CN114459345A - System and method for detecting position and attitude of airplane body based on visual space positioning - Google Patents

System and method for detecting position and attitude of airplane body based on visual space positioning Download PDF

Info

Publication number
CN114459345A
CN114459345A CN202111581827.2A CN202111581827A CN114459345A CN 114459345 A CN114459345 A CN 114459345A CN 202111581827 A CN202111581827 A CN 202111581827A CN 114459345 A CN114459345 A CN 114459345A
Authority
CN
China
Prior art keywords
measuring
measurement
point
module
cameras
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202111581827.2A
Other languages
Chinese (zh)
Inventor
林晓文
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shanghai Intelligent Manufacturing Function Platform Co ltd
Original Assignee
Shanghai Intelligent Manufacturing Function Platform Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shanghai Intelligent Manufacturing Function Platform Co ltd filed Critical Shanghai Intelligent Manufacturing Function Platform Co ltd
Priority to CN202111581827.2A priority Critical patent/CN114459345A/en
Publication of CN114459345A publication Critical patent/CN114459345A/en
Pending legal-status Critical Current

Links

Classifications

    • GPHYSICS
    • G01MEASURING; TESTING
    • G01BMEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00Measuring arrangements characterised by the use of optical means
    • G01B11/002Measuring arrangements characterised by the use of optical means for measuring two or more coordinates
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C1/00Measuring angles

Abstract

The invention provides a system and a method for detecting the position and the attitude of an airplane body based on visual space positioning, wherein the system comprises a plurality of cameras, a measuring module, a control module, a directional reference scale, a measuring mark single point and a measuring coding point; the camera and the measuring module are respectively connected with the control module, the camera is used for acquiring a plurality of images of the measured workpiece, and the images comprise a directional reference scale, a measuring mark single point and a measuring coding point; the control module is used for controlling a plurality of cameras to shoot images simultaneously; the measuring module is used for analyzing and processing the image to obtain a three-dimensional coordinate of the point to be measured, and analyzing the three-dimensional coordinate to obtain the relation between the relative position and the posture. The invention obtains a plurality of images of the measured workpiece at different positions and directions, obtains the three-dimensional coordinates of the point to be measured after image processing and analysis, further obtains the relation between the relative position and the posture, and has the advantages of high space measurement precision and high measurement speed.

Description

System and method for detecting position and attitude of airplane body based on visual space positioning
Technical Field
The invention relates to the technical field of airplane detection, in particular to a system and a method for detecting the position and the attitude of an airplane body based on visual space positioning.
Background
The airplane leveling measurement is to utilize leveling points to check and confirm the relative positions of various parts of an airplane, the installation quality of the parts and the deformation condition of the parts in the using process. Currently, measuring tools used for airplane leveling work include a level meter, an optical theodolite, a total station, a laser tracker and the like, and a traditional airplane leveling method is to measure a leveling point by using the level meter and the optical theodolite. The method adopts manual reading, recording and manual calculation, needs to adjust the horizontal state of the airplane, and has the advantages of complex measurement process, large human error and low automation degree.
Through search, the following results are found:
the Chinese patent with publication number CN111561867A discloses a digital measurement method for the surface topography of an airplane, firstly, a multi-camera system covering the measurement area of the airplane to be measured is erected; then, calibrating the multi-camera system by using a calibration tool, thereby calculating the pose of each camera in the multi-camera system; and then, projecting the target point onto the surface of the airplane to be measured by using an optical point projector, shooting an image of the airplane to be measured by using a multi-camera system, and then calculating the three-dimensional space coordinate of the target point on the surface of the airplane to be measured according to the shot image to finish the measurement of the surface appearance of the airplane. The invention realizes the digital measurement of the airplane appearance with large range and complex surface by a multi-camera system. However, the method still has the following problems:
an optical pointer is needed to project the target point onto the surface to be measured of the airplane, the hardware cost of the system is increased, the operation is complex, and the dynamic tracking measurement of the three-dimensional poses of a plurality of measuring points or a plurality of targets cannot be realized.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a system and a method for detecting the position and the attitude of an airplane body based on visual space positioning, which have the advantages of high space measurement precision and high measurement speed.
According to one aspect of the invention, the system for detecting the position and the attitude of the airplane body based on the visual space positioning comprises a plurality of cameras, a measuring module, a control module, a directional reference ruler, a measuring mark single point and a measuring coding point;
the orientation reference scale is used for providing orientation and reference length; the measurement mark single point and the measurement coding point are arranged at two ends of the directional reference scale and are used for establishing a measurement control field;
the camera and the measuring module are respectively connected with the control module, the camera is used for acquiring a plurality of images of a measured workpiece, and the images comprise the orientation reference ruler, the measuring mark single point and the measuring coding point; the control module is used for controlling a plurality of cameras to shoot images simultaneously; the measuring module is used for analyzing and processing the image to obtain a three-dimensional coordinate of the point to be measured, and analyzing the three-dimensional coordinate to obtain the relation between the relative position and the posture.
Preferably, the image analysis process sequentially comprises: image preprocessing, logo recognition, image matching, spatial triangulation, and beam adjustment.
Preferably, the device further comprises a display module, and the display module is connected with the measurement module.
According to another aspect of the present invention, there is provided a method for detecting a position and an orientation of an aircraft fuselage based on visual space positioning, which is implemented by the system for detecting a position and an orientation of an aircraft fuselage based on visual space positioning, and includes:
erecting a camera according to the measurement requirement;
forming a measurement control field on the surface of the machine body by using the single measuring mark point and the measuring coding point, measuring the measurement control field, and establishing a reference coordinate system;
after integrally calibrating the cameras according to the reference coordinate system, acquiring a plurality of images of the workpiece to be measured at different positions and directions by using the cameras;
and sequentially carrying out image preprocessing, mark recognition, image matching, space triangular intersection and light beam adjustment processing on a plurality of images to obtain a three-dimensional coordinate of a measuring point, carrying out data analysis on the three-dimensional coordinate, and determining the relation between the relative position and the posture.
Preferably, erecting the camera according to the measurement requirements comprises: and determining the position and the posture of the plurality of cameras by utilizing the measuring coding points and the directional reference scale and adopting a rear intersection principle.
Preferably, after determining the relationship between the relative position and the attitude, the method further comprises: and displaying the relation between the relative position and the posture on a display module.
Compared with the prior art, the invention has at least one of the following beneficial effects:
1. according to the detection system and method, during the measurement process, the object to be detected does not need to be contacted, and the artificial or deformation error caused by contact can be avoided;
2. the detection system and the method can carry out measurement in the environments of vibration, vacuum, toxicity, high and low temperature and the like;
3. the detection system and the method have higher spatial measurement precision which reaches 8 mu m +8ppm L, and the measurement precision reaches 0.032mm within the range of 3 meters;
4. the detection system and the method of the invention keep high measurement precision and have high measurement speed, and the highest frame rate can reach 3 frames/second;
5. the detection system and the detection method can realize dynamic tracking and measurement of three-dimensional poses of a plurality of measurement points or a plurality of targets.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
fig. 1 is a schematic flow chart of a method for detecting the position and attitude of an aircraft fuselage according to an embodiment of the invention;
FIG. 2 is a schematic view of a camera projection geometry according to an embodiment of the present invention;
fig. 3 is a schematic diagram of a measurement principle of an embodiment of the present invention.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications can be made by persons skilled in the art without departing from the spirit of the invention. All falling within the scope of the present invention. It should be noted that the contents which are not described in detail in the following examples can be obtained by those skilled in the art by the prior art.
The embodiment of the invention provides an aircraft fuselage position and attitude detection system based on visual space positioning, which comprises a plurality of cameras, a measurement module, a control module, a directional reference ruler, a measurement mark single point and a measurement coding point; the orientation reference scale is used for providing orientation and reference length; the measurement mark single point and the measurement coding point are arranged at two ends of the orientation reference scale and are used for establishing a measurement control field; the camera and the measuring module are respectively connected with the control module, the camera is used for acquiring a plurality of images of the measured workpiece, and the images comprise a directional reference scale, a measuring mark single point and a measuring coding point; the control module is used for controlling a plurality of cameras to shoot images simultaneously; the measuring module is used for analyzing and processing the image to obtain a three-dimensional coordinate of the point to be measured, and analyzing the three-dimensional coordinate to obtain a relation between the relative position and the posture.
In a specific implementation mode, the cameras can adopt high-precision real-time measurement cameras, the number of the cameras is at least 2, the measurement module can adopt real-time industrial photogrammetry system software, a plurality of high-precision real-time measurement cameras are used as main sensors, the measurement module is used as a core, the position and the posture of the cameras are determined by using photogrammetry coding points and a directional reference ruler and adopting a rear intersection principle, then the control module controls the cameras to acquire measurement images in real time, three-dimensional coordinates of photogrammetry marking points are obtained through image processing, and data analysis is carried out according to the three-dimensional coordinates, so that the relation between the relative position and the posture is obtained.
In one specific embodiment, the image analysis process sequentially comprises: image preprocessing, logo recognition, image matching, spatial triangulation, and beam adjustment.
In a specific embodiment, the camera mainly comprises a camera body and a camera light source, and the whole material of the orientation reference ruler is a carbon fiber material with a low expansion coefficient, and the orientation reference ruler mainly serves for orienting the orientation ruler of the measuring system and providing a reference length. The two ends of the orientation reference scale are provided with measurement coding mark points, the measurement mark points are divided into measurement mark single points and measurement coding points, the measurement coding points are numbered, and the system can automatically identify the numbers of the measurement coding points.
It will be understood by those skilled in the art that the system for detecting the position and orientation of the fuselage of the aircraft may further include cables for connection, a tripod for mounting a camera, and other tools, and of course, in some other embodiments, other components may also be included, and the embodiments of the present invention are not limited in this respect.
The embodiment of the invention also provides an aircraft fuselage position and attitude detection method based on visual space positioning, which is realized based on the aircraft fuselage position and attitude detection system based on visual space positioning of the embodiment, and as shown in fig. 1, the method comprises the following steps:
s1, erecting a camera according to the measurement requirement;
specifically, the position and the posture of a plurality of cameras are determined by utilizing a measuring coding point and a directional reference scale and adopting a rear intersection principle.
S2, forming a measurement control field on the surface of the machine body by using the measurement mark single points and the measurement coding points, measuring the measurement control field, and establishing a reference coordinate system;
specifically, the measurement control field is arranged on the surface of the machine body, and the control points in the measurement control field are composed of measurement mark single points and measurement coding points which are arranged on the surface of the machine body at a certain density so as to form the measurement control field. The main functions of the measurement control field include: the method provides a calibration reference for multiple cameras for horizontal detection of the airplane and provides a reference for full-airplane reverse scanning measurement.
S3, after integrally calibrating the cameras according to the reference coordinate system, acquiring a plurality of images of the workpiece to be measured at different positions and directions by using the cameras;
and S4, sequentially carrying out image preprocessing, mark recognition, image matching, space triangular intersection and light beam adjustment processing on the multiple images to obtain the three-dimensional coordinates of the measuring points, carrying out data analysis on the three-dimensional coordinates, and determining the relation between the relative position and the posture.
In a specific embodiment, the photogrammetry is to use a high-resolution measurement camera, two or more digital images of the measured workpiece are obtained at different positions and directions, and three-dimensional coordinates of the point to be measured are obtained after image preprocessing, mark recognition, image matching, spatial triangular intersection and light beam adjustment, and the physical principle is pinhole imaging, as shown in fig. 2.
From the above formula, the image point can be found by knowing the object side point, so that the three-dimensional information can be restored by the multi-view two-dimensional image, as shown in fig. 3.
In a specific embodiment, after determining the relationship between the relative position and the attitude, the method further comprises: and displaying the relation between the relative position and the posture on the display module.
The method for detecting the position and orientation of the fuselage of an aircraft based on visual space positioning according to the present invention will be described in more detail below using examples.
Example 1
In the process of implementing the whole machine measurement, the whole machine model is led into the measurement module, the detection flow of each characteristic item is planned through the measurement module, the characteristic item to be measured, the measured characteristic item and the data evaluation related to the measurement result are prompted step by step on the display module, and an operator can gradually complete the whole process of horizontal measurement according to the prompt of the display module, so that the technical level requirement on the measurement operator can be greatly reduced, and the measurement efficiency is improved.
Specifically, a camera is mounted at a position about 2 meters from the object to be measured, and the distance between the two cameras is about 2 meters, taking two cameras as an example. The camera is erected on the tripod through the cloud platform, and the camera passes through the communication cable and is connected with control module, and control module passes through the net twine and is connected with measuring module, and display module links to each other with measuring module. It can be understood that the lengths of the communication cable and the network cable can be selected according to actual requirements, the terminal provided with the measuring module can be placed at a position such as a workbench convenient for a user to operate, and the control module and the measuring module need to be connected with a 220V power supply for supplying power.
Firstly, a camera is erected according to the measurement requirement. The measuring control field is arranged on the surface of the machine body, the control points are composed of measuring mark single points and measuring coding points, and the measuring mark single points and the measuring coding points are arranged on the surface of the machine body at a certain density to form the control field. The measurement control field is integrally calibrated before the system is formally used, the measurement can be started after the calibration is finished, the obtained measurement data is transmitted to the measurement module to be analyzed and processed, and finally the obtained measurement result is displayed on the display module.
Example 2
In the process of implementing horizontal measurement, the airplane body is formed by connecting a plurality of rectangular cabin sections or cylindrical cabin sections, each cabin section is provided with a measurement reference for horizontal measurement, and when the whole airplane is horizontally placed. The central axis is the X axis (forward direction) of the whole machine design coordinate system, the horizontal plane passing through the central axis is an XOY plane, the normal direction of the plane is the Z axis (upward direction is positive), and the three coordinate axes form a horizontal measurement reference coordinate system.
In order to establish a horizontal measurement reference coordinate system, firstly, measurement mark points consisting of measurement mark single points and measurement coding points are arranged on the surface or characteristic positions of the whole machine, and the coordinates of the mark points are measured to fit the axis of the whole machine and a horizontal plane passing through the central axis, so that the reference coordinate system is established.
Because the horizontal measurement has many characteristic items and poor visibility, the measurement must be implemented by using a multi-camera, a measuring pen, a tool and the like, firstly, the multi-camera system must be calibrated integrally, and the measurement reference of the multi-camera system is unified into a reference coordinate system of the whole-machine horizontal measurement. In the calibration process, the multi-camera system is only required to start to shoot images of the control field mark points and the mark points arranged on the surface of the whole camera when reference measurement is carried out, and the multi-camera system can be unified into a reference coordinate system for horizontal measurement after the whole calibration.
The horizontal measuring point is a stamping point mark on the corresponding part position by using special equipment in the machining stage of the machine body. When the horizontal measurement is carried out, a proper target plate with a photogrammetric mark is selected to directly measure the three-dimensional coordinates of the horizontal point, and the deviation of the horizontal point is calculated according to the designed coordinates, so that the horizontal measurement is finished.
Example 3
In the process of measuring the angle, the characteristic items of the angle measurement mainly comprise a wing installation angle, a wing dihedral angle, a wing torsion angle, a tail wing installation angle, a tail wing dihedral angle, an included angle between an installation axis and a fuselage axis and the like. The angle measurement is converted into an angle between a spatial straight line and a straight line, an angle between a spatial plane and a plane, an angle between a spatial vector and a vector and the like, so that a detection value is obtained by measuring a corresponding characteristic line and a corresponding surface and performing fitting and calculation.
Taking the wing installation angle as an example, the encoding points arranged on the wing are identified through a camera, the wing span plane is fitted, and the included angle between the wing plane and the XOZ plane of the coordinate system is calculated to be the installation angle of the wing.
Example 4
In the process of implementing the butt joint measurement of the machine body, the accurate butt joint of the machine body sections needs to be realized by guiding and adjusting the postures through a measurement system and systematically adjusting the positions and the postures of the machine body sections to realize the butt joint with high precision. The measurement process is as follows:
(1) preparation before measurement:
firstly, oil stains and dust on a butt joint workpiece are removed before measurement, secondly, coding points and target points are pasted on a machine body at a certain density, a datum point is set, and a datum point design value or a coordinate value under a butt joint coordinate system is given.
(2) Single camera for taking photos
And after the target point is pasted, the single camera starts to shoot pictures, and the pictures are led into the measuring module to be automatically resolved, so that the three-dimensional coordinate value of the measuring point is obtained. And performing common point conversion on the obtained three-dimensional coordinate value and the reference point, and converting the coordinate of the measuring point into a design coordinate system or a butt joint installation coordinate system.
(3) Dual camera start real time monitoring
The coordinates of the converted measuring points are led into the measuring module, then the control field is used for stable orientation, so that the double cameras work under a design coordinate system or a butt joint coordinate system, butt joint can be started, the double cameras measure the coordinates of the measuring points in real time to obtain a deviation value and a deviation direction of a butt joint workpiece under the design coordinate system or the butt joint coordinate system, and meanwhile, workers adjust a butt joint posture in real time according to the data of the double cameras.
The whole measuring process including the process of fitting a straight line and a plane through the coding points, the calculation process of length and angle and the like is displayed in real time on the measuring module and the display module, so that an operator can visually check each step of measurement, the technical level requirement on the measurement operator is reduced, and the measuring efficiency is improved.
According to the embodiment of the invention, the measurement data of the plurality of cameras are fused, so that the cameras have large-scale three-dimensional measurement capability, the accurate position coordinates of the monitoring points on the large part of the airplane body are obtained through shooting, the three-dimensional pose dynamic tracking measurement of the plurality of measurement points or the plurality of targets can be realized through the attitude measurement and inspection of each part after the airplane is installed, and the indexes such as the accuracy of the geometrical shape of the airplane, the coaxiality of the actual axis and the theory, the installation angle of the part and the like are verified. In the measuring process, the object to be measured does not need to be contacted, the artificial or deformation error caused by contact can be avoided, and the measurement can be carried out in the environments of vibration, vacuum, toxicity, high and low temperature and the like; in addition, the invention has the advantages of high space measurement precision which can reach 8 μm +8ppm L, and the measurement precision which can reach 0.032mm within 3 meters, and in addition, the invention also has the advantage of high measurement speed while keeping high measurement precision, and the highest frame rate can reach 3 frames/second.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes and modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The above-described preferred features may be used in any combination without conflict with each other.

Claims (6)

1. A system for detecting the position and the attitude of an airplane body based on visual space positioning is characterized by comprising a plurality of cameras, a measuring module, a control module, a directional reference ruler, a measuring mark single point and a measuring coding point;
the orientation reference scale is used for providing orientation and reference length; the measurement mark single point and the measurement coding point are arranged at two ends of the directional reference scale and are used for establishing a measurement control field;
the camera and the measuring module are respectively connected with the control module, the camera is used for acquiring a plurality of images of a measured workpiece, and the images comprise the orientation reference ruler, the measuring mark single point and the measuring coding point; the control module is used for controlling a plurality of cameras to shoot images simultaneously; the measuring module is used for analyzing and processing the image to obtain a three-dimensional coordinate of the point to be measured, and analyzing the three-dimensional coordinate to obtain the relation between the relative position and the posture.
2. The system of claim 1, wherein the image analysis process comprises in sequence: image preprocessing, logo recognition, image matching, spatial triangulation, and beam adjustment.
3. The system of claim 1, further comprising a display module coupled to the measurement module.
4. An aircraft fuselage position and posture detection method based on visual space positioning is realized based on the aircraft fuselage position and posture detection system based on visual space positioning according to any one of claims 1 to 3, and is characterized by comprising the following steps:
erecting a camera according to the measurement requirement;
forming a measurement control field on the surface of the machine body by using the single measuring mark point and the measuring coding point, measuring the measurement control field, and establishing a reference coordinate system;
after integrally calibrating the cameras according to the reference coordinate system, acquiring a plurality of images of the workpiece to be measured at different positions and directions by using the cameras;
and sequentially carrying out image preprocessing, mark recognition, image matching, space triangular intersection and light beam adjustment processing on a plurality of images to obtain a three-dimensional coordinate of a measuring point, carrying out data analysis on the three-dimensional coordinate, and determining the relation between the relative position and the posture.
5. The method for detecting the position and the attitude of the fuselage of the aircraft based on the visual space positioning as claimed in claim 4, wherein the erection of the camera according to the measurement requirement comprises the following steps: and determining the position and the posture of the plurality of cameras by utilizing the measuring coding points and the directional reference scale and adopting a rear intersection principle.
6. The visual space positioning-based aircraft fuselage position and orientation detection method of claim 4, characterized in that after determining the relative position to orientation relationship, it further comprises: and displaying the relation between the relative position and the posture on a display module.
CN202111581827.2A 2021-12-22 2021-12-22 System and method for detecting position and attitude of airplane body based on visual space positioning Pending CN114459345A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202111581827.2A CN114459345A (en) 2021-12-22 2021-12-22 System and method for detecting position and attitude of airplane body based on visual space positioning

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202111581827.2A CN114459345A (en) 2021-12-22 2021-12-22 System and method for detecting position and attitude of airplane body based on visual space positioning

Publications (1)

Publication Number Publication Date
CN114459345A true CN114459345A (en) 2022-05-10

Family

ID=81405843

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202111581827.2A Pending CN114459345A (en) 2021-12-22 2021-12-22 System and method for detecting position and attitude of airplane body based on visual space positioning

Country Status (1)

Country Link
CN (1) CN114459345A (en)

Similar Documents

Publication Publication Date Title
US20170054954A1 (en) System and method for visually displaying information on real objects
CN111156925B (en) Three-dimensional measurement method for large component based on line structured light and industrial robot
CN102607457B (en) Measuring device and measuring method for large three-dimensional morphology based on inertial navigation technology
CN107270833A (en) A kind of complex curved surface parts three-dimension measuring system and method
US20140160115A1 (en) System And Method For Visually Displaying Information On Real Objects
CN107121093A (en) A kind of gear measurement device and measuring method based on active vision
CN108917723A (en) A kind of pose on-line measurement system and method for the docking of cylindrical bay section
CN104807476A (en) Pose estimation-based quick probe calibration device and method
CN108648242B (en) Two-camera calibration method and device without public view field based on assistance of laser range finder
KR20020097172A (en) Method for Measuring Three- dimensional Coordinate, Apparatus Thereof and Method for Building Large Construction Therewith
WO1993007443A1 (en) Method and system for point by point measurement of spatial coordinates
CN109212497A (en) A kind of measurement of space six degree of freedom vehicle radar antenna pose deviation and interconnection method
Bösemann INDUSTRIAL PHOTOGRAMMETRY-ACCEPTED METROLOGY TOOL OR EXOTIC NICHE.
CN111754462A (en) Visual detection method and system for three-dimensional bent pipe
CN108132029B (en) Accurate measurement method and device for assembly of satellite antenna unfolding system
CN112325796A (en) Large-scale workpiece profile measuring method based on auxiliary positioning multi-view point cloud splicing
Peng et al. A measuring method for large antenna assembly using laser and vision guiding technology
Liu et al. Portable light pen 3D vision coordinate measuring system-probe tip center calibration
CN114353802A (en) Robot three-dimensional space positioning method based on laser tracking
CN109489642B (en) Dynamic measurement method for relative attitude of two cube mirrors under any spatial attitude
CN112697074B (en) Dynamic object to be measured angle measuring instrument and measuring method
Zhang et al. Global measurement method for large-scale components based on a multiple field of view combination
CN114459345A (en) System and method for detecting position and attitude of airplane body based on visual space positioning
CN105526907B (en) The measuring device and measuring method of the space angle in large scale space
CN110095659B (en) Dynamic testing method for pointing accuracy of communication antenna of deep space exploration patrol device

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination