CN114383563B - Automatic pointing measurement method and system for spacecraft assembly - Google Patents
Automatic pointing measurement method and system for spacecraft assembly Download PDFInfo
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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- G—PHYSICS
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract
The invention provides a spacecraft assembly automation pointing measurement device, a method and a system, comprising the following steps: and (3) installing a positioning subsystem: comprises a spacecraft parking table, an annular turntable and a vertical motion support; photoelectric auto-collimation subsystem: the device comprises a photoelectric auto-collimator, a first two-dimensional turntable and a first two-axis level meter; and (3) a reference subsystem: the device comprises a plane mirror, a second two-dimensional turntable and a second double-axis level meter; and (3) a control subsystem: and the method is responsible for motion measurement and control and measurement result calculation of the spacecraft assembly automation pointing measurement equipment. According to the invention, the reference subsystem and the photoelectric auto-collimation subsystem are designed to mutually aim at a measurement coordinate system to the reference subsystem, so that the influence of the positioning precision of the annular turntable and the vertical support on the measurement precision is eliminated, the error item influencing the measurement precision is reduced, the system adopts digital-analog driving and visual guidance to realize the rough collimation of the cube mirror to be measured, the dependence on operators is reduced, and the measurement method introduced by the invention has higher degree of automation, higher measurement efficiency and higher measurement precision.
Description
Technical Field
The invention relates to the technical field of spacecraft assembly, in particular to a spacecraft assembly automation pointing measurement device, method and system.
Background
The assembly is an important link in the manufacturing process of the spacecraft, the assembly workload of the spacecraft accounts for 20-70% of the development workload of the whole product, and the assembly time accounts for 30-40% of the whole manufacturing time. The assembly precision, in particular the pointing precision measurement, runs through all stages of spacecraft integrated assembly, such as attitude sensitive equipment, rail control equipment, load equipment and other weight-related parts on the spacecraft, and the pointing precision is required to be strictly controlled in the integrated assembly process so as to ensure the on-orbit service performance of the spacecraft. As for low orbit satellites, the on-board device assembly 1 "pointing error causes a pointing error of tens or even hundreds of meters observed on the ground. Generally, one satellite needs to point to about 30-40 items of measured items, and repeated tests are needed to be carried out in a plurality of stages such as after structure assembly, before and after a whole star load, before and after a mechanical test, before and after a thermal test, a transmitting field and the like, so that the effectiveness and the stability of the full period precision of the satellite AIT are ensured. The method has the defects of low measurement efficiency, low measurement precision, high labor intensity, low automation degree and the like, is difficult to adapt to the current satellite Internet batch manufacturing mode, and meanwhile, the development of high-density emission and high-strength development of the spacecraft is urgent to develop a high-precision automatic pointing measurement system for effective load in the spacecraft assembly process, wherein the high-precision automatic pointing measurement system and the method for the spacecraft assembly realize the key of high-precision automatic pointing measurement.
The spacecraft assembly high-precision automatic pointing measurement system automatically completes a series of operations such as rough collimation, high-precision auto-collimation, reference mutual aiming, result resolving and the like of the cube mirrors based on digital-analog driving, reduces dependence and error items on operators, and improves measurement efficiency and measurement precision. The patent No. CN102538713A of Beijing satellite environmental engineering institute discloses a spacecraft assembly high-precision angle measurement system, which has the following defects: the rotation angle of the precision turntable for carrying the spacecraft needs to participate in angle measurement calculation, the photoelectric autocollimator moves on the linear guide rail and needs to keep the posture unchanged, and the system does not comprise a vision guiding function and a level meter compensation function, so that the absolute positioning precision of the precision turntable for carrying the spacecraft, the levelness of the spacecraft in the rotation process and the levelness requirement in the guide rail sliding process need to reach an angle second level, the hardware requirement of a measurement system is harsh, meanwhile, the vision guiding system is not needed, and when the deviation of the theoretical position and the actual position of the cube mirror exceeds the measurement range of the photoelectric autocollimator, the angle measurement system needs to be manually interfered, and the automation degree of the system is reduced. The patent No. CN106524992A of Shanghai satellite equipment institute discloses a spacecraft high-precision angle measurement system and a spacecraft high-precision angle measurement method, and the system has the following defects: in terms of structure, the angle measurement system can only fix the spacecraft on the installation positioning subsystem by adopting hoisting operation, the preparation operation time in the early stage of measurement is long, and the manual intervention is much, so that the batch manufacturing of the spacecraft is not facilitated; in the aspect of the measuring method, the angle measuring system does not adopt digital-analog driving and visual guiding technology, so that the degree of automation of system measurement is reduced.
Therefore, it is necessary to develop a high-precision automatic directional measurement system for spacecraft assembly and research a directional measurement method thereof, so as to ensure the measurement efficiency and measurement precision of the directional measurement system.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide an automatic pointing measurement device, method and system for spacecraft assembly.
The invention provides an automatic pointing measurement device for spacecraft assembly, which comprises:
and (3) installing a positioning subsystem: comprises a spacecraft parking table, an annular turntable and a vertical motion support; the spacecraft parking platform is used for fixedly placing a spacecraft to be tested, the annular turntable is arranged around the spacecraft parking platform, and the vertical moving support is arranged on the annular turntable;
photoelectric auto-collimation subsystem: the device comprises a photoelectric auto-collimator, a first two-dimensional turntable and a first two-axis level meter; the double-shaft level gauge is arranged in the two-dimensional turntable, the +Y axis of the double-shaft level gauge is arranged in parallel with the transverse axis of the two-dimensional turntable, and the installation bottom surface of the double-shaft level gauge is arranged perpendicular to the vertical axis of the two-dimensional turntable; the photoelectric auto-collimator is arranged on the high-precision two-dimensional turntable; the photoelectric auto-collimator subsystem is arranged on the vertical movement support and rotates along with the annular turntable and slides up and down along with the vertical movement support;
and (3) a reference subsystem: the device comprises a plane mirror, a second two-dimensional turntable and a second double-axis level meter; the second double-axis level instrument is arranged in a second two-dimensional turntable, the +Y axis of the second double-axis level instrument is parallel to the transverse axis of the second two-dimensional turntable, the installation bottom surface of the second double-axis level instrument is perpendicular to the vertical axis of the second two-dimensional turntable, the plane mirror is installed on the second two-dimensional turntable, and the second two-dimensional turntable is installed on a spacecraft parking platform;
and (3) a control subsystem: and the method is responsible for motion measurement and control and measurement result calculation of the spacecraft assembly automation pointing measurement equipment.
Preferably, the absolute positioning accuracy of the first two-dimensional turntable single axis is less than 1 ".
Preferably, the reflectivity of the plane mirror is more than 92%, and the area precision is lambda/10.
The invention provides a spacecraft assembly automatic pointing measurement method, which comprises the following steps of:
step S1: the AGV trolley carrying the spacecraft to be tested fixes the spacecraft to be tested on a spacecraft parking platform through a fixed slideway in the installation and positioning subsystem;
step S2: based on three-dimensional digital-analog of the spacecraft, extracting information of the to-be-detected cube mirror, and driving the installation positioning subsystem and the photoelectric auto-collimation subsystem to move to theoretical positions by the control subsystem according to the information of the to-be-detected cube mirror;
step S3: judging whether the photoelectric auto-collimator has a reading, if not, guiding and installing a positioning subsystem by a vision guiding subsystem and collimating the cube mirror to be detected by the photoelectric auto-collimator subsystem, wherein the photoelectric auto-collimator has a reading after the vision guiding is finished; if yes, executing step S4;
step S4: according to the reading of the photoelectric collimator and the corner information of the photoelectric auto-collimation subsystem, adjusting the photoelectric auto-collimation subsystem to use the reading of the photoelectric auto-collimation subsystem to be close to 0, and completing the auto-collimation cube of the photoelectric auto-collimation subsystem;
step S5: recording a first two-dimensional turret reading (a 1 ,Z 1 ) And a first biaxial level (L) 1 ,T 1 )；
Step S6: the installation positioning subsystem is kept fixed, so that the photoelectric auto-collimation subsystem and the reference subsystem are mutually aimed;
step S7: recording the first two-dimensional turret reading (a 2 ,Z 2 ) And a first biaxial level reading (L 2 ,T 2 ) And a second two-dimensional turret reading (A) 3 ,Z 3 ) And a second dual axis level reading (L 3 ,T 3 )；
Step S8: calculating the orientation of the cube mirror by using the collected readings of the first two-dimensional turntable, the second two-dimensional turntable, the first biaxial level and the second biaxial level;
step S9: judging whether a cube mirror to be measured exists or not, if not, ending the measurement; if yes, go to step S2 to measure the next cube.
Preferably, the information of the cube mirror to be detected is the center position of the cube mirror under the three-dimensional model coordinate system of the spacecraft and the normal direction of the mirror surface to be detected; according to the installation state of the spacecraft in the pointing measurement system, converting the information of the cube mirror to be measured into a station coordinate system; and according to the dynamics model of the pointing measurement system, calculating the movement amount of the positioning subsystem and the photoelectric auto-collimation subsystem when the rough collimation cube is installed.
Preferably, in the step S6, during the mutual aiming of the photoelectric auto-collimation subsystem and the reference subsystem, the positioning subsystem is installed and kept still, the rotation quantity of the two-dimensional turntables of the two-dimensional auto-collimation subsystem and the reference subsystem is calculated according to the position of the intersection point of the two-dimensional turntables of the reference subsystem and the intersection point position of the two-dimensional turntables of the current photoelectric auto-collimation subsystem, after the approximate mutual aiming is completed, the photoelectric auto-collimation subsystem is finely adjusted to enable the reading of the photoelectric auto-collimation subsystem to be close to 0, and then the mutual aiming of the photoelectric auto-collimation subsystem and the reference subsystem is finished.
Preferably, in the step S8, the pointing direction calculation process of the cube in the reference coordinate system is as follows:
step S8.1: calculating azimuth angle and zenith distance of direction of cube mirror under coordinate system of photoelectric auto-collimation subsystem
Azimuth angle A of cube mirror pointing c And zenith distance Z c The method comprises the following steps:
Z c ＝Z 1 +i c +T 1
wherein (i) c ，c c ，a c ) The standard deviation of the vertical disc index, the standard deviation of the collimation sub-system and the standard deviation of the horizontal axis are respectively shown.
Step S8.2: calculating coordinate conversion relation of photoelectric auto-collimation subsystem and reference subsystem
Azimuth angle A under coordinate system of photoelectric auto-collimation subsystem during mutual aiming c1 And zenith distance Z c1 The method comprises the following steps:
Z c1 ＝Z 2 +i c +T 2
azimuth angle A under coordinate system of reference subsystem during mutual aiming s1 And zenith distance Z s1 The method comprises the following steps:
Z s1 ＝Z s +i s +T 3
wherein (i) s ，c s ，a s ) The standard subsystem vertical disc index difference, the collimation axis error and the transverse axis error are respectively.
The coordinate conversion relation between the photoelectric auto-collimation subsystem and the reference subsystem is as follows
A sc ＝A c1 -A s1
Step S8.3: calculating azimuth angle and zenith distance A of direction of cube mirror under coordinate system of optical reference subsystem s ＝A c -A sc
Z s ＝Z c
Step S8.4: calculating cube orientation in optical reference subsystem coordinate system
n＝-[cos(A s )*sin(Z s )，sin(A s )*sin(Z s )，cos(Z s )]。
According to the invention, the spacecraft assembly automatic pointing measurement system comprises the following modules:
module M1: controlling an AGV trolley carrying the spacecraft to be tested to fix the spacecraft to be tested on a spacecraft parking platform through a fixed slideway in a mounting and positioning subsystem;
module M2: based on three-dimensional digital-analog of spacecraft, information of a to-be-detected cube mirror is extracted, and a control subsystem drives an installation positioning subsystem and a photoelectric auto-collimation subsystem to move to a theoretical position according to the information of the to-be-detected cube mirror
Module M3: judging whether the photoelectric auto-collimator has a reading, if not, guiding and installing a positioning subsystem by a vision guiding subsystem and collimating the cube mirror to be detected by the photoelectric auto-collimator subsystem, wherein the photoelectric auto-collimator has a reading after the vision guiding is finished; if yes, executing a module M4;
module M4: according to the reading of the photoelectric collimator and the corner information of the photoelectric auto-collimation subsystem, adjusting the photoelectric auto-collimation subsystem to use the reading of the photoelectric auto-collimation subsystem to be close to 0, and completing the auto-collimation cube of the photoelectric auto-collimation subsystem;
module M5: recording a first two-dimensional turret reading (a 1 ，Z 1 ) And a first biaxial level (L) 1 ，T 1 )；
Module M6: the installation positioning subsystem is kept fixed, so that the photoelectric auto-collimation subsystem and the reference subsystem are mutually aimed;
module M7: recording the first two-dimensional turret reading (a 2 ，Z 2 ) And a first biaxial level reading (L 2 ，T 2 ) And a second two-dimensional turret reading (A) 3 ，Z 3 ) And a second dual axis level reading (L 3 ，T 3 )；
Module M8: calculating the orientation of the cube mirror by using the collected readings of the first two-dimensional turntable, the second two-dimensional turntable, the first biaxial level and the second biaxial level;
module M9: judging whether a cube mirror to be measured exists or not, if not, ending the measurement; if yes, the module M2 is executed to perform measurement of the next cube.
Preferably, the information of the cube mirror to be detected is the center position of the cube mirror under the three-dimensional model coordinate system of the spacecraft and the normal direction of the mirror surface to be detected; according to the installation state of the spacecraft in the pointing measurement system, converting the information of the cube mirror to be measured into a station coordinate system; and according to the dynamics model of the pointing measurement system, calculating the movement amount of the positioning subsystem and the photoelectric auto-collimation subsystem when the rough collimation cube is installed.
Preferably, in the module M6, during the mutual aiming of the photoelectric auto-collimation subsystem and the reference subsystem, the positioning subsystem is installed and kept still, the rotation quantity of the two-dimensional turntables of the two-dimensional auto-collimation subsystem and the reference subsystem is calculated according to the position of the intersection point of the two-dimensional turntables of the reference subsystem and the intersection point position of the two-dimensional turntables of the current photoelectric auto-collimation subsystem, after the approximate mutual aiming is completed, the photoelectric auto-collimation subsystem is finely adjusted to enable the reading of the photoelectric auto-collimation subsystem to be close to 0, and then the mutual aiming of the photoelectric auto-collimation subsystem and the reference subsystem is finished.
Compared with the prior art, the invention has the following beneficial effects:
1. according to the invention, the measurement coordinate system is integrated to the reference subsystem by mutually aiming the reference subsystem and the photoelectric auto-collimation subsystem, so that the influence of the positioning precision of the annular turntable and the vertical support on the measurement precision is eliminated, and the error item affecting the measurement precision is reduced;
2. the system adopts digital-analog driving and visual guidance to realize the outline collimation of the cube mirror to be tested, and reduces the dependence on operators;
3. compared with the prior art, the measuring method disclosed by the invention has higher automation degree, measuring efficiency and measuring precision.
Drawings
Other features, objects and advantages of the present invention will become more apparent upon reading of the detailed description of non-limiting embodiments, given with reference to the accompanying drawings in which:
FIG. 1 is a schematic diagram of a spacecraft assembly automation pointing measurement device of the present invention;
FIG. 2 is a schematic diagram of an installation positioning subsystem according to the present invention;
FIG. 3 is a schematic diagram of an electro-optic auto-collimation subsystem according to the present invention;
FIG. 4 is a schematic diagram of a reference subsystem of the present invention;
FIG. 5 is a flow chart of a method for automatic pointing measurement of a spacecraft assembly in the present invention.
Reference numerals illustrate:
plane mirror 41 of spacecraft 1 to be tested
Second two-dimensional turntable 42 of cube mirror 2 to be measured
Second biaxial level 43 of installation positioning subsystem 3
Reference subsystem 4 vision guidance subsystem 51
Photoelectric auto-collimation subsystem 5 photoelectric auto-collimator 52
Control subsystem 6 first two-dimensional turret 53
First biaxial level 54 of annular turntable 31
Vertical movement support 32
Spacecraft parking stand 33
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 present invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications could be made by those skilled in the art without departing from the inventive concept. These are all within the scope of the present invention.
In the spacecraft assembly process, a coordinate system is generally constructed by utilizing the orientations of any 3 adjacent mirrors of the cube mirrors to represent the attitude of a single machine, so that the cube mirror orientation is the most basic and important link in the spacecraft assembly single machine orientation measurement. The directional measurement system has higher degree of automation, measurement efficiency and measurement accuracy.
The invention discloses an automatic pointing measurement device for spacecraft assembly, and referring to fig. 1-4; comprising the following steps:
and (3) installing a positioning subsystem 3: comprises a spacecraft parking table, an annular turntable 31 and a vertical movement support 32; the spacecraft parking table is used for fixedly placing the spacecraft 1 to be measured, the spacecraft parking table is static in the pointing measurement process, the annular turntable 31 is arranged around the spacecraft parking table to realize 0-360-degree omnibearing rotation, the vertical movement support 32 is arranged on the annular turntable 31, and the absolute positioning precision of the annular turntable 31 and the moving precision of the vertical movement support 32 are irrelevant to the pointing measurement precision of the system.
Photoelectric auto-collimation subsystem 5: comprising an electro-optical autocollimator 52, a high precision first two-dimensional turret 53 and a first two-axis level 54. The absolute positioning accuracy of the single shaft of the first two-dimensional turntable 53 with high accuracy is smaller than 1 ', the double-shaft level is arranged in the two-dimensional turntable, the +Y axis of the double-shaft level is arranged in parallel with the transverse axis of the two-dimensional turntable, the installation bottom surface of the double-shaft level is arranged perpendicular to the vertical axis of the two-dimensional turntable, and the installation error is controlled within 10'. The photoelectric auto-collimator 52 is installed on the high-precision two-dimensional turntable, when the high-precision two-dimensional turntable is in a zero position, the optical axis of the photoelectric auto-collimator 52 coincides with the vertical axis of the high-precision two-dimensional turntable, and the installation error is controlled within 10'. The photoelectric auto-collimator 52 is mounted on the vertical movement support 32 in a sub-system, and slides up and down with the rotation of the annular turntable 31 and the vertical movement support 32.
Reference subsystem 4: comprises a high-precision plane mirror 41, a second two-dimensional turntable 42 and a second biaxial level 43; the absolute positioning precision of a single shaft of the high-precision second two-dimensional turntable 42 is less than 1 ', a second double-shaft level 43 is arranged in the second two-dimensional turntable 42, the +Y axis of the second double-shaft level 43 is parallel to the transverse axis of the second two-dimensional turntable 42, the installation bottom surface of the second double-shaft level 43 is perpendicular to the vertical axis of the second two-dimensional turntable 42, and the installation error is controlled within 10'. The reflectivity of the high-precision plane mirror 41 is more than 92%, and the surface type precision is lambda/10. The plane mirror 41 is mounted on the second two-dimensional turntable 42, and when the high-precision second two-dimensional turntable 42 is in a zero position, the normal direction of the high-precision plane mirror 41 coincides with the vertical axis of the high-precision second two-dimensional turntable 42, and the mounting error is controlled within 10'. The second two-dimensional turret 42 is mounted on the spacecraft parking table, and the reference subsystem 4 remains stationary during spacecraft heading measurements.
And a control subsystem 6: and the method is responsible for motion measurement and control and measurement result calculation of the spacecraft assembly automation pointing measurement equipment.
The invention discloses a spacecraft assembly automatic pointing measurement method, which comprises the following steps of:
step S1: the AGV trolley carrying the spacecraft 1 to be tested fixes the spacecraft 1 to be tested on a spacecraft parking platform through a fixed slideway in the installation and positioning subsystem 3;
step S2: based on three-dimensional digital-analog of the spacecraft, information of the cube mirror 2 to be detected is extracted, and the control subsystem 6 drives the installation positioning subsystem 3 and the photoelectric auto-collimation subsystem 5 to move to theoretical positions according to the information of the cube mirror 2 to be detected.
The information of the cube mirror 2 to be measured is the center position of the cube mirror and the normal direction of the mirror surface to be measured under the three-dimensional model coordinate system of the spacecraft; according to the installation state of the spacecraft in the pointing measurement system, converting the information of the cube mirror 2 to be measured into a station coordinate system; and according to the dynamics model of the pointing measurement system, calculating the movement amount of the positioning subsystem 3 and the photoelectric auto-collimation subsystem 5 installed when the rough collimation cube is calculated.
Step S3: judging whether the photoelectric auto-collimator 52 has a reading, if not, guiding and installing the positioning subsystem 3 and the photoelectric auto-collimation subsystem 5 by the vision guiding subsystem 51 to collimate the cube mirror 2 to be tested, and reading the photoelectric auto-collimator 52 after the vision guiding is finished; if yes, executing step S4;
step S4: according to the reading of the photoelectric collimator and the corner information of the photoelectric auto-collimation subsystem 5, adjusting the photoelectric auto-collimation subsystem 5 to use the reading of the photoelectric auto-collimation subsystem 52 to be close to 0, and completing the auto-collimation cube of the photoelectric auto-collimation subsystem 5;
step S5: recording the first two-dimensional turret 53 reading (a 1 ，Z 1 ) And a first biaxial level 54 (L) 1 ，T 1 )；
Step S6: the installation positioning subsystem 3 is kept fixed, so that the photoelectric auto-collimation subsystem 5 and the reference subsystem 4 are mutually aimed.
In the process of mutual aiming of the photoelectric auto-collimation subsystem 5 and the reference subsystem 4, the installation positioning subsystem 3 is kept static, the rotation quantity of each two-dimensional turntable of the two-dimensional auto-collimation subsystem 5 is calculated according to the position of the intersection point of the two-dimensional turntable of the reference subsystem 4 and the intersection point of the two-dimensional turntable of the current photoelectric auto-collimation subsystem 5, after the approximate mutual aiming is finished, the photoelectric auto-collimation subsystem 5 is finely adjusted to enable the reading of the photoelectric auto-collimation subsystem 52 to be close to 0, and then the mutual aiming of the photoelectric auto-collimation subsystem 5 and the reference subsystem 4 is finished.
Step S7: the first two-dimensional turret 53 reading (a 2 ，Z 2 ) And a first biaxial level 54 reading (L 2 ，T 2 ) And the second two-dimensional turntable 42 of the reference subsystem 4 (a 3 ，Z 3 ) And a second biaxial level 43 reading (L 3 ，T 3 )；
Step S8: the cube orientation is resolved using the acquired readings of the first 53, second 42, first 54, and second 43 two-dimensional turrets.
The pointing calculation process of the cube mirror under the reference coordinate system is as follows:
step S8.1: calculating azimuth angle and zenith distance of direction of cube mirror under 5 coordinate system of photoelectric auto-collimation subsystem
Azimuth angle A of cube mirror pointing c And zenith distance Z c The method comprises the following steps:
Z c ＝Z 1 +i c +T 1
wherein (i) c ，c c ，a c ) The index difference, the collimation axis error and the transverse axis error of the photoelectric auto-collimation subsystem 5 are respectively.
Step S8.2: calculating coordinate conversion relation between photoelectric auto-collimation subsystem 5 and reference subsystem 4
Azimuth angle A under 5 coordinate system of photoelectric auto-collimation subsystem during mutual aiming c1 And zenith distance Z c1 The method comprises the following steps:
Z c1 ＝Z 2 +i c +T 2
azimuth angle A under coordinate system of reference subsystem 4 during mutual aiming s1 And zenith distance Z s1 The method comprises the following steps:
Z s1 ＝Z s +i s +T 3
wherein (i) s ，c s ，a s ) The standard subsystem 4 is respectively provided with a vertical disc index difference, a collimation axis error and a transverse axis error.
The coordinate conversion relation between the photoelectric auto-collimation subsystem 5 and the reference subsystem 4 is as follows
A sc ＝A c1 -A s1
Step S8.3: calculating azimuth angle and zenith distance A of cube mirror pointing under 4 coordinate system of optical reference subsystem s ＝A c -A sc
Z s ＝Z c
Step S8.4: calculating the cube orientation in the 4 coordinate system of the optical reference subsystem
n＝-[cos(A s )*sin(Z s )，sin(A s )*sin(Z s )，cos(Z s )]。
Step S9: judging whether the cube mirror 2 to be measured exists or not, if not, ending the measurement; if yes, go to step S2 to measure the next cube.
The invention also discloses an automatic pointing measurement system for the spacecraft assembly, which comprises the following modules:
module M1: controlling an AGV trolley carrying the spacecraft 1 to be tested to fix the spacecraft 1 to be tested on a spacecraft parking platform through a fixed slideway in the installation and positioning subsystem 3;
module M2: based on three-dimensional digital-analog of the spacecraft, information of the cube mirror 2 to be detected is extracted, and the control subsystem 6 drives the installation positioning subsystem 3 and the photoelectric auto-collimation subsystem 5 to move to theoretical positions according to the information of the cube mirror 2 to be detected.
The information of the cube mirror 2 to be measured is the center position of the cube mirror and the normal direction of the mirror surface to be measured under the three-dimensional model coordinate system of the spacecraft; according to the installation state of the spacecraft in the pointing measurement system, converting the information of the cube mirror 2 to be measured into a station coordinate system; and according to the dynamics model of the pointing measurement system, calculating the movement amount of the positioning subsystem 3 and the photoelectric auto-collimation subsystem 5 installed when the rough collimation cube is calculated.
Module M3: judging whether the photoelectric auto-collimator 52 has a reading, if not, guiding and installing the positioning subsystem 3 and the photoelectric auto-collimation subsystem 5 by the vision guiding subsystem 51 to collimate the cube mirror 2 to be tested, and reading the photoelectric auto-collimator 52 after the vision guiding is finished; if yes, executing a module M4;
module M4: according to the reading of the photoelectric collimator and the corner information of the photoelectric auto-collimation subsystem 5, adjusting the photoelectric auto-collimation subsystem 5 to use the reading of the photoelectric auto-collimation subsystem 52 to be close to 0, and completing the auto-collimation cube of the photoelectric auto-collimation subsystem 5;
module M5: recording the first two-dimensional turret 53 reading (a 1 ，Z 1 ) And a first biaxial level 54 (L) 1 ，T 1 )；
Module M6: the installation positioning subsystem 3 is kept fixed, so that the photoelectric auto-collimation subsystem 5 and the reference subsystem 4 are mutually aimed.
In the process of mutual aiming of the photoelectric auto-collimation subsystem 5 and the reference subsystem 4, the installation positioning subsystem 3 is kept static, the rotation quantity of each two-dimensional turntable of the two-dimensional auto-collimation subsystem 5 is calculated according to the position of the intersection point of the two-dimensional turntable of the reference subsystem 4 and the intersection point of the two-dimensional turntable of the current photoelectric auto-collimation subsystem 5, after the approximate mutual aiming is finished, the photoelectric auto-collimation subsystem 5 is finely adjusted to enable the reading of the photoelectric auto-collimation subsystem 52 to be close to 0, and then the mutual aiming of the photoelectric auto-collimation subsystem 5 and the reference subsystem 4 is finished.
Module M7: the first two-dimensional turret 53 reading (a 2 ，Z 2 ) And a first biaxial level 54 reading (L 2 ，T 2 ) And the second two-dimensional turntable 42 of the reference subsystem 4 (a 3 ，Z 3 ) And a second biaxial level 43 reading (L 3 ，T 3 )；
Module M8: resolving the orientation of the cube using the collected readings of the first 53, second 42, first 54, and second 43 two-dimensional turrets;
module M9: judging whether the cube mirror 2 to be measured exists or not, if not, ending the measurement; if yes, the module M2 is executed to perform measurement of the next cube.
In the description of the present application, it should 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 the orientations or positional relationships illustrated in the drawings, merely to facilitate description of the present application and simplify the description, and do not indicate or imply that the devices or elements being referred to must have a specific orientation, be configured and operated in a specific orientation, and are not to be construed as limiting the present application.
The foregoing describes specific embodiments of the present invention. It is to be understood that the invention is not limited to the particular embodiments described above, and that various changes or modifications may be made by those skilled in the art within the scope of the appended claims without affecting the spirit of the invention. The embodiments of the present application and features in the embodiments may be combined with each other arbitrarily without conflict.
Claims (9)
1. An automatic pointing measurement method for spacecraft assembly, which is characterized by comprising the following steps:
step S1: an AGV trolley carrying the spacecraft (1) to be tested fixes the spacecraft (1) to be tested on a spacecraft parking table (33) through a fixed slideway in a mounting and positioning subsystem (3);
step S2: based on three-dimensional digital-analog of the spacecraft, extracting information of the cube mirror (2) to be detected, and driving the installation positioning subsystem (3) and the photoelectric auto-collimation subsystem (5) to move to theoretical positions by the control subsystem (6) according to the information of the cube mirror (2) to be detected;
step S3: judging whether the photoelectric auto-collimator (52) has a reading, if not, guiding, installing and positioning the subsystem (3) and the photoelectric auto-collimation subsystem (5) by the vision guiding subsystem (51) to collimate the cube mirror (2) to be tested, and reading the photoelectric auto-collimator (52) after the vision guiding is finished; if yes, executing step S4;
step S4: according to the reading of the photoelectric collimator and the corner information of the photoelectric auto-collimation subsystem (5), adjusting the photoelectric auto-collimation subsystem (5) to use the reading of the photoelectric auto-collimation subsystem (52) to be close to 0, and completing the auto-collimation cube of the photoelectric auto-collimation subsystem (5);
step S5: recording a first two-dimensional turret (53) reading (A) of an opto-electronic auto-collimation subsystem (5) 1 ,Z 1 ) And a first biaxial level meter (54) reading (L 1 ,T 1 )；
Step S6: the installation positioning subsystem (3) is kept fixed, so that the photoelectric auto-collimation subsystem (5) and the reference subsystem (4) are mutually aimed;
step S7: recording the reading (A) of a first two-dimensional turret (53) of the opto-electronic auto-collimation subsystem (5) at this time 2 ,Z 2 ) And a first biaxial level meter (54) reading (L 2 ,T 2 ) And a second two-dimensional turret (42) reading (A) of the reference subsystem (4) 3 ,Z 3 ) And a second biaxial level meter (43) reading (L 3 ,T 3 )；
Step S8: resolving the orientation of the cube using the collected readings of the first two-dimensional turret (53), the second two-dimensional turret (42), the first biaxial level (54) and the second biaxial level (43);
step S9: judging whether a cube mirror (2) to be measured exists or not, if not, ending the measurement; if yes, executing step S2, and measuring the next cubic mirror;
and (3) installing and positioning subsystems: comprises a spacecraft parking table (33), an annular turntable (31) and a vertical movement support (32); the spacecraft parking platform (33) is used for fixedly placing a spacecraft (1) to be tested, the annular turntable (31) is arranged around the spacecraft parking platform (33), and the vertical movement support (32) is arranged on the annular turntable (31);
photoelectric auto-collimation subsystem (5): comprises an electro-optical autocollimator (52), a first two-dimensional turntable (53) and a first two-axis level meter (54); the double-shaft level gauge is arranged in the two-dimensional turntable, the +Y axis of the double-shaft level gauge is arranged in parallel with the transverse axis of the two-dimensional turntable, and the installation bottom surface of the double-shaft level gauge is arranged perpendicular to the vertical axis of the two-dimensional turntable; the photoelectric auto-collimator (52) is arranged on the high-precision two-dimensional turntable; the photoelectric auto-collimator (52) subsystem is arranged on the vertical movement bracket (32) and rotates along with the annular rotary table (31) and slides up and down along with the vertical movement bracket (32);
reference subsystem (4): comprises a plane mirror (41), a second two-dimensional turntable (42) and a second biaxial level meter (43); the second double-axis level meter (43) is arranged in a second two-dimensional turntable (42), the +Y axis of the second double-axis level meter (43) is parallel to the transverse axis of the second two-dimensional turntable (42), the installation bottom surface of the second double-axis level meter (43) is perpendicular to the vertical axis of the second two-dimensional turntable (42), the plane mirror (41) is installed on the second two-dimensional turntable (42), and the second two-dimensional turntable (42) is installed on the spacecraft parking table (33);
control subsystem (6): and the method is responsible for motion measurement and control and measurement result calculation of the spacecraft assembly automation pointing measurement equipment.
2. The spacecraft assembly automation orientation measurement method of claim 1, wherein: the absolute positioning accuracy of the single axis of the first two-dimensional turntable (53) is less than 1'.
3. The spacecraft assembly automation orientation measurement method of claim 1, wherein: the reflectivity of the plane mirror (41) is larger than 92%, and the surface type precision is lambda/10.
4. The spacecraft assembly automation orientation measurement method of claim 1, wherein: the information of the cube mirror (2) to be detected is the center position of the cube mirror and the normal direction of the mirror surface to be detected under the three-dimensional model coordinate system of the spacecraft; according to the installation state of the spacecraft in the pointing measurement system, converting the information of the cube mirror (2) to be measured into a station coordinate system; and according to the dynamics model of the pointing measurement system, calculating the movement amount of the positioning subsystem (3) and the photoelectric auto-collimation subsystem (5) when the rough collimation cube is installed.
5. The spacecraft assembly automation orientation measurement method of claim 1, wherein: in the step S6, during the mutual aiming process of the photoelectric auto-collimation subsystem (5) and the reference subsystem (4), the installation positioning subsystem (3) is kept still, the rotation quantity of the two-dimensional turntables of the two-dimensional auto-collimation subsystem (4) and the current two-dimensional turntables of the photoelectric auto-collimation subsystem (5) is calculated according to the intersection point position of the two-dimensional turntables of the reference subsystem, after the approximate mutual aiming is completed, the photoelectric auto-collimation subsystem (5) is finely adjusted to enable the reading of the photoelectric auto-collimator (52) to be close to 0, and then the mutual aiming of the photoelectric auto-collimation subsystem (5) and the reference subsystem (4) is finished.
6. The spacecraft assembly automation orientation measurement method of claim 1, wherein: in the step S8, the pointing direction calculation process of the cube mirror under the reference coordinate system is as follows:
step S8.1: calculating azimuth angle of cubic mirror pointing and azimuth angle A of zenith distance cubic mirror pointing under coordinate system of photoelectric auto-collimation subsystem (5) c And zenith distance Z c The method comprises the following steps:
Z c ＝Z 1 +i c +T 1
wherein (i) c ，c c ，a c ) The index difference, the collimation axis error and the transverse axis error of the vertical disc of the photoelectric auto-collimation subsystem (5) are respectively;
step S8.2: calculating the coordinate conversion relation between the photoelectric auto-collimation subsystem (5) and the reference subsystem (4)
Azimuth angle A under coordinate system of photoelectric auto-collimation subsystem (5) during mutual aiming c1 And zenith distance Z c1 The method comprises the following steps:
Z c1 ＝Z 2 +i c +T 2
azimuth angle A under coordinate system of reference subsystem (4) during mutual aiming s1 And zenith distance Z s1 The method comprises the following steps:
Z s1 ＝Z s +i s +T 3
wherein (i) s ，c s ，a s ) The standard subsystem (4) is respectively a vertical disc index difference, a collimation axis error and a transverse axis error;
the coordinate conversion relation between the photoelectric auto-collimation subsystem (5) and the reference subsystem (4) is that
A sc ＝A c1 -A s1
Step S8.3: calculating azimuth angle and zenith distance of direction of cubic mirror under coordinate system of optical reference subsystem (4)
A s ＝A c -A sc
Z s ＝Z c
Step S8.4: calculating the cube orientation in the coordinate system of the optical reference subsystem (4)
n＝-[cos(A s )*sin(Z s )，sin(A s )*sin(Z s )，cos(Z s )]。
7. An automatic pointing measurement system for spacecraft assembly, comprising the following modules:
module M1: controlling an AGV trolley carrying the spacecraft (1) to be tested to fix the spacecraft (1) to be tested on a spacecraft parking platform (33) through a fixed slideway in a mounting and positioning subsystem (3);
module M2: based on three-dimensional digital-analog of spacecraft, information of a cube mirror (2) to be detected is extracted, and a control subsystem (6) drives an installation positioning subsystem (3) and a photoelectric auto-collimation subsystem (5) to move to a theoretical position according to the information of the cube mirror (2) to be detected
Module M3: judging whether the photoelectric auto-collimator (52) has a reading, if not, guiding, installing and positioning the subsystem (3) and the photoelectric auto-collimation subsystem (5) by the vision guiding subsystem (51) to collimate the cube mirror (2) to be tested, and reading the photoelectric auto-collimator (52) after the vision guiding is finished; if yes, executing a module M4;
module M4: according to the reading of the photoelectric collimator and the corner information of the photoelectric auto-collimation subsystem (5), adjusting the photoelectric auto-collimation subsystem (5) to use the reading of the photoelectric auto-collimation subsystem (52) to be close to 0, and completing the auto-collimation cube of the photoelectric auto-collimation subsystem (5);
module M5: recording a first two-dimensional turret (53) reading (A) of an opto-electronic auto-collimation subsystem (5) 1 ，Z 1 ) And a first biaxial level meter (54) reading (L 1 ，T 1 )；
Module M6: the installation positioning subsystem (3) is kept fixed, so that the photoelectric auto-collimation subsystem (5) and the reference subsystem (4) are mutually aimed;
module M7: recording the reading (A) of a first two-dimensional turret (53) of the opto-electronic auto-collimation subsystem (5) at this time 2 ，Z 2 ) And a first biaxial level meter (54) reading (L 2 ，T 2 ) And a second two-dimensional turret (42) reading (A) of the reference subsystem (4) 3 ，Z 3 ) And a second biaxial level meter (43) reading (L 3 ，T 3 )；
Module M8: resolving the orientation of the cube using the collected readings of the first two-dimensional turret (53), the second two-dimensional turret (42), the first biaxial level (54) and the second biaxial level (43);
module M9: judging whether a cube mirror (2) to be measured exists or not, if not, ending the measurement; if yes, executing a module M2 to measure the next cubic mirror;
and (3) installing and positioning subsystems: comprises a spacecraft parking table (33), an annular turntable (31) and a vertical movement support (32); the spacecraft parking platform (33) is used for fixedly placing a spacecraft (1) to be tested, the annular turntable (31) is arranged around the spacecraft parking platform (33), and the vertical movement support (32) is arranged on the annular turntable (31);
photoelectric auto-collimation subsystem (5): comprises an electro-optical autocollimator (52), a first two-dimensional turntable (53) and a first two-axis level meter (54); the double-shaft level gauge is arranged in the two-dimensional turntable, the +Y axis of the double-shaft level gauge is arranged in parallel with the transverse axis of the two-dimensional turntable, and the installation bottom surface of the double-shaft level gauge is arranged perpendicular to the vertical axis of the two-dimensional turntable; the photoelectric auto-collimator (52) is arranged on the high-precision two-dimensional turntable; the photoelectric auto-collimator (52) subsystem is arranged on the vertical movement bracket (32) and rotates along with the annular rotary table (31) and slides up and down along with the vertical movement bracket (32);
reference subsystem (4): comprises a plane mirror (41), a second two-dimensional turntable (42) and a second biaxial level meter (43); the second double-axis level meter (43) is arranged in a second two-dimensional turntable (42), the +Y axis of the second double-axis level meter (43) is parallel to the transverse axis of the second two-dimensional turntable (42), the installation bottom surface of the second double-axis level meter (43) is perpendicular to the vertical axis of the second two-dimensional turntable (42), the plane mirror (41) is installed on the second two-dimensional turntable (42), and the second two-dimensional turntable (42) is installed on the spacecraft parking table (33);
control subsystem (6): and the method is responsible for motion measurement and control and measurement result calculation of the spacecraft assembly automation pointing measurement equipment.
8. The spacecraft assembly automation orientation measurement system of claim 7, wherein: the information of the cube mirror (2) to be detected is the center position of the cube mirror and the normal direction of the mirror surface to be detected under the three-dimensional model coordinate system of the spacecraft; according to the installation state of the spacecraft in the pointing measurement system, converting the information of the cube mirror (2) to be measured into a station coordinate system; and according to the dynamics model of the pointing measurement system, calculating the movement amount of the positioning subsystem (3) and the photoelectric auto-collimation subsystem (5) when the rough collimation cube is installed.
9. The spacecraft assembly automation orientation measurement system of claim 7, wherein: in the module M6, in the process of mutual aiming of the photoelectric auto-collimation subsystem (5) and the reference subsystem (4), the installation positioning subsystem (3) is kept static, the rotation quantity of each two-dimensional turntable of the two-dimensional auto-collimation subsystem (5) is calculated according to the position of the intersection point of the two-dimensional turntable of the reference subsystem (4) and the intersection point position of the two-dimensional turntable of the current photoelectric auto-collimation subsystem (5), after the approximate mutual aiming is finished, the photoelectric auto-collimation subsystem (5) is finely adjusted to enable the reading of the photoelectric auto-collimation subsystem (52) to be close to 0, and then the mutual aiming of the photoelectric auto-collimation subsystem (5) and the reference subsystem (4) is finished.
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| CN106168479A (en) * | 2016-06-20 | 2016-11-30 | 上海卫星装备研究所 | Spacecraft based on photoelectric auto-collimator high accuracy angle measuring method |
| CN106524992A (en) * | 2016-12-08 | 2017-03-22 | 上海卫星装备研究所 | High precision angle measurement system and method for spacecraft |
| CN109631826A (en) * | 2018-12-29 | 2019-04-16 | 航天东方红卫星有限公司 | A kind of satellite automated accuracy checking method |
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| RU2523736C1 (en) * | 2013-01-22 | 2014-07-20 | Открытое акционерное общество "Научно-производственная корпорация "Системы прецизионного приборостроения (ОАО "НПК "СПП") | Measurement of dihedral angles at mirror-prismatic elements and device to this end |
| CN106168479A (en) * | 2016-06-20 | 2016-11-30 | 上海卫星装备研究所 | Spacecraft based on photoelectric auto-collimator high accuracy angle measuring method |
| CN106524992A (en) * | 2016-12-08 | 2017-03-22 | 上海卫星装备研究所 | High precision angle measurement system and method for spacecraft |
| CN109631826A (en) * | 2018-12-29 | 2019-04-16 | 航天东方红卫星有限公司 | A kind of satellite automated accuracy checking method |
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