CN110095089B - Method and system for measuring rotation angle of aircraft - Google Patents
Method and system for measuring rotation angle of aircraft Download PDFInfo
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- CN110095089B CN110095089B CN201910202461.XA CN201910202461A CN110095089B CN 110095089 B CN110095089 B CN 110095089B CN 201910202461 A CN201910202461 A CN 201910202461A CN 110095089 B CN110095089 B CN 110095089B
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- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
Abstract
The invention provides a method and a system for measuring the rotation angle of an aircraft, wherein the method comprises the following steps: attaching a coding mark point sticker to the control surface of the aircraft to be tested; calibrating the acquisition equipment; acquiring an image of a coding mark point sticker by calibrated acquisition equipment, reconstructing a three-dimensional point cloud model of the coding mark point, and calculating a rotating shaft of the aircraft control surface; respectively collecting images of the coded mark points of the coded mark point sticker at the initial position and the rotated end position, and respectively reconstructing a three-dimensional point cloud model combination and a rotating shaft to establish a target coordinate system; and in a target coordinate system, calculating the included angle between the same coding mark points in the three-dimensional point cloud model of the initial position and the three-dimensional point cloud model of the rotated end point position to obtain the rotation angle of the control surface of the aircraft to be measured. Compared with the traditional manual measurement method, the method has the advantages that the mechanical damage to the control surface of the aircraft is avoided by adopting the optical measurement method; the method is simple to operate and accurate in measurement result.
Description
Technical Field
The invention relates to the technical field of test and measurement, in particular to a method and a system for measuring the rotation angle of an aircraft.
Background
The aircraft control surface angle measurement is an important test item in the aircraft ground assembly test, and whether the matching between an aircraft electronic control system and a mechanical transmission system is qualified or not can be tested by comparing the rotation angle of the aircraft control surface sent by a control instruction with the actual rotation angle of the control surface. Currently, the following three measurement schemes are mainly used in the field of aircraft rotation angle measurement: 1. a protractor-based measurement method; 2. a tilt sensor based measurement method; 3. measuring method based on monocular vision system. The measuring method based on the protractor is characterized in that after the control surface rotates, the included angle between the control surface and the fixed wing is measured through the protractor to obtain the rotation angle of the control surface. The measuring method based on the inclination angle sensor is characterized in that the inclination angle sensor is fixed on a control surface by utilizing a tool such as a clamp, and the rotation angle of the control surface is measured by the angle sensor. The monocular vision system determines the coordinates of the characteristic circle by shooting an image of a circle attached to the surface of the control surface and processing the digital image, establishes an object image space coordinate calculation model by utilizing the pinhole imaging and projective transformation principles, calculates the relative direction of the normal of the characteristic circle and the relative position of the circle center, and deflects the angular displacement of the control surface from the normal direction of the circle to obtain the rotation angle.
The measuring method of the protractor has the disadvantages of complicated operation process, low precision and difficulty in measurement under the condition that the control surface is not planar. The fixed mode that the sensor was installed on the aircraft control surface mainly has and ties up two kinds with pressing from both sides tightly, and no matter which kind of mode all has the difficult problem of the spatial position relation between difficult definite sensor measuring axis and the control surface pivot, and the frock installation of fixed sensor has simultaneously and has had the cross clamp to lead to the injury aircraft control surface on the aircraft control surface, owe the risk that the clamp leads to the frock to drop, and when the control surface was rotatory, the clamping state of unable real-time supervision frock. The monocular vision measurable angle range is small, and the method for calculating the angle through the characteristic circle center normal is low in precision.
The prior art lacks a precise method and system for measuring the rotation angle of an aircraft.
Disclosure of Invention
The invention provides a method and a system for measuring the rotation angle of an aircraft, aiming at solving the existing problems.
The technical scheme adopted by the invention is as follows:
a method for measuring the rotation angle of an aircraft comprises the following steps: s1: attaching a coding mark point sticker to the control surface of the aircraft to be tested; s2: calibrating the acquisition equipment; s3: acquiring an image of a coding mark point of the coding mark point sticker by using calibrated acquisition equipment, reconstructing a three-dimensional point cloud model of the coding mark point, and calculating a rotating shaft of the aircraft control surface by using the three-dimensional point cloud model; s4: respectively acquiring images of the coding mark points of the coding mark point paster at the initial position and the rotated end position through the acquisition equipment, respectively reconstructing a three-dimensional point cloud model, and establishing a target coordinate system according to the two three-dimensional point cloud models and the rotating shaft; s5: and in the target coordinate system, calculating the included angle between the same coding mark points in the three-dimensional point cloud model of the starting position and the three-dimensional point cloud model of the rotated end point position to obtain the rotation angle of the control surface of the aircraft to be tested.
Preferably, at least 5 different said coded logo point-stickers are affixed.
Preferably, the acquisition device is calibrated by acquiring images of a calibration plate with encoded marker points in at least 8 different positions and poses.
Preferably, the step S3 includes: s31: finding the same coding mark points in the three-dimensional point cloud model under different angles according to the coding values of the coding mark points to obtain three-dimensional coordinate points of the coding mark points; s32: performing spatial circle fitting operation on the three-dimensional coordinate points corresponding to each coding mark point to obtain three-dimensional coordinate points of the center of a spatial circle corresponding to each coding mark point; s33: and performing linear fitting operation on the three-dimensional coordinate point of each coding mark point corresponding to the circle center of the space circle to obtain a target vector, wherein the target vector is the rotating shaft.
Preferably, the different angles comprise at least 5 angles.
Preferably, the step S5 includes: s51: converting the three-dimensional point cloud models of the starting position and the end position into the target coordinate system and calculating the included angle between the same coding mark points to obtain an included angle set; s52: and calculating the average value of the included angles through the included angle set to obtain the rotation angle of the control surface of the aircraft to be tested.
Preferably, the coded mark points on the coded mark point sticker comprise a circular feature and an annular feature.
Preferably, the acquisition device comprises two cameras.
The invention also provides a system for measuring the rotation angle of the aircraft, which comprises: the collecting unit is used for collecting the image data of the coding mark points of the coding mark point paster; a processing unit; for carrying out the method according to any one of claims 1 to 8.
Preferably, the acquisition unit comprises two cameras.
The invention has the beneficial effects that: the method for measuring the rotation angle of the aircraft is provided, and only the coded mark point sticker needs to be attached to the control surface of the aircraft by adopting an optical measurement method, so that the control surface of the aircraft cannot be mechanically damaged compared with the traditional manual measurement method; furthermore, the rotation angle of the control surface of the aircraft can be calculated in a very short time (millisecond level) through two shooting operations, the method is simple to operate, and the measurement result is accurate.
Drawings
Fig. 1 is a schematic diagram of a method for measuring an aircraft rotation angle according to an embodiment of the invention.
FIG. 2 is a schematic diagram of a method for calibrating a rotating shaft according to an embodiment of the present invention.
Fig. 3 is a schematic diagram of a method for calculating the rotation angle of the control surface of the aircraft according to an embodiment of the invention.
Fig. 4 is a schematic diagram of a system for measuring the rotation angle of an aircraft according to an embodiment of the invention.
Fig. 5 is a schematic diagram of an aircraft rotation angle acquisition unit according to an embodiment of the invention.
Fig. 6 is a schematic diagram of an acquisition unit of an aircraft rotation angle according to another embodiment of the invention.
FIG. 7 is a schematic illustration of an aircraft control surface with a coded logo point sticker affixed thereon in an embodiment of the present invention.
Fig. 8(a) is a schematic diagram of an encoded logo point sticker in an embodiment of the present invention.
Fig. 8(b) is a schematic diagram of yet another encoded marker point sticker in an embodiment of the present invention.
Fig. 8(c) is a schematic diagram of yet another encoded logo point sticker in an embodiment of the present invention.
FIG. 9 is a schematic diagram of spatial circle fitting of a coded landmark point according to an embodiment of the present invention.
FIG. 10 is a schematic diagram of spatial circle fitting for multiple encoded landmark points in an embodiment of the invention.
The system comprises a camera 1, a camera 2, a control box 3, a computer 4, an acquisition unit 5, a camera 6, a camera 7, a light source 8, an aircraft control surface 9, a code mark point sticker 10, a space circle center formed by code mark points 11, a code mark point 12 at a position of 30 degrees, a code mark point 13 at a position of 50 degrees, a code mark point 14 at a position of 80 degrees, a code mark point 15 at a position of 120 degrees, and a code mark point 16 at a position of 140 degrees.
Detailed Description
The present invention will be described in detail below with reference to the following embodiments in order to better understand the present invention, but the following embodiments do not limit the scope of the present invention. It should be noted that the drawings provided in the following embodiments are only for illustrating the basic concept of the present invention, and the drawings only show the components related to the present invention rather than the number, shape and size of the components in actual implementation, the shape, number and proportion of the components in actual implementation can be changed freely, and the layout of the components can be more complicated.
Example 1
As shown in fig. 1, a method for measuring an aircraft rotation angle includes the following steps:
s1: attaching a coding mark point sticker to the control surface of the aircraft to be tested;
the coding mark points have unique characteristic information, and comprise circular characteristics and annular characteristics. Through the digital image processing technology, the coding feature points of the image can be identified, and the image coordinates of the coding feature points in the image can be calculated. In a specific embodiment, 5 different coded mark point stickers are pasted, it is understood that more than 5 coded mark point stickers can be pasted.
S2: calibrating the acquisition equipment;
in one embodiment, the acquisition device includes two cameras. Placing a calibration plate with coding points in a camera field of view, obtaining camera images of the calibration plate at different positions and postures by moving the calibration plate, and identifying image coordinates of the coding points in ten groups of images and coding values corresponding to the coding points by a digital image processing technology; and calculating internal and external parameters between the two measuring head cameras according to a binocular stereo vision principle.
In a specific embodiment, 8 shots are taken from at least 8 angles in total by moving the calibration plate, so that the camera model equation including at least 6 unknowns of the exterior orientation element and the camera interior parameters can be solved.
S3: acquiring an image of a coding mark point of the coding mark point sticker by using calibrated acquisition equipment, reconstructing a three-dimensional point cloud model of the coding mark point, and calculating a rotating shaft of the aircraft control surface by using the three-dimensional point cloud model;
the collecting device with calibrated internal and external parameters takes a picture of the aircraft control surface to which the coding mark point sticker is pasted, obtains the coding value and the image coordinate of the coding mark point through a digital image processing technology, and reconstructs a three-dimensional point cloud model of the coding mark point.
S4: respectively acquiring images of the coding mark points of the coding mark point paster at the initial position and the rotated end position through the acquisition equipment, respectively reconstructing a three-dimensional point cloud model, and establishing a target coordinate system according to the two three-dimensional point cloud models and the rotating shaft;
s5: and in the target coordinate system, calculating the included angle between the same coding mark points in the three-dimensional point cloud model of the starting position and the three-dimensional point cloud model of the rotated end point position to obtain the rotation angle of the control surface of the aircraft to be tested.
As shown in fig. 2, in a specific embodiment, the step S3 includes:
s31: finding the same coding mark points in the three-dimensional point cloud model under different angles according to the coding values of the coding mark points to obtain three-dimensional coordinate points of the coding mark points;
in a specific embodiment, the different angles comprise at least 5 angles.
S32: performing spatial circle fitting operation on the three-dimensional coordinate points corresponding to each coding mark point to obtain three-dimensional coordinate points of the center of a spatial circle corresponding to each coding mark point;
s33: and performing linear fitting operation on the three-dimensional coordinate point of each coding mark point corresponding to the circle center of the space circle to obtain a target vector, wherein the target vector is the rotating shaft.
As shown in fig. 3, in a specific embodiment, the step S5 includes:
s51: converting the three-dimensional point cloud models of the starting position and the end position into the target coordinate system and calculating the included angle between the same coding mark points to obtain an included angle set;
s52: and calculating the average value of the included angles through the included angle set to obtain the rotation angle of the control surface of the aircraft to be tested.
Example 2
The invention provides a system for measuring the rotation angle of an aircraft, which comprises: the device comprises an acquisition unit and a processing unit, wherein the acquisition unit is used for acquiring image data of the coding mark points of the coding mark point sticker; the processing unit is used for controlling the acquisition unit; processing the image data; and calculating the rotation angle of the control surface of the aircraft to be tested to realize the method in the embodiment 1.
As shown in fig. 4, in a specific embodiment, the acquisition unit includes a camera 1 and a camera 2, and further includes a control box 3, and the two cameras are respectively connected to the control box 3 to form an acquisition unit 5; the processing unit is a computer 4 with processing capabilities, and the control box 3 is connected to the computer 4. The processing unit controls the camera 1 and the camera 2 by sending instructions, image data collected by the camera 1 and the camera 2 are transmitted back to the computer 4 through the control box 3, and the computer 4 can analyze and process the image after obtaining the data.
It will be appreciated that in order to make the hardware device simpler, the system of the invention may be without a control box, the functionality of which is replaced by a computer, i.e. comprising only two cameras and a computer.
As shown in fig. 5 and 6, the collecting unit of the present invention may also be composed of a camera 6, a camera 7 and a light source 8.
It is understood that the computer of the present invention includes: a processor, a memory and a computer program stored in said memory and executable on said processor, such as a measurement program of the angle of rotation of an aircraft. The processor, when executing the computer program, implements the steps in the above-described embodiments of the method for measuring an angle of rotation of an aircraft, such as steps S1-S5 shown in fig. 1. Alternatively, the processor, when executing the computer program, implements the functions of the units in the above-described device embodiments, such as the acquisition unit and the processing unit.
It can be understood that the embodiment of the invention provides a schematic diagram of a system for measuring the rotation angle of an aircraft. The processing unit of the aircraft rotation angle of this embodiment includes: illustratively, the computer program may be divided into one or more units, which are stored in the memory and executed by the processor to accomplish the present invention. The one or more units may be a series of computer program instruction segments capable of performing specific functions for describing the execution of the computer program in the measurement of the angle of rotation of the aircraft.
The processing unit can be a desktop computer, a notebook, a palm computer, a cloud server and other computing devices. The processing unit may include, but is not limited to, a processor, a memory. Those skilled in the art will appreciate that the schematic diagrams are merely examples of a processing unit and do not constitute a limitation on the processing unit, and may include more or less components than those shown, or some components in combination, or different components, for example, the processing unit may also include input output devices, network access devices, buses, etc.
The Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like that is the control center for the processing unit and that connects the various parts of the overall processing unit using various interfaces and lines.
The memory may be used to store the computer programs and/or modules, and the processor may implement the various functions of the processing unit by running or executing the computer programs and/or modules stored in the memory, as well as by invoking data stored in the memory. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required by at least one function (such as a sound playing function, an image playing function, etc.), and the like; the storage data area may store data (such as audio data, a phonebook, etc.) created according to the use of the cellular phone, and the like. In addition, the memory may include high speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), at least one magnetic disk storage device, a Flash memory device, or other volatile solid state storage device.
The acquisition unit in the aircraft rotation angle measurement system may be stored in a computer-readable storage medium if it is implemented in the form of a software functional unit and sold or used as a separate product. Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method embodiments may be implemented. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as is required by legislation and patent practice.
Example 3
The method of the present invention is illustrated by a more specific example below.
1. Pasting a coded mark point sticker 10 on the control surface 9 of the aircraft to be tested;
as shown in fig. 7, 5 different coded mark point stickers 10 are attached to the surface of the control surface 9 of the aircraft to be tested.
As shown in fig. 8(a) to 8(c), the coded mark-point sticker 10 includes feature information including: circular features, ring-type features. The characteristics can be identified through a digital image processing technology to obtain the codes of the mark points.
2. Arranging acquisition equipment and calibrating the acquisition equipment; the acquisition devices are two cameras and a measurement box in this embodiment; the processing unit is a computer.
The calibration plate with the coding mark points is placed in a visual field of a camera, the focal length and the aperture of the camera are adjusted to clearly shoot the coding mark points on the calibration plate, the computer controls the measuring head to shoot images of the calibration plate at each position by adjusting the angle and the posture of the calibration plate, and the images are transmitted back to the computer.
The computer will solve the internal parameters and external parameters of the two cameras according to the coded values and image coordinates of the coded points in the camera image.
In this embodiment, by moving the calibration board, a total of 8 photographs are taken from 8 angles, so that the camera model equation including 6 unknowns such as the exterior orientation element and the camera interior parameter can be solved. It is understood that in alternate embodiments, the unknowns may be greater than 6.
3. Acquiring an image of a coding mark point sticker by calibrated acquisition equipment, reconstructing a three-dimensional point cloud model of the coding mark point, and calculating a rotating shaft of the aircraft control surface by the three-dimensional point cloud model; and obtaining image coordinates of the coding mark points according to digital image processing, and obtaining a three-dimensional point cloud model of the coding mark points in a three-dimensional space with the reference camera as a coordinate origin by using the camera internal and external parameters obtained by calibration and solution according to a binocular stereo vision principle.
The control surface of the aircraft is rotated, and the camera is used for image acquisition, so that three-dimensional point cloud models of the coding mark points at 5 different angles can be obtained.
Because the control surface of the aircraft rotates around the fixed rotating shaft, the same coding mark points in all the three-dimensional point cloud models are necessarily positioned on a space circle which takes the point on the rotating shaft as the center of a circle and is vertical to the rotating shaft.
As shown in fig. 9 and 10, the same coding mark points in each model are selected for spatial circle fitting to obtain the centers of several groups of spatial circles. And fitting the centers of all the space circles to obtain a straight line, namely a rotating shaft of the control surface of the aircraft, and establishing a coordinate system.
Specifically, three-dimensional point clouds under 5 different angles are collected through a computer, the same mark point in different three-dimensional point clouds is found through the code value of the code mark point, the coordinate point of the code mark point at 30-degree position 12 is the coordinate point of the code mark point at 50-degree position 13, the coordinate point of the code mark point at 80-degree position 14, the coordinate point of the code mark point at 120-degree position and the coordinate point of the code mark point at 140-degree position 16 are respectively P0～P4。
To P0P4 carries out space circle fitting operation to obtain space circle center 11 composed of coding mark points of space circle center and its three-dimensional coordinatePoint PC0。
The three-dimensional coordinate point PC of the center of the space circle is obtained by carrying out the operation on other coding mark points0～PCnTo PC0～PCnPerforming linear fitting operation to obtain vector VECAxisI.e. the rotation axis.
4. Respectively acquiring images of the coding mark points of the coding mark point paster at the initial position and the rotated end position through the acquisition equipment, respectively reconstructing a three-dimensional point cloud model, and establishing a target coordinate system according to the two three-dimensional point cloud models and the rotating shaft;
constructing a target coordinate system after obtaining the rotating shaft, specifically, firstly acquiring an image of a coding mark point at an initial position and reconstructing a three-dimensional point cloud model; and adjusting the control surface of the aircraft to an angle position of 0 degrees, namely an initial position, and controlling the relative image acquisition of the control surface of the aircraft.
Then, acquiring an image of the coding mark point of the rotated end point position and reconstructing a three-dimensional point cloud model; adjusting the rotation of the control surface of the aircraft to a fixed angle required to be measured, carrying out image acquisition on the coding mark points on the control surface through a camera, reconstructing a three-dimensional point cloud model, and converting the point cloud model into a coordinate system coord.
The coordinate system coord is that the positive direction of the rotating shaft is selected as the positive direction of the Z axis, the same characteristic point under the three-dimensional point cloud model of the initial position and the final position and the plane vertical to the positive direction of the Z axis are selected as XoY planes, the intersection point of the XoY plane and the Z axis, namely the origin of coordinates is obtained,
is the positive direction of the X axis,
obtain the vector
And establishing a coordinate system coord for the positive direction of the Y axis.
5. And in the target coordinate system, calculating the included angle between the same coding mark points in the three-dimensional point cloud model of the starting position and the three-dimensional point cloud model of the rotated end point position to obtain the rotation angle of the control surface of the aircraft to be tested.
Because the aircraft control surface is rotated around a fixed shaft, the same characteristic points are necessarily on a plane at each angle, and the planes of each characteristic point are parallel to each other.
Converting the three-dimensional point cloud Model of the initial position into a rotating shaft coordinate system according to a coordinate system coord obtained by calculating a rotating shaft to obtain a final Model 1; and converting the three-dimensional point cloud model of the end position into a coordinate system coord to obtain a final model Medel 2.
The pivoting angle of the control surface of the aircraft is an included angle between vectors formed by projection points of the two coordinate points on the XOY plane and the origin of coordinates, included angles between all corresponding coordinate points in the two three-dimensional point cloud models are calculated, and the average value is the pivoting angle of the control surface of the aircraft.
Under a coordinate system coord, two points P1 and P2 with the same characteristic numbers are selected from Medol1 and Medel2 respectively, and projection points P1 'and P2' of the two points and an XY plane under the coordinate system coord are solved to obtain two vectors OP1 'and OP 2'; and solving the two vector included angles to obtain the angle A1. According to the method, angles & lt A2 & lt A3 & lt A4 & lt A5 of each corresponding point are sequentially obtained, and the average value of the obtained angles of 5 characteristic points is the rotation angle.
Following this procedure, 5 sets of experiments were performed. The resulting measurement data are shown in the table:
TABLE 1 measurement data
| Serial number | Actual rotation angle of control surface | Measuring angle | Deviation of |
| 0 | 20 | 19.99 | 0.01 |
| 1 | 15 | 15.01 | 0.01 |
| 2 | 15 | 14.99 | 0.01 |
| 3 | 20 | 20.00 | 0.0 |
| 4 | 10 | 9.98 | 0.02 |
As can be seen from the table above, the accuracy can reach 0.02 by adopting the method for measuring the rotation angle of the aircraft; the method adopts an optical measurement method, only needs to attach the code mark point sticker to the control surface of the aircraft, and does not generate mechanical damage to the control surface of the aircraft compared with the traditional manual measurement method; furthermore, the rotation angle of the control surface of the aircraft can be calculated in a very short time (millisecond level) through two shooting operations, the method is simple to operate, and the measurement result is accurate.
The foregoing is a more detailed description of the invention in connection with specific preferred embodiments and it is not intended that the invention be limited to these specific details. For those skilled in the art to which the invention pertains, several equivalent substitutions or obvious modifications can be made without departing from the spirit of the invention, and all the properties or uses are considered to be within the scope of the invention.
Claims (10)
1. A method for measuring the rotation angle of an aircraft is characterized by comprising the following steps:
s1: attaching a coding mark point sticker to the control surface of the aircraft to be tested;
s2: calibrating the acquisition equipment;
s3: collecting images of the coding mark points of the coding mark point paster through the calibrated collecting equipment, reconstructing a three-dimensional point cloud model of the coding mark points, and calculating a rotating shaft of the aircraft control surface through the three-dimensional point cloud model, wherein the calculating of the rotating shaft of the aircraft control surface through the three-dimensional point cloud model comprises the following steps: selecting the same coding mark points in each three-dimensional point cloud model to perform space circle fitting to obtain the circle center of a space circle; fitting all the centers of the space circles to obtain a straight line as a rotating shaft of the control surface of the aircraft;
s4: respectively acquiring images of the coding mark points of the coding mark point paster at the initial position and the rotated end position through the acquisition equipment, respectively reconstructing a three-dimensional point cloud model, and establishing a target coordinate system according to the two three-dimensional point cloud models and the rotating shaft;
s5: and in the target coordinate system, calculating the included angle between the same coding mark points in the three-dimensional point cloud model of the starting position and the three-dimensional point cloud model of the rotated end point position to obtain the rotation angle of the control surface of the aircraft to be tested.
2. A method of measuring the angle of rotation of an aircraft according to claim 1, wherein at least 5 different said coded marker point stickers are affixed.
3. A method of measuring the angle of rotation of an aircraft according to claim 1, characterized in that the acquisition device is calibrated by acquiring images of a calibration plate with coded marker points in at least 8 different positions and attitudes.
4. The method for measuring the angle of rotation of an aircraft according to claim 1, wherein said step S3 includes:
s31: finding the same coding mark points in the three-dimensional point cloud model under different angles according to the coding values of the coding mark points to obtain three-dimensional coordinate points of the coding mark points;
s32: performing spatial circle fitting operation on the three-dimensional coordinate points corresponding to each coding mark point to obtain three-dimensional coordinate points of the center of a spatial circle corresponding to each coding mark point;
s33: and performing linear fitting operation on the three-dimensional coordinate point of each coding mark point corresponding to the circle center of the space circle to obtain a target vector, wherein the target vector is the rotating shaft.
5. The method of claim 4, wherein said different angles comprise at least 5 angles.
6. The method for measuring the angle of rotation of an aircraft according to claim 1, wherein said step S5 includes:
s51: converting the three-dimensional point cloud models of the starting position and the end position into the target coordinate system and calculating the included angle between the same coding mark points to obtain an included angle set;
s52: and calculating the average value of the included angles through the included angle set to obtain the rotation angle of the control surface of the aircraft to be tested.
7. The method for measuring the angle of rotation of an aircraft according to any one of claims 1 to 6, wherein the coded marker points on the coded marker point sticker comprise a circular feature and a ring feature.
8. The method for measuring the angle of rotation of an aircraft according to any one of claims 1 to 6, wherein the acquisition device comprises two cameras.
9. An aircraft rotation angle measurement system, comprising:
the collecting unit is used for collecting the image data of the coding mark points of the coding mark point paster;
a processing unit; for carrying out the method according to any one of claims 1 to 8.
10. The system for measuring the angle of rotation of an aircraft according to claim 9, characterized in that said acquisition unit comprises two cameras.
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| CN110879048A (en) * | 2019-12-10 | 2020-03-13 | 南昌航空大学 | Real-time monitoring method for blade torsion angle based on mark point detection |
| CN111637851B (en) * | 2020-05-15 | 2021-11-05 | 哈尔滨工程大学 | Aruco code-based visual measurement method and device for plane rotation angle |
| CN111912381A (en) * | 2020-06-15 | 2020-11-10 | 成都飞机工业（集团）有限责任公司 | Airplane control surface angle measuring method based on binocular vision principle |
| CN112729221B (en) * | 2020-11-30 | 2022-08-12 | 成都飞机工业（集团）有限责任公司 | Method for measuring deflection angle of airplane control surface |
| CN114964137A (en) * | 2022-04-18 | 2022-08-30 | 中航西安飞机工业集团股份有限公司 | Airplane control plane deflection angle testing system and method based on binocular image acquisition |
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