CN112710236A - Method for measuring installation attitude of spacecraft high-precision instrument based on laser tracker - Google Patents
Method for measuring installation attitude of spacecraft high-precision instrument based on laser tracker Download PDFInfo
- Publication number
- CN112710236A CN112710236A CN202011539847.9A CN202011539847A CN112710236A CN 112710236 A CN112710236 A CN 112710236A CN 202011539847 A CN202011539847 A CN 202011539847A CN 112710236 A CN112710236 A CN 112710236A
- Authority
- CN
- China
- Prior art keywords
- laser tracker
- measuring
- instrument
- installation
- measured
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- G—PHYSICS
- 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
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
-
- G—PHYSICS
- 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
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention provides a method for measuring the installation attitude of a spacecraft high-precision instrument based on a laser tracker, which comprises the following steps: installing an absolute laser tracker with a target automatic locking function on an automatic guide trolley, so that the laser tracker and the automatic guide trolley move together; moving the laser tracker to a preset measuring position through an automatic guide trolley; three measurable target points which are not on the same straight line are reserved on the installation base of the instrument to be measured and used for placing the optical cone mirror, and the laser tracker is used for measuring parameter measurement values respectively, so that the position of the bottom surface of the instrument to be measured in a geodetic coordinate system can be obtained. Compared with the traditional method for measuring the pose of the reference cube mirror by using 3 to 4 theodolites to build a station, the measuring method only needs one laser tracker and an automatic guide trolley, greatly reduces the cost, avoids the mutual aiming of a plurality of theodolites, does not need to consider the light path shielding in the mutual aiming process of the theodolites, and improves the measuring precision and the measuring efficiency.
Description
Technical Field
The invention relates to the technical field of industrial measurement, in particular to a method for measuring the installation attitude of a spacecraft high-precision instrument based on a laser tracker.
Background
With the development of economy and science and technology, the spacecraft represented by the communication satellite starts to be commercialized and produced in batches, the satellite internet is formally brought into the new infrastructure category, and the improvement of the production and manufacturing efficiency of the spacecraft and the reduction of the manufacturing cost are urgently needed. The traditional spacecraft high-precision instrument has a single measuring mode, 3 to 4 theodolites are used for building stations to measure the pose of the reference cube mirror, so that the installation precision of the instrument is rechecked, the measuring and debugging period is long, and the cost is high.
Through retrieval, patent document CN104743138B discloses a high-precision micro-deformation attitude control instrument mounting structure for a spacecraft, the instrument mounting plate includes a first wing plate, a second wing plate and a web plate, the first wing plate is fixed on the outer surface of a thin-wall shell structure, the second wing plate is arranged inside the thin-wall shell structure and is connected with a plane butt flange of a heat conductor, and the first wing plate and the second wing plate are connected through the web plate and perform heat exchange through the web plate; the mounting surface of the heat conductor is connected to the cover plate; the sealing cover plate is connected with the thin-wall shell structure to form a mounting structure head; one end of the supporting rod component is connected with the head of the mounting structure, and the other end of the supporting rod component is mounted on the optical imaging payload structure body of the spacecraft. Although the prior art overcomes the defect that the control of the structural thermal deformation is improved, the prior art has the defect that the installation precision of the reinspection instrument cannot be effectively improved.
Through retrieval, patent document CN104266649A discloses a method for measuring the attitude angle of a reference cube mirror based on a gyrotheodolite, which utilizes a gyrotheodolite and an electronic theodolite to collimate any two adjacent side surfaces of the measurement reference cube mirror respectively, measures the azimuth angle and zenith distance of the gyrotheodolite in the collimation direction and zenith distance of the electronic theodolite in the collimation direction, solves the azimuth angle of the electronic theodolite in the collimation direction through the vertical relation of the two surfaces, and finally obtains the attitude angle matrix of the reference cube mirror relative to the geodetic coordinate system. Although the prior art measurement method saves one gyrotheodolite, the measured data are still much, and the attitude angle of the measured reference cubic mirror relative to the geodetic coordinate system can be calculated by combining a plurality of data.
Therefore, it is urgently needed to develop a method for mounting an attitude of a high-precision instrument of a spacecraft, which is suitable for the current development requirement of the spacecraft, can improve the mounting precision measurement of a rechecking instrument, can be calculated simply, can be used for assembling and checking aerospace parts such as satellites and airplanes, and has a wide application prospect.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a method for measuring the installation attitude of a spacecraft high-precision instrument based on a laser tracker.
The method for measuring the installation attitude of the spacecraft high-precision instrument based on the laser tracker comprises the following steps of:
step 1: installing an absolute laser tracker with a target automatic locking function on an automatic guide trolley, so that the laser tracker and the automatic guide trolley move together;
step 2: moving the laser tracker to a preset measuring position through an automatic guide trolley;
and step 3: three measurable target points which are not on the same straight line are reserved on a mounting base of the instrument to be measured for placing an optical cone mirror, and parameter measurement values are respectively measured by using a laser tracker;
and 4, step 4: after the laser tracker respectively measures parameter measurement values at three measurable target points, the position of the bottom surface of the instrument to be measured in a geodetic coordinate system is solved. Preferably, in step 1, a certain reference point on the spacecraft placement platform is first marked as a geodetic coordinate system origin O, and directions corresponding to x, y, and z are defined.
Preferably, the automatic guided vehicle in step 2 moves to the designated position according to the preset program instruction.
Preferably, in step 3, the optical pyramids are manually placed on three measurable target points on the installation base of the instrument to be measured respectively, and the laser tracker measures the relative earth sitting position respectively through target lockingPosition P of the mark system1,P2,P3。
Preferably, P is utilized in step 41,P2,P3The installation attitude of the instrument to be measured is determined by the measured value, and the installation adjustment quantity of the instrument can be obtained by comparing the measured value with the theoretical position parameter of the instrument to be measured in the geodetic coordinate system.
Preferably, when the coordinate axis direction of the geodetic coordinate system is calibrated for the first time, the pyramid mirrors are respectively placed at three preset measurable target points on the plane of a certain fixed object, the normal direction of the plane is determined as the Z direction by utilizing three measurable target point measured values obtained by the auto-collimation of the laser tracker, then the X direction is determined by taking the three measurable target points on the plane of the certain fixed object perpendicular to the Z direction in the same method, and the Y direction is determined by utilizing the right hand rule.
Preferably, the three measurable target points are selected such that the light rays reach the conical mirrors at the three measurable target points when the automated guided vehicle is in the specified position.
Preferably, a plurality of moving positions are preset through a program, and the trolley is automatically guided to move for a plurality of times so as to measure the installation poses of a plurality of instruments on the spacecraft.
Preferably, the determination of the measurement attitude and the adjustment amount of the instrument in the step 4 are implemented as follows:
measuring the coordinate of three measurable target points in a relative geodetic coordinate system as P1(x1,y1,z1)、P2(x2,y2,z2)、P3(x3,y3,z3)；
Setting a plane equation of a plane where the bottom surface is located in the geodetic coordinate system to be 0;
A＝(y2-y1)*(z3-z1)-(z2-z1)*(y3-y1)；
B＝(x3-x1)*(z2-z1)-(x2-x1)*(z3-z1)；
C＝(x2-x1)*(y3-y1)-(x3-x1)*(y2-y1)；
D＝-(A*x1+B*y1+C*z1)；
the normal vector of the plane is n1 ═ (A, B, C)
Three measured actual positions P of target points1(x1,y1,z1)、P2(x2,y2,z2)、P3(x3, y3, z3) is compared with the theoretical position, the installation angle of the instrument is adjusted according to the difference of normal errors, and then the actual position P of the three measurable target points is obtained1(x1,y1,z1)、P2(x2,y2,z2)、P3The difference in the position values of one of the points (x3, y3, z3) adjusts the shim height to be within a desired range.
The invention provides a system for measuring the installation attitude of a spacecraft high-precision instrument based on a laser tracker, which comprises:
automatic guided vehicle: a laser tracker is arranged on the automatic guide trolley and moves to a target measurement position together;
laser tracker: the automatic target locking device has the function of automatically locking a target, and measures parameter values after the automatic target locking device reaches a target point position along with the automatic guide trolley, and determines the measurement posture and the adjustment quantity of an instrument.
Compared with the prior art, the invention has the following beneficial effects:
1. according to the invention, only one laser tracker and the automatic guide trolley are used, so that the cost can be greatly reduced, the mutual aiming of a plurality of theodolites is avoided, the light path shielding in the mutual aiming process of the theodolites is not required to be considered, and the measurement precision and the measurement efficiency are improved.
2. The method for measuring the installation attitude of the high-precision instrument of the spacecraft based on the laser tracker meets the current development requirements of the spacecraft, can be used for assembling and checking aviation parts such as airplanes and the like, and has wide application prospect.
3. The invention adopts the laser tracker and the automatic guided vehicle to measure, has simple operation for calculating the installation posture of the spacecraft high-precision instrument and easy operation, and solves the problems of complexity and labor consumption of the traditional method for measuring the pose of the reference cube mirror by using 3 to 4 theodolites to build a station.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a functional schematic of the present invention;
FIG. 2 shows the apparatus P to be measured of the present invention seated on the groundPose of the marker system (three measurable target points P)1,P2,P3) A schematic diagram of (a);
FIG. 3 is a schematic diagram of the relationship between the actual value of the instrument pose measurement and the theoretical position.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
As shown in fig. 1-3, the invention provides a method for measuring the installation attitude of a spacecraft high-precision instrument based on a laser tracker, which is characterized in that three measurable target points are reserved on an installation base of the instrument to be measured, the base is a plane and is used for placing an optical cone mirror for reflection, an absolute laser tracker with a target self-locking function is installed on an automatic guide trolley, and the laser tracker is respectively arranged on the pyramid mirrors at the three measurable target points to obtain position information so as to obtain the installation attitude of the instrument; the measurement of the postures of multiple instruments is realized by automatically guiding the trolley to rotate around the spacecraft for one circle.
In the implementation of the invention, an absolute laser tracker with a target automatic locking function is arranged on an automatic guide trolley and moves together with the automatic guide trolley; the laser tracker and the optical pyramid self-collimation can obtain three parameters of the position of a target point, namely x, y and z values of the target point relative to a specified reference coordinate system; the method is characterized in that three measurable target points which are not on the same straight line are reserved on a mounting base of the instrument to be measured and are used as target points for placing the pyramid mirror, the position of the bottom surface of the instrument to be measured in a geodetic coordinate system can be obtained through the measured values of the position parameters of the three measurable target points, and the method comprises the following steps:
firstly, a certain datum point on a spacecraft placing table is marked as an origin O of a geodetic coordinate system, directions corresponding to x, y and z are defined, and the placing table is fixed. The geodetic coordinate system can select any position, but in order to reduce the calibration time of the coordinate system during the measurement of a plurality of spacecrafts, a fixed object can be selected as much as possible to serve as the geodetic coordinate system; when the coordinate axis direction of the geodetic coordinate system is calibrated for the first time, the pyramid mirrors are respectively placed at three preset measurable target points on a certain plane, three measurable target point measured values obtained by self-collimation of a laser tracker are utilized to determine the normal direction of the plane as the Z direction, then the three measurable target points on the certain plane vertical to the Z direction are taken to determine the X direction by the same method, and the Y direction is determined by the right-hand rule.
Then, automatically guiding the trolley to move to a certain specified position according to a preset program instruction, manually placing the pyramid mirrors on three measurable target points on the installation base of the instrument to be measured respectively, and measuring the positions P of the coordinate system relative to the earth by the laser tracker through self-locking of the target1,P2,P3(ii) a When the measuring instrument is installed, the positions of the three measurable target points can be theoretically arranged on any plane of the measuring instrument, but the relative accuracy of the installation bottom surface of the measuring instrument is high, and the measurable target points are convenient to process; the three measurable target points are selected to meet the condition that when the automatic guide trolley is at the designated position, light can reach the pyramid mirrors at the three measurable target points, the pyramid mirrors are target mirrors measured by the laser tracker, the target is generally spherical in shape, and 3 mutually vertical reflectors are arranged inside the target. Measuring three measurable target points on the corresponding instrument at each specified position by the automatic guide trolley to obtain the installation pose of the instrument to be measured; a plurality of moving positions are preset through a program, and the trolley is automatically guided to move for a plurality of times, so that the installation poses of a plurality of instruments on the spacecraft are measured.
Finally, since the three measurable target points are centered and not collinear, a plane, P, can be determined1,P2,P3The installation attitude of the instrument can be determined by the measured value, and the installation adjustment quantity of the instrument can be obtained by comparing the measured value with the theoretical position parameter of the instrument in a geodetic coordinate system.
The coordinates of three measurable target points in a relative geodetic coordinate system are measured as follows:
P1(x1,y1,z1),P2(x2,y2,z2),P3(x3,y3,z3)；
the plane equation of the plane where the bottom surface is located in the geodetic coordinate system is set as follows: ax + By + Cz + D ═ 0;
A＝(y2-y1)*(z3-z1)-(z2-z1)*(y3-y1)；
B＝(x3-x1)*(z2-z1)-(x2-x1)*(z3-z1)；
C＝(x2-x1)*(y3-y1)-(x3-x1)*(y2-y1)；
D＝-(A*x1+B*y1+C*z1)；
the normal vector of the plane is as follows: n1 ═ (A, B, C)
And (3) determining an adjustment amount: three measured actual positions P of target points1(x1,y1,z1)、P2(x2,y2,z2)、P3(x3, y3, z3) is compared with the theoretical position, the installation angle of the instrument is adjusted according to the difference of normal errors, and then the actual position P of the three measurable target points is obtained1(x1,y1,z1)、P2(x2,y2,z2)、P3The difference in the position values of one of the points (x3, y3, z3) adjusts the shim height to be within a desired range. Namely, the height of the grinding gasket is removed from different directions of three positions.
The invention also provides a system for measuring the installation attitude of the spacecraft high-precision instrument based on the laser tracker, which comprises the following components:
automatic guided vehicle: a laser tracker is arranged on the automatic guide trolley and moves to the position of a target point together;
laser tracker: the automatic target locking device has the function of automatically locking a target, and measures parameter values after the automatic target locking device reaches a target point position along with the automatic guide trolley, and determines the measurement posture and the adjustment quantity of an instrument.
The working principle is as follows:
reserving three target points capable of being measured on a certain plane on an instrument to be measured for measuring the coordinate value of the mirror surface of the optical angle cone mirror relative to a geodetic coordinate system; an absolute laser tracker is arranged on the automatic guide trolley and moves to the position of a target point together; when the absolute laser tracker automatically locks the target, the lens of the absolute laser tracker can rotate in the vertical direction and the horizontal direction, so that the target can be quickly tracked. The instrument and the instrument mounting base are oneThe positions of three measurable target points are reserved in design, and the theoretical positions exist, namely the posture of the instrument is known by knowing the measured values of the three points. The laser tracker measures the position P of the coordinate system of the relative earth through target self-locking1,P2,P3(ii) a In the installation position of the measuring instrument, P1,P2,P3The installation attitude of the instrument can be determined by the measured value, and the installation adjustment quantity of the instrument can be obtained by comparing the measured value with the theoretical position parameter of the instrument in a geodetic coordinate system.
In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (10)
1. A method for measuring the installation attitude of a spacecraft high-precision instrument based on a laser tracker is characterized by comprising the following steps:
step 1: installing an absolute laser tracker with a target automatic locking function on an automatic guide trolley, so that the laser tracker and the automatic guide trolley move together;
step 2: moving the laser tracker to a preset measuring position through an automatic guide trolley;
and step 3: three measurable target points which are not on the same straight line are reserved on a mounting base of the instrument to be measured for placing an optical cone mirror, and parameter measurement values are respectively measured by using a laser tracker;
and 4, step 4: after the laser tracker respectively measures parameter measurement values at three measurable target points, the position of the bottom surface of the instrument to be measured in a geodetic coordinate system is solved.
2. The method for measuring the installation posture of a spacecraft high-precision instrument based on the laser tracker according to claim 1, wherein in the step 1, a certain datum point on a spacecraft placing table is firstly marked as a geodetic coordinate system origin O, and directions corresponding to x, y and z are defined.
3. The method for measuring the installation posture of the spacecraft high-precision instrument based on the laser tracker in the claim 1, wherein the trolley is automatically guided to move to the specified position in the step 2 according to a preset program instruction.
4. The method for measuring the installation posture of a spacecraft high-precision instrument based on the laser tracker of claim 1, wherein in the step 3, the optical pyramids are manually placed on three measurable target points on the installation base of the instrument to be measured respectively, and the laser tracker measures the positions P of the relative geodetic coordinate system through target locking1、P2、P3。
5. A method for measuring the installation attitude of a spacecraft high-precision instrument based on a laser tracker according to claim 4, characterized in that P is utilized in the step 41、P2、P3The installation attitude of the instrument to be measured is determined by the measured value, and the installation adjustment quantity of the instrument can be obtained by comparing the measured value with the theoretical position parameter of the instrument to be measured in the geodetic coordinate system.
6. The method for measuring the installation attitude of the spacecraft high-precision instrument based on the laser tracker of claim 2, wherein when the coordinate axis direction of the geodetic coordinate system is calibrated for the first time, the pyramidal mirrors are respectively placed at three measurable target points preset on the plane of a certain fixed object, the normal direction of the plane is determined as the Z direction by using three measurable target point measurement values obtained by the laser tracker through auto-collimation, then the X direction is determined by taking the three measurable target points on the plane of the certain fixed object perpendicular to the Z direction in the same method, and the Y direction is determined by using a right-hand rule.
7. The method for measuring the installation posture of a spacecraft high-precision instrument based on the laser tracker of claim 2, wherein the three measurable target points are selected such that the light can reach the conical mirrors at the three measurable target points when the automatic guided vehicle is at the designated position.
8. The laser tracker-based method for measuring the installation posture of a spacecraft high-precision instrument according to claim 3, wherein a plurality of moving positions are preset by a program, and the trolley is automatically guided to move for a plurality of times so as to measure the installation postures of a plurality of instruments on the spacecraft.
9. The method for measuring the installation attitude of the spacecraft high-precision instrument based on the laser tracker according to claim 5, wherein the determination and adjustment amount of the measurement attitude of the instrument in the step 4 are specifically realized as follows:
measuring the coordinate of three measurable target points in a relative geodetic coordinate system as P1(x1,y1,z1)、P2(x2,y2,z2)、P3(x3,y3,z3)；
Setting a plane equation of a plane where the bottom surface is located in the geodetic coordinate system to be 0;
A＝(y2-y1)*(z3-z1)-(z2-z1)*(y3-y1)；
B＝(x3-x1)*(z2-z1)-(x2-x1)*(z3-z1)；
C＝(x2-x1)*(y3-y1)-(x3-x1)*(y2-y1)；
D＝-(A*x1+B*y1+C*z1)；
the normal vector of the plane is n1 ═ (A, B, C)
Three measured actual positions P of target points1、P2、P3Compared with the theoretical position, the mounting angle of the instrument is adjusted according to the difference of the normal errors, and then the actual positions P of the three measurable target points are measured1、P2、P3The difference in the position values of the one point adjusts the height of the shim to be within a desired range.
10. The utility model provides a system for measure spacecraft high accuracy instrument installation gesture based on laser tracker which characterized in that includes:
automatic guided vehicle: a laser tracker is arranged on the automatic guide trolley and moves to the position of a target point together;
laser tracker: the automatic target locking device has the function of automatically locking a target, and measures parameter values after the automatic target locking device reaches a target point position along with the automatic guide trolley, and determines the measurement posture and the adjustment quantity of an instrument.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011539847.9A CN112710236B (en) | 2020-12-23 | 2020-12-23 | Method for measuring installation attitude of spacecraft high-precision instrument based on laser tracker |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011539847.9A CN112710236B (en) | 2020-12-23 | 2020-12-23 | Method for measuring installation attitude of spacecraft high-precision instrument based on laser tracker |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112710236A true CN112710236A (en) | 2021-04-27 |
| CN112710236B CN112710236B (en) | 2022-10-18 |
Family
ID=75543793
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011539847.9A Active CN112710236B (en) | 2020-12-23 | 2020-12-23 | Method for measuring installation attitude of spacecraft high-precision instrument based on laser tracker |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112710236B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113917477A (en) * | 2021-10-08 | 2022-01-11 | 安徽创谱仪器科技有限公司 | Method for constructing optical path |
| CN114485392A (en) * | 2021-12-31 | 2022-05-13 | 航天东方红卫星有限公司 | Method and system for establishing large-size mechanical reference of spacecraft based on laser tracker |
| CN114509001A (en) * | 2022-01-13 | 2022-05-17 | 上海卫星工程研究所 | Method and system for quickly and accurately installing and adjusting large-size space structure |
| CN114659445A (en) * | 2022-02-15 | 2022-06-24 | 中国电子科技集团公司第十一研究所 | Universal multifunctional optical index detection system |
| CN115436957A (en) * | 2022-08-29 | 2022-12-06 | 上海格思航天科技有限公司 | Automatic spacecraft precision measurement system and precision measurement method |
| CN116295018A (en) * | 2023-05-11 | 2023-06-23 | 上海交大智邦科技有限公司 | Target pose measurement method and system |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4815845A (en) * | 1986-04-16 | 1989-03-28 | Westinghouse Electric Corp. | Axial alignment aid for remote control operations and related method |
| CN104266649A (en) * | 2014-10-16 | 2015-01-07 | 北京卫星环境工程研究所 | Method for measuring posture angle of base cubic mirror based on gyro theodolite |
| CN104625720A (en) * | 2015-01-07 | 2015-05-20 | 北京卫星环境工程研究所 | Automatic solar wing butt joint method based on laser tracker and adjusting parallel platform |
| CN107543495A (en) * | 2017-02-17 | 2018-01-05 | 北京卫星环境工程研究所 | Spacecraft equipment autocollimation measuring system, alignment method and measuring method |
| CN107782293A (en) * | 2017-11-09 | 2018-03-09 | 北京卫星环境工程研究所 | Spacecraft equipment posture information measuring method based on six degree of freedom laser tracking target |
-
2020
- 2020-12-23 CN CN202011539847.9A patent/CN112710236B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4815845A (en) * | 1986-04-16 | 1989-03-28 | Westinghouse Electric Corp. | Axial alignment aid for remote control operations and related method |
| CN104266649A (en) * | 2014-10-16 | 2015-01-07 | 北京卫星环境工程研究所 | Method for measuring posture angle of base cubic mirror based on gyro theodolite |
| CN104625720A (en) * | 2015-01-07 | 2015-05-20 | 北京卫星环境工程研究所 | Automatic solar wing butt joint method based on laser tracker and adjusting parallel platform |
| CN107543495A (en) * | 2017-02-17 | 2018-01-05 | 北京卫星环境工程研究所 | Spacecraft equipment autocollimation measuring system, alignment method and measuring method |
| CN107782293A (en) * | 2017-11-09 | 2018-03-09 | 北京卫星环境工程研究所 | Spacecraft equipment posture information measuring method based on six degree of freedom laser tracking target |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113917477A (en) * | 2021-10-08 | 2022-01-11 | 安徽创谱仪器科技有限公司 | Method for constructing optical path |
| CN114485392A (en) * | 2021-12-31 | 2022-05-13 | 航天东方红卫星有限公司 | Method and system for establishing large-size mechanical reference of spacecraft based on laser tracker |
| CN114485392B (en) * | 2021-12-31 | 2023-07-14 | 航天东方红卫星有限公司 | Method and system for establishing large-size mechanical reference of spacecraft based on laser tracker |
| CN114509001A (en) * | 2022-01-13 | 2022-05-17 | 上海卫星工程研究所 | Method and system for quickly and accurately installing and adjusting large-size space structure |
| CN114509001B (en) * | 2022-01-13 | 2023-12-12 | 上海卫星工程研究所 | Quick and accurate assembling and adjusting method and system for large-size space structure |
| CN114659445A (en) * | 2022-02-15 | 2022-06-24 | 中国电子科技集团公司第十一研究所 | Universal multifunctional optical index detection system |
| CN115436957A (en) * | 2022-08-29 | 2022-12-06 | 上海格思航天科技有限公司 | Automatic spacecraft precision measurement system and precision measurement method |
| CN116295018A (en) * | 2023-05-11 | 2023-06-23 | 上海交大智邦科技有限公司 | Target pose measurement method and system |
| CN116295018B (en) * | 2023-05-11 | 2023-09-19 | 上海交大智邦科技有限公司 | Target pose measurement method and system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112710236B (en) | 2022-10-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112710236B (en) | Method for measuring installation attitude of spacecraft high-precision instrument based on laser tracker | |
| CN110395390B (en) | Multi-rotor unmanned aerial vehicle image-control-point-free three-dimensional modeling and mapping device and method | |
| CN112415493B (en) | Coordinate error correction method for three-dimensional scanning laser radar | |
| CN103323855B (en) | A kind of precision acquisition methods of baseline dynamic measurement system | |
| CN107543495A (en) | Spacecraft equipment autocollimation measuring system, alignment method and measuring method | |
| CN102538825B (en) | Optical axis orientation calibrating method of star sensor probe assembly | |
| CN104764443B (en) | A kind of tight imaging geometry model building method of Optical remote satellite | |
| CN106091966B (en) | Thermal deformation measurement method under vacuum low-temperature environment | |
| CN110470304B (en) | High-precision target positioning and speed measuring method based on unmanned aerial vehicle photoelectric platform | |
| CN101539397B (en) | Method for measuring three-dimensional attitude of object on precision-optical basis | |
| CN109631793A (en) | Type face digital photography automatic measurement method | |
| CN110297220B (en) | Method for measuring baseline vector of dual-antenna InSAR system | |
| CN111044017A (en) | External orientation element calibration and complete machine assembly method for large-field-of-view aerial scanner | |
| CN107727118B (en) | Method for calibrating GNC subsystem equipment attitude measurement system in large aircraft | |
| CN105157729A (en) | Levelling and calibrating method used for indoor space surveying and positioning system | |
| CN114608611B (en) | Photoelectric pod collimation axis error correction method based on integrated navigation post-processing | |
| CN113375594A (en) | Aircraft skin profile digital detection method | |
| CN114577448B (en) | Double-optical-axis calibration method of novel portable optical-axis calibration target adaptation device | |
| CN114459345B (en) | Aircraft fuselage position and posture detection system and method based on visual space positioning | |
| CN111046584A (en) | Precise adjustment method of satellite-borne instrument and equipment | |
| CN114046965A (en) | Optical axis calibration device and calibration method for multi-type avionics equipment of airplane | |
| CN210862666U (en) | Device for three-dimensional modeling and mapping of image-control-point-free fixed-wing unmanned aerial vehicle | |
| CN210592433U (en) | Multi-rotor unmanned aerial vehicle image-control-point-free three-dimensional modeling and mapping device | |
| Deng et al. | A flexible and cost-effective compensation method for leveling using large-scale coordinate measuring machines and its application in aircraft digital assembly | |
| CN102095386B (en) | Two-dimensional small-angle laser-vision precise measurement device and implementation method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |