CN112729337B - Measuring method of precision single prism - Google Patents
Measuring method of precision single prism Download PDFInfo
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- CN112729337B CN112729337B CN202011535652.7A CN202011535652A CN112729337B CN 112729337 B CN112729337 B CN 112729337B CN 202011535652 A CN202011535652 A CN 202011535652A CN 112729337 B CN112729337 B CN 112729337B
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- 230000007246 mechanism Effects 0.000 claims description 27
- 238000004891 communication Methods 0.000 claims description 14
- 238000005259 measurement Methods 0.000 abstract description 17
- 238000000691 measurement method Methods 0.000 abstract 1
- 238000013461 design Methods 0.000 description 3
- 238000012360 testing method Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
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Abstract
The invention belongs to the technical field of aerospace, and particularly relates to a measuring method of an accurate single prism. The measuring method of the precision single prism comprises the following steps: placing a satellite at a measuring station, placing a laser tracker and two liftable target ball supports at preset positions, respectively placing a first target ball and a second target ball on the two liftable target ball supports, and adjusting the heights of the two liftable target ball supports; aligning a reference prism of a satellite by using a laser tracker to obtain a reference prism axis; aligning a measured prism on a single precision machine by using a laser tracker to obtain the axis of the measured prism; and calculating the included angle between the reference prism axis and the measured prism axis. The invention can effectively solve the problems of small online measurement angle range, required equipment and multiple persons by using the theodolite, and simultaneously eliminates the human error of the measurement method of the theodolite by multiple persons, thereby reducing the operation of the equipment by the persons and improving the measurement precision.
Description
Technical Field
The invention belongs to the technical field of aerospace, and particularly relates to a measuring method of an accurate single prism.
Background
In the AIT integration process of the satellite, repeated measurement is needed to be carried out on a single-machine prism with on-board precision under different states, and the single-machine with the most main precision on the satellite is a star sensor. Taking a star sensor as an example, the assembly precision of the star sensor is better than 6', and the angle relation between the measured prism and the reference prism is obtained by adopting the theodolite collimation measurement technology mainly and through online measurement of 4 theodolites at the present stage.
The use of theodolites to measure prism angular relationships online has two main disadvantages:
1) The design angle of the star sensor on the star exceeds the measurement angle range of the theodolite. The satellite is placed on the ground, so that the included angle between the star sensor and the ground level exceeds the measurement angle range of the theodolite, and measurement cannot be performed.
2) The number of theodolites is large, and the number of measurement personnel is large. The on-line station building measurement by using theodolites generally requires 4 theodolites and 4 operators, and two surfaces of the measured prism and the reference prism are required to be respectively collimated, and the two theodolites are mutually aimed. After calculation, a prism is measured, and the prism needs to be collimated for 7 times to finish one time of measurement data. For the same prism, repeated measurements are typically required 3 times to eliminate accumulated errors, such a prism measurement requires 21 times of collimation to complete.
Disclosure of Invention
The invention aims at solving the technical problems that the existing method for measuring the prism by the theodolite online requires too much equipment and personnel, and the design angle of a single precision machine exceeds the measurement angle range of the theodolite, and provides a measuring method for the single precision machine prism.
The measuring method of the precision single prism comprises the following steps:
Placing a satellite at a measuring station, placing a laser tracker and two liftable target ball supports at preset positions, respectively placing a first target ball and a second target ball on the two liftable target ball supports, and adjusting the heights of the two liftable target ball supports;
aligning a reference prism of a satellite by using the laser tracker to obtain a reference prism axis;
using the laser tracker to align a measured prism on a single precision machine to obtain the axis of the measured prism;
And calculating an included angle between the reference prism axis and the measured prism axis.
The utility model provides a laser tracker, two liftable target ball supports are placed in the preset position, with first target ball and second target ball respectively place two on the liftable target ball support, adjust two liftable target ball support height includes:
The laser tracker is placed at a position where the reference prism and the measured prism can be aligned, and the two liftable target ball supports are respectively placed at the side edges of the reference prism and the measured prism;
The liftable target ball support at the side edge of the reference prism is adjusted, so that the laser tracker can reflect light into a first target ball through the reference prism;
And adjusting the liftable target ball support at the side edge of the measured prism, so that the laser tracker can reflect light into the second target ball through the measured prism.
The use of the laser tracker to align a reference prism of a satellite, to obtain a reference prism axis, includes:
When the first target ball receives the light of the laser tracker, the laser tracker is used for collecting the point A coordinate on the first target ball, the laser tracker is used for directly aligning the first target ball, the laser tracker is used for collecting the point B coordinate on the first target ball, the point A and the point B are connected, and a straight line L1 is obtained, wherein the straight line L1 is the axis of the reference prism.
The method for obtaining the axis of the measured prism by using the measured prism on the laser tracker alignment precision single machine comprises the following steps:
And when the second target ball receives the light of the laser tracker, acquiring a point C coordinate on the second target ball by using the laser tracker, directly aligning the second target ball by using the laser tracker, and acquiring a point D coordinate on the second target ball, connecting the point C and the point D by using the laser tracker to obtain a straight line L2, wherein the straight line L2 is the axis of the measured prism.
The precision single machine is a star sensor, and the measured prism is a measured prism on the star sensor.
And the signal output end of the laser tracker is connected with a signal processor, and the included angle between the axis of the reference prism and the axis of the measured prism is calculated through the signal processor.
The liftable target ball support comprises a base used for supporting, a lifting mechanism is arranged in the base, the lifting end of the lifting mechanism stretches out of the top surface of the base, a supporting seat used for placing a target ball is fixed at the top of the lifting end of the lifting mechanism, the supporting seat is driven to do lifting motion through lifting of the lifting mechanism, and then the target ball on the supporting seat is driven to do lifting motion.
The lifting mechanism can adopt a cylinder mechanism, a piston rod of the cylinder mechanism is the lifting end, and the piston rod is vertically arranged and the top of the piston rod is fixed with the supporting seat.
The upper surface of the supporting seat is provided with a supporting groove for placing the target ball.
The control end of the lifting mechanism is connected with a lifting button and a descending button, and the lifting button and the descending button are respectively arranged on the surface of the base. The height of the lifting end is controlled by the lifting button and the lowering button.
The control end of the lifting mechanism is connected with the wireless communication module, communication is established between the wireless communication module and an external control device, and lifting or descending control signals sent by the external control device are received, so that the height of the lifting end is controlled.
The wireless communication module is a wifi module or a Bluetooth module.
The invention has the positive progress effects that: the invention adopts the measuring method of the precision single prism, can effectively solve the problems of small online measuring angle range, required equipment and multiple persons by using the theodolite, and simultaneously eliminates the human error of the measuring method of the theodolite by multiple persons, thereby reducing the operation of the equipment by the persons and improving the measuring precision.
Drawings
FIG. 1 is a schematic illustration of a measurement according to the present invention.
Detailed Description
In order that the manner in which the invention is practiced, as well as the features and objects and functions thereof, will be readily understood and appreciated, the invention will be further described in connection with the accompanying drawings.
Referring to fig. 1, a measuring method of an accurate single prism, which uses a laser tracker 1, two target balls, namely a first target ball 21 and a second target ball 22, and two liftable target ball supports 3, adopts the following steps:
S1, placing a satellite at a measuring station, placing a laser tracker 1 and two liftable target ball supports 3 at preset positions, respectively placing a first target ball 21 and a second target ball 22 on the two liftable target ball supports 3, and adjusting the heights of the two liftable target ball supports 3.
In this step, the laser tracker 1 is placed at a position where the reference prism 4 of the satellite and the prism under test 5 on the stand-alone prism can be aligned, and the two liftable target ball holders 3 are placed on the side of the reference prism 4 and the side of the prism under test 5, respectively. The liftable target ball holder 3 at the side of the reference prism 4 is adjusted so that the laser tracker 1 can reflect light into the first target ball 21 through the reference prism 4. The liftable target ball support 3 at the side of the measured prism 5 is adjusted so that the laser tracker 1 can reflect light into the second target ball 22 through the measured prism 5. So that the height adjustment of the two liftable target ball holders 3 is completed.
S2, aligning the reference prism 4 of the satellite by using the laser tracker 1 to obtain a reference prism axis.
Specifically, after the first target ball 21 receives the light of the laser tracker 1, the laser tracker 1 is used to collect the coordinates of the point a on the first target ball 21, the laser tracker 1 is used to directly align with the first target ball 21, the laser tracker 1 is used to collect the coordinates of the point B on the first target ball 21, the point a and the point B are connected, a straight line L1 is obtained, and the straight line L1 is the reference prism axis. The point a and the point B of this step are the positions of the light received by the first target ball 21, respectively.
The step can be connected with a signal output end of the laser tracker 1 through the signal processor 6, the laser tracker 1 respectively sends the acquired coordinates of the point A and the point B to the signal processor 6, and the point A and the point B are connected through the signal processor 6 to obtain a straight line L1. The signal processor 6 may be a computer terminal with a display screen to facilitate subsequent viewing of the measurement results.
And S3, aligning the measured prism 5 on the single precision machine by using the laser tracker 1 to obtain the axis of the measured prism.
Specifically, after the second target ball 22 receives the light of the laser tracker 1, the laser tracker 1 is used to collect the coordinates of the point C on the second target ball 22, the laser tracker 1 is used to directly align with the second target ball 22, the laser tracker 1 is used to collect the coordinates of the point D on the second target ball 22, the point C and the point D are connected, and a straight line L2 is obtained, where the straight line L2 is the axis of the prism to be measured. The laser tracker 1 may send the acquired coordinates of the point C and the point D to the signal processor 6, respectively, and the straight line L2 is obtained after the point C and the point D are connected by the signal processor 6. Point C and point D of this step are the positions of the light received by the second target sphere 22, respectively.
The precision single machine is a star sensor, and the measured prism is a measured prism on the star sensor. The single precision prism can also be other single precision prisms, the method of the invention is not limited to the measurement of the star sensor prism, and the method of the invention can also be adopted if the design angle of the other single precision prisms exceeds the range of the theodolite.
S4, calculating the included angle between the reference prism axis and the measured prism axis.
The included angle of the step is the included angle of the measured prism 5 on the single precision machine. The step can calculate the included angle between the reference prism axis and the measured prism axis through the signal processor 6, and display the calculated result through the display screen.
The liftable target ball support 3 comprises a base for supporting, wherein a lifting mechanism is arranged in the base, the lifting end of the lifting mechanism extends out of the top surface of the base, a supporting seat for placing a target ball is fixed at the top of the lifting end of the lifting mechanism, and the supporting seat is driven to do lifting motion through lifting of the lifting mechanism, so that the target ball on the supporting seat is driven to do lifting motion.
The lifting mechanism can adopt a cylinder mechanism, a piston rod of the cylinder mechanism is a lifting end, and the piston rod is vertically arranged and the top of the piston rod is fixed with the supporting seat. The upper surface of the supporting seat is dug with a supporting groove for placing the target ball.
The control end of the lifting mechanism can be connected with a lifting button and a descending button which are respectively arranged on the surface of the base. The height of the lifting end is controlled by the lifting button and the lowering button. The control end of the lifting mechanism can also be connected with a wireless communication module, communication is established between the wireless communication module and an external control device, and a lifting or descending control signal sent by the external control device is received, so that the height of the lifting end is controlled. The wireless communication module is a wifi module or a Bluetooth module. The external control device may be the signal processor 6 provided with the wireless communication module, or may be a mobile terminal provided with the wireless communication module, such as a mobile phone or a tablet computer.
The foregoing has shown and described the basic principles, principal features and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (7)
1. The measuring method of the precision single prism is characterized by comprising the following steps of:
Placing a satellite at a measuring station, placing a laser tracker and two liftable target ball supports at preset positions, respectively placing a first target ball and a second target ball on the two liftable target ball supports, and adjusting the heights of the two liftable target ball supports;
aligning a reference prism of a satellite by using the laser tracker to obtain a reference prism axis;
using the laser tracker to align a measured prism on a single precision machine to obtain the axis of the measured prism;
Calculating an included angle between the reference prism axis and the measured prism axis;
The utility model provides a laser tracker, two liftable target ball supports are placed in the preset position, with first target ball and second target ball respectively place two on the liftable target ball support, adjust two liftable target ball support height includes:
The laser tracker is placed at a position where the reference prism and the measured prism can be aligned, and the two liftable target ball supports are respectively placed at the side edges of the reference prism and the measured prism;
The liftable target ball support at the side edge of the reference prism is adjusted, so that the laser tracker can reflect light into a first target ball through the reference prism;
the liftable target ball support at the side edge of the measured prism is adjusted, so that the laser tracker can reflect light into a second target ball through the measured prism;
The use of the laser tracker to align a reference prism of a satellite, to obtain a reference prism axis, includes:
When the first target ball receives the light of the laser tracker, acquiring a point A coordinate on the first target ball by using the laser tracker, directly aligning the first target ball by using the laser tracker, acquiring a point B coordinate on the first target ball by using the laser tracker, connecting the point A and the point B to obtain a straight line L1, wherein the straight line L1 is the axis of the reference prism;
The method for obtaining the axis of the measured prism by using the measured prism on the laser tracker alignment precision single machine comprises the following steps:
And when the second target ball receives the light of the laser tracker, acquiring a point C coordinate on the second target ball by using the laser tracker, directly aligning the second target ball by using the laser tracker, and acquiring a point D coordinate on the second target ball, connecting the point C and the point D by using the laser tracker to obtain a straight line L2, wherein the straight line L2 is the axis of the measured prism.
2. The method of claim 1, wherein the precision stand-alone prism is a star sensor, and the prism to be measured is a prism to be measured on the star sensor.
3. The method for measuring the precision single prism according to claim 1, wherein a signal output end of the laser tracker is connected with a signal processor, and an included angle between the reference prism axis and the measured prism axis is calculated through the signal processor.
4. The method for measuring the precision single-machine prism according to claim 1, wherein the liftable target ball support comprises a base for supporting, a lifting mechanism is arranged in the base, a lifting end of the lifting mechanism extends out of the top surface of the base, a supporting seat for placing a target ball is fixed on the top of the lifting end of the lifting mechanism, and the supporting seat is driven to do lifting motion through lifting of the lifting mechanism, so that the target ball on the supporting seat is driven to do lifting motion.
5. The method for measuring the precision single-machine prism according to claim 4, wherein the lifting mechanism adopts a cylinder mechanism, a piston rod of the cylinder mechanism is the lifting end, the piston rod is vertically arranged, and the top of the piston rod is fixed with the supporting seat;
the upper surface of the supporting seat is provided with a supporting groove for placing the target ball.
6. The method of claim 4, wherein the control end of the lifting mechanism is connected with a lifting button and a lowering button, and the lifting button and the lowering button are respectively arranged on the surface of the base.
7. The method for measuring the precision single-machine prism according to claim 4, wherein the control end of the lifting mechanism is connected with a wireless communication module, communication is established between the wireless communication module and an external control device, and a lifting or lowering control signal sent by the external control device is received, so that the height of the lifting end is controlled;
the wireless communication module is a wifi module or a Bluetooth module.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011535652.7A CN112729337B (en) | 2020-12-23 | 2020-12-23 | Measuring method of precision single prism |
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| CN202011535652.7A CN112729337B (en) | 2020-12-23 | 2020-12-23 | Measuring method of precision single prism |
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| CN112729337A CN112729337A (en) | 2021-04-30 |
| CN112729337B true CN112729337B (en) | 2024-05-28 |
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| JP2019132681A (en) * | 2018-01-31 | 2019-08-08 | 株式会社トプコン | Surveying device |
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| CN111473803A (en) * | 2020-05-27 | 2020-07-31 | 天津科技大学 | Calibration method for mining laser target |
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2020
- 2020-12-23 CN CN202011535652.7A patent/CN112729337B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104344804A (en) * | 2014-10-23 | 2015-02-11 | 上海卫星工程研究所 | Method for measuring single machine pointing accuracy of satellite in simulated zero-gravity state |
| CN104848833A (en) * | 2014-12-04 | 2015-08-19 | 上海卫星装备研究所 | Method for establishing joint measurement system based on electronic theodolite and laser tracker |
| JP2017003292A (en) * | 2015-06-05 | 2017-01-05 | 三菱電機株式会社 | Alignment measurement device and alignment measurement method |
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| CN107121123A (en) * | 2017-05-18 | 2017-09-01 | 上海卫星工程研究所 | Satellite precision unit measuring method |
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