CN112097761B - A method for automatic identification of sensor installation direction corresponding to spacecraft - Google Patents

Abstract

The invention provides an automatic identification method of the sensor installation direction corresponding to the spacecraft, which is used to solve the problems of low efficiency and low accuracy of the sensor installation direction recording in the prior art. The method for automatically identifying the installation direction of the sensor is based on a handheld terminal with a built-in gyroscope. After establishing the coordinate system of the handheld terminal, the coordinate system of the spacecraft and the sensor coordinate system, the type and coordinate system of the current sensor are identified by scanning the code, and the built-in gyroscope is used to identify the type and coordinate system of the current sensor. Identify the current sensor attitude, obtain the converted coordinate system of the current sensor from the handheld terminal, and then automatically calculate the rotation angle of the current sensor's converted coordinate system relative to the spacecraft coordinate system by the built-in gyroscope, determine the direction of the current sensor, and record it. The invention realizes the sensor direction judgment based on the handheld terminal, can be applied to multiple types of sensors, effectively improves the recognition accuracy of the sensor installation direction corresponding to the spacecraft, improves the work efficiency and saves human resources.

Description

A method for automatic identification of sensor installation direction corresponding to spacecraft

technical field

The invention belongs to the field of sensing, in particular to an automatic identification method for a sensor installation direction corresponding to a spacecraft.

Background technique

As an information conversion device, the sensor can convert the measurand into an electrical signal or other required information form, and measure, transmit, display or process the measurand, and is used in intelligent computers, spacecraft, atmospheric monitoring, hydrology and geology monitoring and other fields. For example, in the test of spacecraft ground mechanics environment, a large number of sensors need to be installed, including single-axis, multi-axis acceleration sensors, angular vibration sensors, force sensors, etc. When installing the sensor, it is necessary to record the correspondence between the sensor direction and the coordinate direction of the spacecraft.

The installation of the spacecraft mechanical environmental test sensor is carried out step by step with the final assembly process of the spacecraft, and the time span is generally at least several months. Figure 1 is a schematic diagram of the sensor installation and wiring process in the prior art. As shown in Figure 1, the installation of the spacecraft mechanical environment test sensor includes the following steps: M0. Sensor preparation includes the type and quantity inspection of the pasted sensors, continuity inspection, appearance inspection, and pasting of insulating sheets; auxiliary material preparation includes tape preparation, Preparation of aluminum foil, preparation of glue, preparation of cleaning cotton balls; preparation of pasting record sheets according to the test outline; M1. The pasting position is determined according to the requirements of the measuring point layout document in the test outline of the specimen, and the pasting position is determined together with the test party; M2. Preliminary determination by the pasting position The direction of the sensor is pasted. The judgment standard is that the pasted sensor is easy to route, and it is not easy to conflict with other products on the test piece, and other products in the surrounding cannot affect the output data of the sensor during the test; M3. Confirm the direction definition of the sensor itself; M4. Determine the direction of the spacecraft corresponding to the installation area according to the test outline; M5. Record the number of the sensor; M6. Determine and record the corresponding relationship between the sensor and the direction of the spacecraft according to the direction of the sensor sticking; M7. Glue the sticking sensor; M8. Further protect the sensor with tape, out of the wire. If there are multiple sensors, repeat steps M1-M8; M9. Connect the transfer cable; M10. Record the connection relationship; M11. Make the measurement system tracking card and connect the transfer arm.

During the sensor installation process, steps M3-M6 require the sensor installer to confirm and record the corresponding relationship between the sensor and the spacecraft direction according to the definition of the sensor direction, the spacecraft direction, and the pasting direction. Generally, the mechanical environment test of spacecraft needs to install hundreds of sensors. The installation time is intermittent, the process is at least several months, and there are many people involved. Manual judgment of the coordinate relationship is prone to errors. According to experience, the probability of wrong direction recording is 1%. about. At the same time, the traditional methods of manually judging the direction and paper records are inefficient, cannot guarantee the accuracy of direction judgment, are prone to errors in the judgment and recording process, and require a lot of human resources.

SUMMARY OF THE INVENTION

In view of the above-mentioned defects or deficiencies in the prior art, the present invention provides a method for automatically identifying the installation direction of a sensor corresponding to a spacecraft. The attitude relationship is defined by using a built-in gyroscope in a handheld terminal, and the sensor corresponding to the spacecraft can be identified. The automatic identification and recording of the installation direction improves the installation efficiency of the sensor and reduces the probability of errors.

In order to achieve the above purpose, the embodiment of the present invention adopts the following technical solutions:

An automatic identification method for a sensor installation direction corresponding to a spacecraft, the method for automatic identification of the sensor installation direction includes the following steps:

Step S1, establishing a hand-held terminal coordinate system with a built-in gyroscope, and inputting the spacecraft coordinate system based on the hand-held terminal coordinate system;

Step S2, define the sensor coordinate system, and enter the handheld terminal database;

Step S3, scan the code to identify the type and coordinate system of the current sensor, and based on the coordinate system of the handheld terminal, identify the attitude of the current sensor through the built-in gyroscope, and obtain the converted coordinate system of the current sensor from the handheld terminal;

In step S4, the built-in gyroscope automatically calculates the rotation angle of the converted coordinate system of the current sensor relative to the coordinate system of the spacecraft, and determines the direction of the current sensor.

In the above solution, the step S4 further includes automatically recording the current sensor number, type and direction.

In the above solution, the step S4 determines the direction of the current sensor, and determines the direction of the current sensor through angle realignment.

In the above scheme, in the angle adjustment, first determine whether the error exceeds the standard, if the error exceeds the standard, prompt to redefine the coordinate system of the spacecraft to perform the zero return operation; if the error does not exceed the standard, the error is eliminated as a small amount.

In the above scheme, the process of judging whether the error exceeds the standard is as follows:

Set the rotation angle as θ, the tolerance error as ±α, and the criterion for judging that the error exceeds the standard is:

(θ+α)//90-(θ-α)//90==0 (1)

In formula (1), // is the divisible symbol, == logically judges whether the left and right sides are equal;

If the error does not exceed the standard, the angle reformulation formula is:

In formula (2), % is the remainder operator, and abs is the absolute value operation.

In the above solution, the handheld terminal further includes a code scanning identification device, a display device and an input device, the scanning code identification device is used to scan the code to identify the current sensor, the display device is used to display the scanning code identification result, and the input device is used for scanning the code. The device is used to input the coordinate system of the spacecraft.

In the above scheme, the coordinate system of the handheld terminal is defined as XYZ, the coordinate system of the input spacecraft is X _H Y _H Z _H , and the shooting direction of the camera is defined as the -Z direction. , and form the coordinate system XYZ of the handheld terminal according to the right-handed coordinate system.

In the above solution, the coordinate system of the sensor is defined by the normal direction of the mounting surface and the orientation of the socket to define the coordinate system of the sensor.

In the above solution, the sensor includes a three-axis sensor and a single-axis sensor; for the three-axis sensor, the normal direction of the mounting surface is the z direction, and the socket orientation is the -y direction, so as to determine the corresponding relationship of the right-hand coordinate system; for the first type of single-axis sensor For the sensor, the normal direction of the mounting surface and the orientation of the socket are along one axis, and the sensor direction is confirmed to define the sensor coordinate system; for the second type of single-axis sensor, the sensitive axis is parallel to the mounting surface, and the sensitive axis is confirmed by the normal direction of the sensor mounting surface and the orientation of the socket. Axis orientation, confirms the sensor orientation, and defines the sensor coordinate system.

In the above scheme, in the step S3, the conversion coordinate system of the current sensor is obtained by the handheld terminal, after the handheld terminal scans the sensor identification code, the type and orientation definition xyz of the current sensor are obtained from the database, and the orientation of the handheld terminal is adjusted based on the built-in gyroscope, Make the axis -Z of the scanning area of the handheld terminal parallel to the normal of the sensor installation surface, and the camera is facing the direction of the sensor installation. If the direction of the socket is not on the same axis as the normal direction of the installation surface, the -Y direction of the handheld terminal points to the direction of the socket, so that The transformed coordinate system X _T Y _T Z _T of the sensor is directly obtained from the handheld terminal.

The present invention has the following beneficial effects:

The method for automatically identifying the installation direction of a sensor corresponding to a spacecraft according to the embodiment of the present invention is based on a handheld terminal with a built-in gyroscope. The type and coordinate system of the sensor, and based on the coordinate system of the handheld terminal, the current sensor attitude is recognized by the built-in gyroscope, the converted coordinate system of the current sensor is obtained from the handheld terminal, and then the converted coordinate system of the current sensor is automatically calculated by the built-in gyroscope. The rotation angle of the sensor coordinate system is used to determine the current direction of the sensor and record it. The invention realizes the sensor direction judgment based on the handheld terminal, can be applied to multiple types of sensors, effectively improves the recognition accuracy of the sensor installation direction corresponding to the spacecraft, improves the work efficiency, saves human resources, and avoids the problem of manual judgment errors. . The installation direction identification method can be applied to various fields that need to determine the corresponding relationship between the installation sensor direction and the standard coordinate direction.

Description of drawings

Other features, objects and advantages of the present application will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings:

Fig. 1 is a schematic diagram of a sensor installation process in a spacecraft ground mechanics environmental test in the prior art;

2 is a schematic flowchart of an automatic identification method for a sensor installation direction corresponding to a spacecraft according to an embodiment of the present invention;

3 is a schematic structural diagram of a tablet handheld terminal in an embodiment of the present invention;

4 is a schematic structural diagram of a code scanning gun-type handheld terminal in an embodiment of the present invention;

FIG. 5 is a schematic diagram of the direction definition of a three-axis sensor in an embodiment of the present invention;

6 is a schematic diagram of the direction definition of the first type of single-axis sensor in an embodiment of the present invention;

7 is a schematic diagram of the direction definition of the second type of single-axis sensor in an embodiment of the present invention;

8 is a schematic diagram of the principle of identifying the current sensor attitude based on a built-in gyroscope in an embodiment of the present invention;

FIG. 9 is a schematic diagram of a display interface of a handheld terminal when the direction of the current sensor is determined through angle realignment according to an embodiment of the present invention.

Detailed ways

The present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the related invention, but not to limit the invention. In addition, it should be noted that, for the convenience of description, only the parts related to the invention are shown in the drawings.

It should be noted that the embodiments in the present application and the features of the embodiments may be combined with each other in the case of no conflict. The present application will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.

The embodiment of the present invention provides an automatic identification and recording method for the installation direction of the sensor corresponding to the spacecraft for the installation of the sensor in the ground mechanical environment test of the spacecraft. First, the coordinate system of the sensor is defined, which is recorded as the xyz coordinate system; the handheld terminal is established. Coordinate system XYZ, enter the coordinate system X _H Y _H Z _H of the spacecraft in the handheld terminal; then define the relative relationship between the attitude of the handheld terminal and the sensor during the sensor installation process, the handheld terminal has a built-in gyroscope, and the current handheld terminal is calculated when the recording is triggered. The attitude of X _C Y _C Z _C , the angle matching forms the transformation coordinate system X _T Y _T Z _T , and finally the direction of X _T Y _T Z _T is recorded according to the coordinate system X _H Y _H Z _H of the spacecraft, so as to realize the installation direction of the sensor The corresponding relationship is automatically judged and recorded, which improves the installation efficiency of the sensor and reduces the probability of errors.

The present invention will be described in further detail below through specific embodiments and in conjunction with the accompanying drawings.

FIG. 2 is a schematic flowchart of a method for automatically identifying the installation direction of a sensor corresponding to a spacecraft according to an embodiment of the present invention. As shown in Figure 2, the method for automatically identifying and recording the installation direction of the sensor includes the following steps:

In step S1, a coordinate system of a handheld terminal with a built-in gyroscope is established, and the coordinate system of the spacecraft is input based on the coordinate system of the handheld terminal.

In this step, the handheld terminal includes a tablet type and a code scanning gun type terminal. FIG. 3 is a schematic structural diagram of a tablet type handheld terminal in this embodiment; FIG. 4 is a schematic structural diagram of a code scanning gun type handheld terminal in this embodiment. As shown in FIG. 3 and FIG. 4 , the handheld terminal includes a built-in gyroscope, a code scanning identification device, a display device and an input device, and the handheld terminal is correspondingly divided into a code scanning area, a display area and an input area. The scanning code identification device is used for scanning the code to identify the current sensor, the display device is used for displaying the scanning code identification result, and the input device is used for inputting the coordinate system of the spacecraft.

As a preferred embodiment of the present invention, the code scanning identification device includes a transmitter, a camera, and a flash, the sensor number is identified by scanning the code identification, and the sticking position is recorded and photographed.

In this embodiment, the coordinate system of the handheld terminal is defined as XYZ, the coordinate system of the input spacecraft is X _H Y _H Z _H , and the shooting direction of the camera is defined as the -Z direction. After the staff holds the handheld terminal, the horizontal direction to the right is X direction, and form the coordinate system XYZ of the handheld terminal according to the right-handed coordinate system.

In step S2, the sensor coordinate system is defined and entered into the database of the handheld terminal.

In this step, for defining the coordinate system of the sensor, the coordinate system defined when the sensor leaves the factory may be used, or the coordinate system of the sensor may be defined according to usage habits. Define the coordinate system of the sensor as xyz. Normally, for a sensor with a defined coordinate direction when it leaves the factory, enter it into the handheld terminal database according to the factory direction definition. If the coordinate system is not defined, define the sensor coordinate system according to the usage habits.

Preferably, the coordinate system of the sensor is defined by the normal direction of the mounting surface and the orientation of the socket.

As a preferred embodiment of the present invention, the sensor includes a three-axis sensor and a single-axis sensor. In practical applications, the acceleration sensors, angular vibration sensors, micro-vibration sensors, force sensors, etc. corresponding to the spacecraft are classified as three-axis sensors or single-axis sensors according to the number of measurement axes. FIG. 5 is a schematic diagram of the direction definition of the three-axis sensor. As shown in Figure 5, for the three-axis sensor, the normal direction of the mounting surface is the z direction, and the socket orientation is the -y direction. For the three-axis sensor, the corresponding relationship of the right-handed coordinate system can be determined by knowing the normal direction of the mounting surface and the socket orientation. Figures 6 and 7 show schematic diagrams of orientation definition of two types of single-axis sensors, respectively. As shown in Figure 6, for the first type of single-axis sensor, the normal direction of the mounting surface and the orientation of the socket are along one axis. Knowing the normal direction of the mounting surface, the sensor orientation can be confirmed to define the sensor coordinate system. As shown in Figure 7, for the second type of single-axis sensor, the sensitive axis is parallel to the mounting surface, and the direction of the sensitive axis and the sensor direction can be confirmed through the normal direction of the sensor mounting surface and the orientation of the socket. Sensors defined in other directions can also refer to the above method, and define the sensor coordinate system through the normal direction of the mounting surface and the orientation of the socket.

The coordinate system information and type information of the defined sensor are entered into the identification code of the sensor when the sensor is installed.

Step S3, scan the code to identify the type and coordinate system of the current sensor, and based on the coordinate system of the handheld terminal, identify the current sensor attitude through the built-in gyroscope, and obtain the converted coordinate system X _T Y _T Z _T of the current sensor from the handheld terminal.

FIG. 8 is a schematic diagram showing the principle of identifying the current sensor attitude based on the built-in gyroscope in this step. As shown in Figure 8, in this step, after the handheld terminal scans the sensor identification code, the type and orientation definition xyz of the current sensor are obtained from the database, the orientation of the handheld terminal is adjusted based on the built-in gyroscope, and the axis-Z of the barcode scanning area of the handheld terminal is adjusted to The normal of the sensor installation surface is parallel, and the camera faces the direction of the sensor installation. If the socket orientation is not on the same axis as the normal direction of the installation surface, the -Y direction of the handheld terminal should also point to the socket orientation. Using the defined attitude relationship to complete the identification of the installation direction of the sensor, the attitude relative relationship is intuitive, and the conversion coordinate system X _T Y _T Z _T of the sensor is directly obtained from the handheld terminal without manual conversion.

It should be noted that the defined attitude relationship may also be a corresponding relationship in other directions, and the above preferred embodiment does not constitute a limitation to the present invention.

Step S4, the built-in gyroscope automatically calculates the rotation angle of the converted coordinate system X _T Y _T Z _T of the current sensor relative to the spacecraft coordinate system X _H Y _H Z _H , and determines the direction of the current sensor.

Further, the step S4 further includes automatically recording the current sensor number, type and direction.

As a preferred embodiment of the present invention, the direction of the current sensor is determined through angle realignment.

FIG. 9 is a schematic diagram of the display interface of the handheld terminal when the direction of the current sensor is determined through angle realignment. As shown in FIG. 9 , after the angle is reformed, the coordinate record can be determined according to the reformed angle. Preferably, the displayed direction can be manually modified through the input device to meet the revision requirements under special circumstances.

In this step, the angle readjustment is due to the fact that when the gyroscope calculates the attitude, the error increases with time, and there is also a visual error when using the handheld terminal to determine the direction of the sensor. Therefore, the rotation angle of the obtained transformed coordinate system X _T Y _T Z _T relative to the spacecraft coordinate system X _H Y _H Z _H is not a multiple of the standard 90°.

In the angle readjustment, first determine whether the error exceeds the standard, if the error exceeds the standard, prompt to redefine the coordinate system of the spacecraft to perform the zero return operation; if the error does not exceed the standard, the error is eliminated as a small amount.

The process of judging whether the error exceeds the standard is as follows:

Assuming that one of the rotation angles is θ, the tolerance error is ±α. Preferably, the α range is [5, 20]. The criterion for judging that the error exceeds the standard is:

(θ+α)//90-(θ-α)//90==0 (1)

In formula (1), // is the divisible symbol, == logically judges whether the left and right sides are equal.

If the error does not exceed the standard, the angle reformulation formula is:

In formula (2), % is the remainder operator, and abs is the absolute value operation.

As a preferred embodiment of the present invention, the direction of the current sensor is directly determined, and uncertainty is added to the direction. In the installation direction of most sensors, the three coordinate axes are parallel to the coordinate axis of the spacecraft, but there are also sensors in some positions. After installation, the three coordinate axes are not parallel to the coordinate axis of the spacecraft. In this case, the measured angle is not renormalized, and the rotation angle of the sensor installation direction relative to the spacecraft coordinate system is directly output, and the uncertainty of the angle is the tolerance error ±α.

Using the automatic identification method of the sensor installation direction corresponding to the spacecraft of the present invention, when the sensor installation direction is recorded, before the sensor is installed, the sensor number, model, sensitivity, defined coordinate system and other information are stored in the warehouse, and the end of the sensor cable is stored. Attach a barcode or QR code with sensor inbound information. After the sensor is turned on, use the handheld terminal to scan the codes one by one to leave the warehouse, and the status of the scanned sensor automatically changes to "connected". After determining the installation position and orientation of the sensor, the operator scans the sensor number (bar code or QR code) with the handheld terminal, and uses the handheld terminal to automatically identify the record and install the sensor according to the determined installation direction and socket orientation of the sensor. For in-cabin sensors, outgoing cables are required. After outgoing, you can use the outgoing record function to scan the code to record the number of the outgoing sensor, and display the outgoing sensors in a list. Connect the adapter cable, scan the code to record the sensor number and the adapter cable number. Export the installation record information, make the measurement system tracking card, and connect the arm. After the above process, when the sensor installation is completed, the identification and recording of the sensor direction are also completed.

It can be seen from the above technical solutions that the method for automatically identifying and recording the installation direction of the sensor corresponding to the spacecraft according to the embodiment of the present invention realizes the direction judgment of the sensor based on the handheld terminal, which can be applied to multiple types of sensors, and effectively improves the compatibility with the spacecraft. The recognition accuracy of the corresponding sensor installation direction improves work efficiency and saves human resources.

The above description is only a preferred embodiment of the present application and an illustration of the applied technical principles. Those skilled in the art should understand that the scope of the invention involved in this application is not limited to the technical solution formed by the specific combination of the above-mentioned technical features, and should also cover the above-mentioned technical features without departing from the inventive concept. Other technical solutions formed by any combination of its equivalent features. For example, a technical solution is formed by replacing the above-mentioned features with the technical features disclosed in this application (but not limited to) with similar functions.

Claims (10)

1. an automatic identification method of sensor installation direction corresponding to spacecraft, is characterized in that, described sensor installation direction automatic identification method, comprises the steps: Step S1, establishing a hand-held terminal coordinate system with a built-in gyroscope, and inputting the spacecraft coordinate system based on the hand-held terminal coordinate system; Step S2, define the sensor coordinate system, and enter the handheld terminal database; Step S3, scan the code to identify the type and coordinate system of the current sensor, and based on the coordinate system of the handheld terminal, identify the attitude of the current sensor through the built-in gyroscope, and obtain the converted coordinate system of the current sensor from the handheld terminal; In step S4, the built-in gyroscope automatically calculates the rotation angle of the converted coordinate system of the current sensor relative to the coordinate system of the spacecraft, and determines the direction of the current sensor. 2 . The method for automatically identifying the installation direction of a sensor according to claim 1 , wherein the step S4 further comprises: automatically recording the current sensor number, type and direction. 3 . 3 . The method for automatically identifying the installation direction of the sensor according to claim 1 or 2 , wherein the step S4 determines the direction of the current sensor, and determines the direction of the current sensor through angle reforming. 4 . 4. The method for automatically identifying the installation direction of a sensor according to claim 3, characterized in that, in the readjustment of the angle, first determine whether the error exceeds the standard, and if the error exceeds the standard, prompt to redefine the spacecraft coordinate system to carry out a zero return operation; If it does not exceed the standard, the error is eliminated as a small amount. 5. sensor installation direction automatic identification method according to claim 4 is characterized in that, judging whether error exceeds standard process is as follows: Set the rotation angle as θ, the tolerance error as ±α, and the criterion for judging that the error exceeds the standard is: (θ+α)//90-(θ-α)//90==0 (1) In formula (1), // is the divisible symbol, == logically judges whether the left and right sides are equal; If the error does not exceed the standard, the angle reformulation formula is:

In formula (2), % is the remainder operator, and abs is the absolute value operation. 6. The method for automatically identifying the installation direction of the sensor according to claim 1 or 2, wherein the handheld terminal further comprises a code scanning identification device, a display device and an input device, and the scanning code identification device is used for scanning code identification For the current sensor, the display device is used to display the scan code recognition result, and the input device is used to input the coordinate system of the spacecraft. 7. The method for automatic identification of sensor installation direction according to claim 1 and 2, characterized in that, defining the hand-held terminal coordinate system as XYZ, the input spacecraft coordinate system as X _H Y _H Z _H , and defining the camera shooting direction as- In the Z direction, after the staff holds the handheld terminal, the horizontal and rightward direction is the X direction, and the coordinate system XYZ of the handheld terminal is formed according to the right-hand coordinate system. 8 . The method for automatically identifying the installation direction of the sensor according to claim 7 , wherein the coordinate system of the sensor is defined by the normal direction of the installation surface and the orientation of the socket to define the coordinate system of the sensor. 9 . 9 . The method for automatically identifying the installation direction of a sensor according to claim 8 , wherein the sensor includes a triaxial sensor and a uniaxial sensor; for the triaxial sensor, the normal direction of the installation surface is the z direction, and the socket direction is -y 9 . For the first type of single-axis sensor, the normal direction of the mounting surface and the orientation of the socket are along one axis, and the sensor direction is confirmed to define the sensor coordinate system; for the second type of single-axis sensor, the sensitive axis is the same as The mounting surface is parallel, and the sensor coordinate system is defined by confirming the direction of the sensitive axis and the direction of the sensor through the normal direction of the sensor mounting surface and the orientation of the socket. 10. The method for automatically identifying the installation direction of a sensor according to claim 9, wherein in the step S3, the converted coordinate system of the current sensor is obtained by the handheld terminal, and after the handheld terminal scans the sensor identification code, the current sensor is obtained from the database. The type and direction define xyz, adjust the direction of the handheld terminal based on the built-in gyroscope, make the axis-Z of the barcode scanning area of the handheld terminal parallel to the normal of the sensor installation surface, and the camera is facing the direction of the sensor installation, if the socket is not in the same direction as the normal direction of the installation surface. On the axis, the -Y direction of the hand-held terminal points to the direction of the socket, so that the conversion coordinate system X _T Y _T Z _T of the sensor is directly obtained from the hand-held terminal.

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