theoretical value in alignment measurement field
Enhance point (4), turns station precision to improve, it can be by comparing formula (11), the variance-association of (22) respective turn of station parameter error
Variance matrixIntuitively find out.
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| CN110728088A (en) * | 2019-09-27 | 2020-01-24 | 清华大学 | Method and device for optimizing transfer station parameters of tracker for three-dimensional thermal expansion deformation of workpiece |
| CN111553087A (en) * | 2020-05-06 | 2020-08-18 | 南京航空航天大学 | Measuring field optimization method based on three-dimensional real-time perception |
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| CN110728088A (en) * | 2019-09-27 | 2020-01-24 | 清华大学 | Method and device for optimizing transfer station parameters of tracker for three-dimensional thermal expansion deformation of workpiece |
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