CN112904361B - Engine thrust line accurate measurement method based on laser scanning - Google Patents

Engine thrust line accurate measurement method based on laser scanning Download PDF

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CN112904361B
CN112904361B CN202011435910.4A CN202011435910A CN112904361B CN 112904361 B CN112904361 B CN 112904361B CN 202011435910 A CN202011435910 A CN 202011435910A CN 112904361 B CN112904361 B CN 112904361B
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CN112904361A (en
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向海军
张玉磊
赵红娟
黄爱武
杨扬
许刚
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Chengdu Aircraft Industrial Group Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/006—Theoretical aspects
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
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    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/4802—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section

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Abstract

An engine thrust line accurate measurement method based on laser scanning comprises the following steps: respectively selecting a point set in an overlapping area of two groups of point cloud data of the engine spray pipe to be matched, wherein the point set in one point cloud data is a source point set, and the point set in the other point cloud data is a target point set; carrying out rigid transformation of rotation and/or translation on the source point set to ensure that the error of the corresponding point set and the target point set after the source point set is subjected to rigid transformation is minimum; calculating a new corresponding point set of the source point set after rigid transformation of rotation and/or translation; calculating the average distance between the new corresponding point set and the corresponding point in the target point set, establishing a target function, setting a threshold value, and circularly iterating until convergence; and performing reverse modeling on the target point set and the corresponding point set in the point cloud data of the profile of the engine spray pipe, and fitting to obtain an engine thrust line.

Description

Engine thrust line accurate measurement method based on laser scanning
Technical Field
The invention relates to the field of laser scanning, in particular to an engine thrust line accurate measurement method based on laser scanning.
Background
Laser scanning is used as a non-contact high-precision measurement technology, point cloud data of an object to be measured can be rapidly acquired, detailed appearance characteristics of the object to be measured are obtained, high-precision digital measurement and detection are achieved by correspondingly analyzing the point cloud data, and the method is widely applied to the fields of industrial detection and engineering surveying and mapping.
The laser scanning technology is applied to actual detection work of part of airplane types, scanning and measuring of a certain airplane are carried out by using equipment such as a laser radar, the appearance measurement task of the airplane is successfully completed, and abundant practical experience is accumulated. At present, no special research is carried out on the measurement of the engine thrust line, and no corresponding technical scheme and technical accumulation are carried out.
Disclosure of Invention
The invention aims to: the method comprises the steps of obtaining high-precision point cloud data of an inner molded surface of an engine spray pipe by using laser, carrying out point cloud data splicing and fusion by adopting a method combining iteration and datum point registration, collecting a plurality of datum points of the appearance of the engine spray pipe, realizing point cloud data registration through iteration, completing point cloud data splicing and fusion, and realizing high-precision measurement of the thrust line of the aircraft engine.
The technical scheme adopted by the invention is as follows:
an engine thrust line accurate measurement method based on laser scanning comprises the following steps
Step S1: respectively selecting a point set in an overlapping area of two groups of point cloud data of the engine spray pipe to be matched, wherein the point set in one point cloud data is a source point set, and the point set in the other point cloud data is a target point set;
step S2: representing the error between the source point set and the target point set under a transformation matrix (R, t) by f (R, t), wherein the (R, t) meeting the optimal solution of min (f (R, t)) is the optimal rigid transformation matrix with the minimum error, R is a rotation matrix, and t is a translation vector;
carrying out rigid transformation of rotation and/or translation on the source point set to ensure that the error of the corresponding point set and the target point set after the source point set is subjected to rigid transformation is minimum;
step S3: calculating a new corresponding point set of the source point set after rigid transformation of rotation and/or translation;
step S4: calculating the average distance between the new corresponding point set and the corresponding point in the target point set, establishing a target function, setting a threshold value, and circularly iterating until convergence;
step S5: and performing reverse modeling on the target point set and the corresponding point set in the point cloud data of the profile of the engine spray pipe, and fitting to obtain an engine thrust line.
In order to better implement the scheme, further, the number of the points in the source point set and the target point set is at least 3, and 3 points in the same point set cannot be collinear.
In order to better implement the present solution, further, step S1 specifically includes: in an overlapping area of two groups of point cloud data of an engine nozzle to be matched, which are obtained by laser scanning, a point set is respectively selected as a source point set and a target point set, wherein P is { pi | pi ∈ R3, i is 1, 2, … …, n } is the target point set, Q is { qj | qj ∈ R3, j is 1, 2, … …, m } is the source point set, and m and n respectively represent the domains of the two point sets.
To better implement this solution, further, the error function is:
Figure GDA0003413383660000021
Figure GDA0003413383660000022
n is the number of the nearest point pairs, pi is one point in the target point cloud P, and qi is the nearest point corresponding to pi in the source point cloud Q.
In order to better implement the scheme, further, N is concentrated in the calculation target pointPData points, denoted as { Pi, i ═ 1 … NPN in the source point setQData points, denoted as { Qi, i ═ 1 … NQ}, two sets of data points satisfy two conditions: 1. number of data points N in PPNumber of data points N in sum QQEqual, i.e. NP＝NQ(ii) a 2. For each Pi in P corresponding to Qi with the same index i in Q, i.e. Pi ═ Qi, the transformation vector is determined as follows:
calculating centers of a target point cloud set P and a source point cloud set Q:
Figure GDA0003413383660000023
Figure GDA0003413383660000024
constructing a covariance matrix from the point sets P and Q:
Figure GDA0003413383660000025
a 4X4 symmetric matrix is constructed from the covariance matrix:
Figure GDA0003413383660000031
wherein I3Is a 3X 3 unit matrix, tr (sigma)QP) Is a matrix sigmaQPTrace of (a) ═ a23·A31·A12]TTo do so
Figure GDA0003413383660000032
Calculating an optimal rotation vector:
Figure GDA0003413383660000033
Figure GDA0003413383660000034
is M (sigma)QP) The eigenvector corresponding to the maximum eigenvalue;
calculating the optimal translation vector:
Figure GDA0003413383660000035
wherein:
Figure GDA0003413383660000036
solving a transformation rotation matrix
Figure GDA0003413383660000037
And translation matrix
Figure GDA0003413383660000038
Calculating an objective function: calculating the average distance between Pi and the corresponding point set Qi
Figure GDA0003413383660000039
If d is smaller than a given threshold value or larger than a preset maximum iteration number, stopping iterative computation;
defining the sum of squared euclidean distances of all nearest points as the objective function:
Figure GDA00034133836600000310
setting τ to a value when
Figure GDA00034133836600000311
The loop ends when the loop is completed.
In order to better implement the present solution, further, the step S4 further includes calculating a recent point set: taking a point set pi belonging to P in a target point cloud P, finding a corresponding point set qi belonging to Q in a source point cloud Q, enabling | qi-pi | | | to be min, and using d as the geometric distance between the points pi and qi
Figure GDA00034133836600000312
A set C (P, Q) of all the closest points is obtained as a closest point set.
According to the engine thrust line accurate measurement method based on laser scanning, disclosed by the invention, a laser scanning technology is applied to engine thrust line measurement through engine thrust line research and application based on laser scanning, point cloud data splicing and fusion are carried out by adopting a method combining iteration and datum point registration, a plurality of datum points of the appearance of an engine spray pipe are collected, point cloud data registration is realized through iteration, point cloud data splicing and fusion are completed, high-precision measurement of an aircraft engine thrust line is realized, high-precision measurement of the aircraft engine thrust line is realized, and the method has higher scientific research value and practical assembly significance.
In summary, due to the adoption of the technical scheme, the invention has the beneficial effects that:
1. according to the engine thrust line accurate measurement method based on laser scanning, high-precision point cloud data of the inner molded surface of an engine nozzle pipe are obtained by using laser, point cloud data are spliced and fused by adopting a method combining iteration and datum point registration, reverse modeling is carried out, and an engine thrust line is obtained by fitting, so that the high-precision measurement of the aircraft engine thrust line is realized, and the method has higher significance for guiding actual assembly;
2. according to the engine thrust line accurate measurement method based on laser scanning, high-precision point cloud data of the inner molded surface of the engine nozzle is obtained by using laser, the point cloud data is spliced and fused by adopting a method combining iteration and datum point registration, reverse modeling is carried out, and the engine thrust line is obtained through fitting, so that the high-precision measurement of the aircraft engine thrust line is realized, and the method has high scientific research value.
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In order to more clearly illustrate the technical solution, the drawings needed to be used in the embodiments are briefly described below, and it should be understood that, for those skilled in the art, other related drawings can be obtained according to the drawings without creative efforts, wherein:
FIG. 1 is a schematic view of a mirror side view of a hidden point;
FIG. 2 is a schematic thrust line fit;
FIG. 3 is a three-dimensional model diagram of a thrust line;
FIG. 4 is a data plot of thrust line information for each nozzle;
FIG. 5 is a reference coordinate system diagram of an aircraft;
FIG. 6 is a parameter plot of aircraft fuselage mounting hole location and position relative to an aircraft;
FIG. 7 is a plot of the angle of incidence of the nozzle thrust line relative to the axis of the solid rocket;
FIG. 8 is a scanned image in software of a plot of the angle of incidence of the nozzle thrust line relative to the axis of the solid rocket;
FIG. 9 is a measurement of the nozzle thrust line alignment process; .
Detailed Description
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it should be understood that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and therefore should not be considered as a limitation to the scope of protection. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The present invention will be described in detail with reference to fig. 1 to 9.
Example 1:
an engine thrust line accurate measurement method based on laser scanning, as shown in fig. 2 and 3, comprises the following steps
Step S1: as shown in fig. 1, in an overlapping area of two groups of point cloud data of an engine nozzle to be matched, which are obtained by laser scanning, one point set is respectively selected, wherein the point set in one point cloud data is a source point set, and the point set in the other point cloud data is a target point set, and as shown in fig. 4, the point sets are information data graphs of a group of nozzle thrust lines;
step S2: as shown in fig. 7 and 8, the thrust line of the nozzle has a certain deflection angle relative to the axis of the solid rocket, and therefore, the source point set needs to be subjected to rigid transformation of rotation and/or translation, so that the error of the corresponding point set and the target point set of the source point set after rigid transformation is minimized, and the transformation can be based on the aircraft reference coordinate system shown in fig. 5;
step S3: calculating a new corresponding point set of the source point set after rigid transformation of rotation and/or translation;
step S4: calculating the average distance between the new corresponding point set and the corresponding point in the target point set, establishing a target function, setting a threshold value, and circularly iterating until convergence;
step S5: and performing reverse modeling on the target point set and the corresponding point set in the point cloud data of the profile of the engine nozzle, as shown in FIG. 8, and fitting to obtain an engine thrust line, as shown in FIG. 9.
The working principle is as follows: according to the engine thrust line accurate measurement method based on laser scanning, a laser scanning technology is applied to engine thrust line measurement through engine thrust line research and application based on laser scanning, point cloud data splicing and fusion are carried out by adopting a method combining iteration and datum point registration, a plurality of datum points of the appearance of an engine spray pipe are collected, point cloud data registration is achieved through iteration, point cloud data splicing and fusion are completed, high-precision measurement of an aircraft engine thrust line is achieved, high-precision measurement of the aircraft engine thrust line is achieved, and the method has high scientific research value and practical assembly significance.
Example 2
In this embodiment, based on embodiment 1, there are at least 3 points in the source point set and the target point set, and the 3 points in the same point set cannot be collinear.
The step S1 specifically includes: in an overlapping area of two groups of point cloud data of an engine nozzle to be matched, which are obtained by laser scanning, a point set is respectively selected as a source point set and a target point set, wherein P is { pi | pi ∈ R3, i is 1, 2, … …, n } is the target point set, Q is { qj | qj ∈ R3, j is 1, 2, … …, m } is the source point set, and m and n respectively represent the domains of the two point sets.
The step S2 specifically includes: the rotation matrix is R, the translation matrix is t, f (R, t) is used for representing the error between the source point set Q and the target point set P under the transformation matrix (R, t), the optimal solution (R, t) meeting min (f (R, t)) is the optimal rigid transformation matrix with the minimum error, wherein n is the number of nearest point pairs, pi is one point in the target point cloud P, qi is the nearest point corresponding to pi in the source point cloud Q, R is the rotation matrix, and t is the translation vector.
The error function is:
Figure GDA0003413383660000061
the calculation target point is concentrated with NPData points, denoted as { Pi, i ═ 1 … NPN in the source point setQData points, denoted as { Qi, i ═ 1 … NQ}, two sets of data points satisfy two conditions: 1. number of data points N in PPNumber of data points N in sum QQEqual, i.e. NP＝NQ(ii) a 2. For each Pi in P corresponding to Qi with the same index i in Q, i.e. Pi ═ Qi, the transformation vector is determined as follows:
calculating the centers of the target point cloud set P and the source point cloud set Q:
Figure GDA0003413383660000062
Figure GDA0003413383660000063
constructing a covariance matrix by using the point sets P and Q:
Figure GDA0003413383660000064
a 4X4 symmetric matrix is constructed from the covariance matrix:
Figure GDA0003413383660000065
wherein I3Is a 3 × 3 unit matrix, tr (sigma)QP) Is matrix ΣQPTrace of (a) ═ a23·A31·A12]TTo do so
Figure GDA0003413383660000071
Calculating an optimal rotation vector:
Figure GDA0003413383660000072
Figure GDA0003413383660000073
is composed of
Figure GDA0003413383660000074
The eigenvector corresponding to the maximum eigenvalue;
calculating the optimal translation vector:
Figure GDA0003413383660000075
wherein:
Figure GDA0003413383660000076
solving a transformation rotation matrix
Figure GDA0003413383660000077
And translation matrix
Figure GDA0003413383660000078
Calculating an objective function: calculating the average distance between Pi and the corresponding point set Qi
Figure GDA0003413383660000079
If d is smaller than a given threshold value or larger than a preset maximum iteration number, stopping iterative computation;
defining the sum of squared euclidean distances of all nearest points as the objective function:
Figure GDA00034133836600000710
setting τ to a value when
Figure GDA00034133836600000711
The loop ends when the loop is completed.
The step S4 further includes calculating a recent point set: taking a point set pi belonging to P in a target point cloud P, finding a corresponding point set qi belonging to Q in a source point cloud Q, enabling | qi-pi | | | to be min, and using d as the geometric distance between the points pi and qi
Figure GDA00034133836600000712
A set C (P, Q) of all the closest points is obtained as a closest point set.
The working principle is as follows: according to the engine thrust line accurate measurement method based on laser scanning, disclosed by the invention, a laser scanning technology is applied to engine thrust line measurement through engine thrust line research and application based on laser scanning, point cloud data splicing and fusion are carried out by adopting a method combining iteration and datum point registration, a plurality of datum points of the appearance of an engine spray pipe are collected, point cloud data registration is realized through iteration, point cloud data splicing and fusion are completed, high-precision measurement of an aircraft engine thrust line is realized, high-precision measurement of the aircraft engine thrust line is realized, and the method has higher scientific research value and practical assembly significance.
Other parts of this embodiment are the same as those of embodiment 1, and thus are not described again.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way, and all simple modifications and equivalent variations of the above embodiments according to the technical spirit of the present invention are included in the scope of the present invention.

Claims (4)

1. An engine thrust line accurate measurement method based on laser scanning is characterized in that: comprises the following steps
Step S1: respectively selecting a point set in an overlapping area of two groups of point cloud data of the engine spray pipe to be matched, wherein the point set in one point cloud data is a source point set, and the point set in the other point cloud data is a target point set; the method specifically comprises the following steps: in an overlapping area of two groups of point cloud data of an engine nozzle to be matched, which are obtained by laser scanning, respectively selecting a point set as a source point set and a target point set, wherein P is { pi | pi ∈ R3, i is 1, 2, … …, n } is the target point set, Q is { qj | qj ∈ R3, j is 1, 2, … …, m } is the source point set, and m and n respectively represent the domains of the two point sets;
step S2: carrying out rigid transformation of rotation and/or translation on the source point set to ensure that the error of the corresponding point set and the target point set after the source point set is subjected to rigid transformation is minimum;
representing the error between the source point set and the target point set under a transformation matrix (R, t) by f (R, t), wherein the (R, t) meeting the optimal solution of min (f (R, t)) is the optimal rigid transformation matrix with the minimum error, R is a rotation matrix, and t is a translation vector; the error function is:
Figure FDA0003507021950000011
Figure FDA0003507021950000012
wherein n is the number of the nearest point pairs, pi is one point in the target point set P, and qi is the nearest point corresponding to pi in the source point set Q;
step S3: calculating a new corresponding point set of the source point set after rigid transformation of rotation and/or translation;
step S4: calculating the average distance between the new corresponding point set and the corresponding point in the target point set, establishing a target function, setting a threshold value, and circularly iterating until convergence;
step S5: and performing reverse modeling on the target point set and the corresponding point set in the point cloud data of the profile of the engine spray pipe, and fitting to obtain an engine thrust line.
2. The method for accurately measuring the thrust line of the engine based on the laser scanning is characterized by comprising the following steps of: the number of the points in the source point set and the target point set is at least 3, and the 3 points in the same point set cannot be collinear.
3. A method as claimed in claim 1The laser scanning engine thrust line accurate measurement method is characterized by comprising the following steps: the calculation target point is concentrated with NPData points, denoted as { Pi,i＝1…NPN in the source point setQData points, denoted as { Qi,i＝1…NQ}, two sets of data points satisfy two conditions:
1. number of data points N in PPNumber of data points N in sum QQEqual, i.e. NP＝NQ；
2. For each Pi in P corresponding to Qi with the same index i in Q, i.e. Pi ═ Qi, the transformation vector is determined as follows:
calculating the centers of the target point set P and the source point set Q:
Figure FDA0003507021950000021
Figure FDA0003507021950000022
constructing a covariance matrix from the point sets P and Q:
Figure FDA0003507021950000023
a 4X4 symmetric matrix is constructed from the covariance matrix:
Figure FDA0003507021950000024
wherein I3Is a 3X 3 unit matrix, tr (sigma)PQ) Is a matrix (∑)PQ) Trace of (a) ═ a23·A31·A12]TTo do so
Figure FDA0003507021950000025
Calculating an optimal rotation vector:
Figure FDA0003507021950000026
Figure FDA0003507021950000027
is M (Σ)PQ) The eigenvector corresponding to the maximum eigenvalue;
calculating the optimal translation vector:
Figure FDA0003507021950000028
wherein:
Figure FDA0003507021950000029
solving a transformation rotation matrix
Figure FDA00035070219500000210
And translation matrix
Figure FDA00035070219500000211
Calculating an objective function: calculating the average distance between Pi and the corresponding point set Qi
Figure FDA00035070219500000212
If D is smaller than a given threshold value or larger than a preset maximum iteration number, stopping iterative computation;
defining the sum of squared euclidean distances of all nearest points as the objective function:
Figure FDA00035070219500000213
set τ toA certain value when
Figure FDA0003507021950000031
The loop ends when the loop is completed.
4. The method for accurately measuring the thrust line of the engine based on the laser scanning is characterized by comprising the following steps of: the step S4 further includes calculating a recent point set: taking a point set pi from a target point set P to form a point set P, finding a corresponding point set qi from a source point set Q to form a point set qi to form a point set Q, enabling | qi-pi | | to be min, and using d as the geometric distance between the points pi and qi
Figure FDA0003507021950000032
A set C (P, Q) of all the closest points is obtained as a closest point set.
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