CN112665504A - Horizontal measurement method based on exterior profile scanning - Google Patents
Horizontal measurement method based on exterior profile scanning Download PDFInfo
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- CN112665504A CN112665504A CN202011322086.1A CN202011322086A CN112665504A CN 112665504 A CN112665504 A CN 112665504A CN 202011322086 A CN202011322086 A CN 202011322086A CN 112665504 A CN112665504 A CN 112665504A
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Abstract
The invention discloses a horizontal measurement method based on exterior profile scanning, belongs to the technical field of measurement, and solves the problem that an aircraft cannot carry out horizontal measurement based on a horizontal measurement point in the prior art. The level measuring method of the present invention comprises the steps of: obtaining exterior profile data of the aircraft; fitting and aligning the external profile data with the theoretical model; establishing a theoretical model coordinate system, and marking the deviation of the outer profile data according to the position of a horizontal measuring point of the theoretical model in the theoretical model coordinate system; and calculating the pitch attitude data and the yaw attitude data of the aircraft assembly cabin and the installation attitude data of the aircraft wing surface or the control surface according to the deviation of the outer profile data. The leveling method based on the outer profile scanning can be used for leveling the aircraft.
Description
Technical Field
The invention belongs to the technical field of measurement, and particularly relates to a horizontal measurement method based on exterior surface scanning, which mainly relates to horizontal measurement of an aircraft.
Background
The purpose of the leveling is to check the overall coaxiality of the aircraft, the stagger angle of the wings of the aircraft, and the dihedral angle of the wings of the aircraft. The basic principle of leveling is as follows: based on a platform height gauge method, the aircraft is leveled, so that a reference plane on the aircraft is parallel to a horizontal measuring platform, the height gauge is used for measuring the relative height of a measuring point on the aircraft relative to the horizontal measuring platform, and finally, the measured value is compared with the reference plane, so that the purpose of horizontal measurement of the aircraft is achieved.
At present, the traditional leveling methods include laser tracker, visual imaging, theodolite and light pen detection, etc., which are all used for the existence of leveling points at corresponding positions on the aircraft. However, due to the development of high mach number aircraft, the composite thermal protection system gradually replaces the original metal appearance, which directly results in that the position of the aircraft where the leveling point should exist is not suitable for processing the leveling point, and the traditional leveling method has failed.
Disclosure of Invention
In view of the above analysis, the present invention aims to provide a leveling method based on exterior profile scanning, which solves the problem that the aircraft in the prior art cannot perform leveling based on leveling points.
The purpose of the invention is mainly realized by the following technical scheme:
the invention provides a horizontal measuring method based on exterior profile scanning, which comprises the following steps:
obtaining exterior profile data of the aircraft;
fitting and aligning the external profile data with the theoretical model;
establishing a theoretical model coordinate system, and marking the deviation of the outer profile data according to the position of a horizontal measuring point of the theoretical model in the theoretical model coordinate system;
and calculating the pitching attitude data and the yawing attitude data of the aircraft assembly cabin body and the installation attitude data of the aircraft wing surface or the control surface according to the deviation of the outer profile data, and finishing the horizontal measurement of the aircraft.
Further, the outer profile data of the aircraft may be obtained by using a laser tracker, a laser scanner, or any other measuring instrument with an outer profile data obtaining function, which is not described herein again.
Further, the pitch attitude data of the aircraft assembly cabin is calculated according to the deviation of the outer profile data, and the method comprises the following steps:
establishing a horizontal reference surface and a symmetrical reference surface of a theoretical model on a certain section;
obtaining the profile deviation delta of two points of the cross section intersected with the symmetrical reference planeOn the upper partAnd deltaLower part；
Calculating pitch attitude data of an aircraft assembly cabin
δLevel ofThe aircraft is equipped with the coaxiality of the cabin body relative to the horizontal reference plane of the theoretical model.
Further, calculating yaw attitude data of the aircraft assembly cabin according to the deviation of the outer profile data, comprising the following steps:
establishing a horizontal reference surface and a symmetrical reference surface of a theoretical model on a certain section;
obtaining the profile deviation delta of two points of the cross section intersected with the horizontal reference planeLeft side ofAnd deltaRight side；
Calculating yaw attitude data for an aircraft assembly cabin
δSymmetryAnd (3) assembling the coaxiality of the cabin body relative to the symmetrical datum plane of the theoretical model for the aircraft.
Further, the method for calculating the installation attitude data of the airfoil surface or the control surface of the aircraft according to the deviation of the outer profile data comprises the following steps:
establishing a horizontal section passing through the theoretical model airfoil surface or the control surface and an installation reference surface passing through the theoretical model airfoil surface or the control surface and parallel to the symmetrical reference surface of the theoretical model;
obtaining the profile deviation delta of the intersection point of the leading edge surface of the aircraft airfoil or control surface and the horizontal reference surface and the installation reference surfaceFront profileOuter profile deviation delta of the trailing edge surface of an aircraft airfoil or control surface from the intersection of a horizontal reference plane and a mounting reference planeRear profileAnd a distance L 'between the two intersection points'Front-rear；
Calculating the installation attitude data of the airfoil or the control surface of the aircraft into
Theta is the mounting angle of the aircraft airfoil or control surface.
Further, for fitting and aligning the external profile data with the theoretical model, the best fit is based on a least square method, which specifically comprises the following steps:
step a: calculating the deviation square sum of external profile data of a certain space attitude and position of the aircraft to all points of a theoretical model, namely E-E1 2+E2 2+E3 2+……+En 2，n≥1；
Step b: changing the space attitude and the position of the aircraft, and recalculating the deviation square sum of the external profile data of the aircraft at the space attitude and the position to all points of the theoretical model;
step c: repeating the step b for a plurality of times to obtain a plurality of deviation square sums;
step d: and comparing the plurality of deviation flat methods, wherein the external profile data of the space attitude and the position of the aircraft corresponding to the minimum deviation square sum is the external profile data which is matched and aligned with the theoretical model, thereby completing the matching and alignment of the external profile data and the theoretical model.
Further, a laser tracker is used to acquire exterior profile data of the aircraft.
Further, the method for acquiring the outer profile data of the aircraft by adopting the laser tracker comprises the following steps:
target ball transfer seats are adhered to the periphery of the aircraft to form a laser tracker measuring field covering the aircraft;
and adopting a laser tracker to acquire the profile data of the aircraft.
Further, the target ball transfer station holder covers the whole measuring space.
Further, the target ball transfer station seat adopts the following arrangement mode:
the number of the target ball transfer station seats is at least two along the length direction of the aircraft, and the whole length direction of the aircraft is covered between the target ball transfer station seats at the two ends;
the number of the target ball transfer station seats is at least two along the width direction of the aircraft, and the whole width direction of the aircraft is covered between the target ball transfer station seats at the two ends;
along the direction of height of aircraft, the number of target ball commentaries on classics station seat is at least two, and is located the whole altitude direction that covers the aircraft between the target ball commentaries on classics station seat at both ends.
Further, a laser scanner is used to acquire exterior profile data of the aircraft.
Further, the method for acquiring the outer profile data of the aircraft by adopting the laser scanner comprises the following steps:
pasting a laser scanner reflecting mark point on a measured part of an aircraft;
and adopting a laser scanner to acquire the outer profile data of the aircraft.
Further, the reflective marker points cover the measured positions of all aircraft.
Furthermore, the interval between two adjacent reflective mark points is 100 mm-200 mm.
Compared with the prior art, the invention can realize at least one of the following beneficial effects:
a) according to the leveling method based on the external profile scanning, the external profile scanning is adopted to replace the traditional leveling points, and the external profile scanning does not need to process the leveling points on the surface of the aircraft, so that the leveling method can be suitable for leveling of the aircraft with the surface incapable of being provided with the leveling points.
It should be noted that, in the prior art, the overall profile scanning and measuring technology of the aircraft is generally used for reflecting the profile state of the aircraft and obtaining the chromatic aberration distribution map of the overall profile of the aircraft, but the chromatic aberration distribution map of the overall profile cannot directly obtain the pitch attitude data and yaw attitude data of the aircraft assembly cabin and the installation attitude data of the aircraft wing surface or control surface, which are required for leveling, and the traditional leveling is based on leveling points.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and drawings.
Drawings
The drawings are only for purposes of illustrating the particular invention and are not to be construed as limiting the invention, wherein like reference numerals are used to designate like parts throughout the figures.
Fig. 1 is a flowchart of a leveling method based on outer profile scanning according to an embodiment of the present invention.
Detailed Description
The preferred invention will now be described in detail with reference to the accompanying drawings, which form a part hereof, and which together with the description serve to explain the principles of the invention.
In the description of the embodiments of the present invention, it should be noted that, unless explicitly stated or limited otherwise, the terms "upper", "lower", "front", "rear", "left" and "right" used throughout the description are relative positions with respect to the direction of flight of the aircraft.
Example one
The embodiment provides a horizontal measuring method based on external profile scanning, and referring to fig. 1, the method comprises the following steps:
obtaining exterior profile data of the aircraft;
fitting and aligning the external profile data with the theoretical model;
establishing a theoretical model coordinate system, and marking the deviation of the outer profile data according to the position of a horizontal measuring point of the theoretical model in the theoretical model coordinate system;
and calculating the pitching attitude data and the yawing attitude data of the aircraft assembly cabin body and the installation attitude data of the aircraft wing surface or the control surface according to the deviation of the outer profile data, and finishing the horizontal measurement of the aircraft.
Compared with the prior art, the leveling method based on the external profile scanning provided by the embodiment adopts the external profile scanning to replace the traditional leveling points, and the external profile scanning does not need to process the leveling points on the surface of the aircraft, so that the leveling method can be suitable for leveling of the aircraft with the surface incapable of being provided with the leveling points.
It should be noted that, in the prior art, the overall exterior profile scanning and measuring technology of the aircraft is generally used for reflecting the exterior state of the aircraft and obtaining the chromatic aberration distribution map of the overall exterior profile of the aircraft, but the chromatic aberration distribution map of the overall exterior profile cannot directly obtain the pitch attitude data and yaw attitude data of the aircraft assembly cabin and the installation attitude data of the aircraft airfoil or control surface, which are required by leveling, and the traditional leveling is based on leveling points and cannot be applied to the aircraft.
For example, the outer profile data of the aircraft may be obtained by a laser tracker, a laser scanner, or any other measuring instrument with an outer profile data obtaining function, which is not described herein in detail.
In the embodiment of the present invention, the pitch attitude data of the aircraft assembly cabin specifically refers to the coaxiality of the aircraft assembly cabin with respect to the horizontal reference plane of the theoretical model, that is, the pitch attitude data of the aircraft assembly cabin is calculated based on the direction of the horizontal reference plane, specifically, the pitch attitude data of the aircraft assembly cabin is calculated according to the deviation of the exterior profile data, and the method includes the following steps:
establishing a horizontal reference surface and a symmetrical reference surface of a theoretical model on a certain section;
obtaining the profile deviation delta of two points of the cross section intersected with the symmetrical reference planeOn the upper partAnd deltaLower part；
Calculating pitch attitude data of an aircraft assembly cabin
Specifically, the yaw attitude data of the aircraft assembly cabin is calculated based on the direction of the symmetrical reference plane, specifically, the yaw attitude data of the aircraft assembly cabin is calculated according to the deviation of the exterior profile data, and the method comprises the following steps:
establishing a horizontal reference surface and a symmetrical reference surface of a theoretical model on a certain section;
obtaining the profile deviation delta of two points of the cross section intersected with the horizontal reference planeLeft side ofAnd deltaRight side；
Calculating yaw attitude data for an aircraft assembly cabin
According to the principle of leveling, the method for calculating the installation attitude data of the airfoil surface or the control surface of the aircraft (namely the installation angle theta of the airfoil surface or the control surface of the aircraft) comprises the following steps:
obtaining the distance delta from the horizontal measuring point of the leading edge of the aircraft airfoil or the control surface on the same horizontal plane to the reference plane of the airfoil or the control surfaceLeading edgeAnd the distance delta from the horizontal measuring point of the trailing edge to the reference plane of the airfoil or the control surfaceTrailing edgeAnd the distance L from the leading edge leveling point to the trailing edge leveling pointFront-rearThe angle of incidence θ of the aircraft airfoil or control surface at that location is then
And calculating the installation angle theta of the airfoil surface or the control surface of the aircraft according to the deviation of the profile data, namely, the distance delta from the horizontal measuring point of the leading edge of the airfoil surface or the control surface of the aircraft on the same horizontal plane to the reference surface of the airfoil surface or the control surfaceLeading edgeAnd the distance delta from the horizontal measuring point of the trailing edge to the reference plane of the airfoil or the control surfaceTrailing edgeReplacing the deviation value delta from a certain point of the leading edge surface of the aircraft airfoil or the control surface on the same horizontal plane to the theoretical modelFront profileAnd the deviation value delta from a certain point of the trailing edge surface to the theoretical modelRear profileI.e. distance from the leading edge point to the trailing edge pointIs far from LFront-rearIs replaced by the distance L 'of the two points'Front-rearThe installation attitude data of the aircraft airfoil or control surface is
Specifically, the method for calculating the installation attitude data of the airfoil surface or the control surface of the aircraft according to the deviation of the outer profile data comprises the following steps:
establishing a horizontal section passing through the theoretical model airfoil surface or the control surface and an installation reference surface passing through the theoretical model airfoil surface or the control surface and parallel to the symmetrical reference surface of the theoretical model;
obtaining the profile deviation delta of the intersection point of the leading edge surface of the aircraft airfoil or control surface and the horizontal reference surface and the installation reference surfaceFront profileOuter profile deviation delta of the trailing edge surface of an aircraft airfoil or control surface from the intersection of a horizontal reference plane and a mounting reference planeRear profileAnd a distance L 'between the two intersection points'Front-rear；
Calculating the installation attitude data of the airfoil or the control surface of the aircraft into
Illustratively, for fitting and aligning the outer profile data to the theoretical model, the best fit is based on a least squares method, which specifically includes the following steps:
step a: calculating the deviation square sum of external profile data of a certain space attitude and position of the aircraft to all points of a theoretical model, namely E-E1 2+E2 2+E3 2+……+En 2，n≥1；
Step b: changing the space attitude and the position of the aircraft, and recalculating the deviation square sum of the external profile data of the aircraft at the space attitude and the position to all points of the theoretical model;
step c: repeating the step b for a plurality of times to obtain a plurality of deviation square sums;
step d: and comparing the plurality of deviation flat methods, wherein the external profile data of the space attitude and the position of the aircraft corresponding to the minimum deviation square sum is the external profile data which is matched and aligned with the theoretical model, thereby completing the matching and alignment of the external profile data and the theoretical model.
Example two
The embodiment provides a leveling method based on exterior profile scanning, wherein a laser tracker can be used for acquiring exterior profile data of an aircraft.
Specifically, the method for acquiring the outer profile data of the aircraft by using the laser tracker comprises the following steps:
target ball transfer seats are adhered to the periphery of the aircraft to form a laser tracker measuring field covering the aircraft;
and adopting a laser tracker to acquire the profile data of the aircraft.
In order to be able to collect the outer profile of the aircraft completely, the target ball transfer station needs to cover the entire measurement space, that is, the target ball transfer station needs to cover the entire length direction, the entire width direction and the entire height direction of the aircraft. Therefore, the target ball transfer station seat can adopt the following arrangement mode:
the number of the target ball transfer station seats is at least two along the length direction of the aircraft, and the whole length direction of the aircraft is covered between the target ball transfer station seats at the two ends;
the number of the target ball transfer station seats is at least two along the width direction of the aircraft, and the whole width direction of the aircraft is covered between the target ball transfer station seats at the two ends;
along the direction of height of aircraft, the number of target ball commentaries on classics station seat is at least two, and is located the whole direction of height that covers the aircraft between the target ball commentaries on classics station seat at both ends.
EXAMPLE III
The leveling method based on exterior profile scanning provided by the embodiment can adopt a laser scanner to acquire exterior profile data of the aircraft.
Specifically, the method for acquiring the outer profile data of the aircraft by adopting the laser scanner comprises the following steps:
pasting a laser scanner reflecting mark point on a measured part of an aircraft;
and adopting a laser scanner to acquire the outer profile data of the aircraft.
Similarly, in order to be able to completely collect the exterior profile of an aircraft, it is required that the light-reflecting marking points cover all the measured positions of the aircraft, and the interval between two adjacent light-reflecting marking points is 100 mm-200 mm.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.
Claims (10)
1. A horizontal measurement method based on exterior profile scanning is characterized by comprising the following steps:
obtaining exterior profile data of the aircraft;
fitting and aligning the external profile data with the theoretical model;
establishing a theoretical model coordinate system, and marking the deviation of the outer profile data according to the position of a horizontal measuring point of the theoretical model in the theoretical model coordinate system;
and calculating the pitching attitude data and the yawing attitude data of the aircraft assembly cabin body and the installation attitude data of the aircraft wing surface or the control surface according to the deviation of the outer profile data, and finishing the horizontal measurement of the aircraft.
2. The exterior profile scanning-based level gauging method according to claim 1, wherein calculating pitch attitude data of the aircraft assembly cabin based on deviations of the exterior profile data comprises the steps of:
establishing a horizontal reference surface and a symmetrical reference surface of a theoretical model on a certain section;
obtaining the profile deviation delta of two points of the cross section intersected with the symmetrical reference planeOn the upper partAnd deltaLower partPitch attitude data of the aircraft assembly cabin
δLevel ofThe aircraft is equipped with the coaxiality of the cabin body relative to the horizontal reference plane of the theoretical model.
3. The exterior profile scanning-based level gauging method according to claim 1, wherein the yaw attitude data of the aircraft-mounted cabin is calculated from the deviations of the exterior profile data, comprising the steps of:
establishing a horizontal reference surface and a symmetrical reference surface of a theoretical model on a certain section;
obtaining the profile deviation delta of two points of the cross section intersected with the horizontal reference planeLeft side ofAnd deltaRight sideYaw attitude data of the aircraft assembly cabin
δSymmetryAnd (3) assembling the coaxiality of the cabin body relative to the symmetrical datum plane of the theoretical model for the aircraft.
4. The profile scanning based level gauging method according to claim 1, wherein calculating the mounting attitude data of the aircraft airfoil or control surface based on the deviation of the profile data comprises the steps of:
establishing a horizontal section passing through the theoretical model airfoil surface or the control surface and an installation reference surface passing through the theoretical model airfoil surface or the control surface and parallel to the symmetrical reference surface of the theoretical model;
obtaining the profile deviation delta of the intersection point of the leading edge surface of the aircraft airfoil or control surface and the horizontal reference surface and the installation reference surfaceFront profileOuter profile deviation delta of the trailing edge surface of an aircraft airfoil or control surface from the intersection of a horizontal reference plane and a mounting reference planeRear profileAnd a distance L 'between two intersection points'Front-rearThe installation attitude data of the aircraft airfoil or control surface is
Theta is the mounting angle of the aircraft airfoil or control surface.
5. The exterior profile scanning-based level gauging method according to claims 1-4, wherein said fitting alignment of exterior profile data to theoretical models comprises the steps of:
step a: calculating the deviation square sum of the external profile data of a certain space attitude and position of the aircraft to all points of the theoretical model;
step b: changing the space attitude and the position of the aircraft, and recalculating the deviation square sum of the external profile data of the aircraft at the space attitude and the position to all points of the theoretical model;
step c: repeating the step b for a plurality of times to obtain a plurality of deviation square sums;
step d: and comparing the external profile data of the space attitude and position of the aircraft corresponding to the minimum deviation square sum, wherein the external profile data is the external profile data which is matched and aligned with the theoretical model, thereby completing the matching and alignment of the external profile data and the theoretical model.
6. The exterior profile scanning-based level gauging method according to claims 1 to 4, characterized in, that the acquisition of exterior profile data of the aircraft uses a laser tracker or a laser scanner.
7. The exterior profile scanning-based level gauging method according to claim 6, wherein the laser tracker is used for acquiring exterior profile data of the aircraft, comprising the steps of:
target ball transfer seats are adhered to the periphery of the aircraft to form a laser tracker measuring field covering the aircraft;
and adopting a laser tracker to acquire the profile data of the aircraft.
8. The exterior profile scanning-based level gauging method according to claim 7, wherein the target ball transfer station is arranged as follows:
the number of the target ball transfer station seats is at least two along the length direction of the aircraft, and the whole length direction of the aircraft is covered between the target ball transfer station seats at the two ends;
the number of the target ball transfer station seats is at least two along the width direction of the aircraft, and the whole width direction of the aircraft is covered between the target ball transfer station seats at the two ends;
along the direction of height of aircraft, the number of target ball commentaries on classics station seat is at least two, and is located the whole direction of height that covers the aircraft between the target ball commentaries on classics station seat at both ends.
9. The exterior profile scanning-based level gauging method according to claim 6, wherein the laser scanner is used for acquiring exterior profile data of the aircraft, comprising the steps of:
pasting a laser scanner reflecting mark point on a measured part of an aircraft;
and adopting a laser scanner to acquire the outer profile data of the aircraft.
10. The profile scanning-based level gauging method according to claim 9, wherein the spacing between two adjacent retroreflective marker points is between 100mm and 200 mm.
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