CN114646261A - Measurement method and system based on oblique observation mirror surface method direction - Google Patents
Measurement method and system based on oblique observation mirror surface method direction Download PDFInfo
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- CN114646261A CN114646261A CN202210248765.1A CN202210248765A CN114646261A CN 114646261 A CN114646261 A CN 114646261A CN 202210248765 A CN202210248765 A CN 202210248765A CN 114646261 A CN114646261 A CN 114646261A
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- electronic theodolite
- light path
- mirror surface
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C1/00—Measuring angles
- G01C1/02—Theodolites
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/24—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for cosmonautical navigation
Abstract
The application discloses a measurement method and a system based on oblique observation of the direction of a mirror surface method, wherein the method comprises the following steps: establishing a global coordinate system; in a global coordinate system, a light source is emitted towards a measured mirror surface and along the non-normal vector direction of the measured mirror surface to form an incident light path, and the vector direction of the incident light path in the global coordinate system is obtained and recorded as N2(ii) a Receiving the light source reflected by the measured mirror surface to form a reflected light path, and acquiring the vector direction of the reflected light path under the global coordinate system and recording as N3(ii) a Calculating the sum of the vector directions of the incident light path and the reflected light path to obtain the normal vector direction N of the measured mirror surface1. The problem that the normal vector direction of the measured mirror surface is shielded to cause measurement incapability is solved, the application range of the electronic theodolite is widened, and the safety of the measured equipment is reducedThe mounting layout is limited, and the measurement difficulty of the tested equipment under certain working conditions is reduced.
Description
Technical Field
The disclosure relates to the field of mechanical structure precision measurement, in particular to a measurement method and a measurement system based on oblique observation of the direction of a mirror surface method.
Background
In the process of spacecraft assembly, the pointing direction of the normal line of the optical reference mirror surface of the key equipment under the whole star coordinate system needs to be measured so as to represent the attitude relationship of the tested equipment under the whole star coordinate system. At present, the measurement is mainly completed by adopting a mode of jointly building a station by an electronic theodolite.
During the measurement process, the electronic theodolite needs to be aligned and placed on the normal line of the measured mirror surface, and the light path between the electronic theodolite and the measured mirror surface is not shielded by an obstacle. With the increasingly complex structure of the spacecraft, the situation of light path shielding often occurs, so that the measurement cannot be implemented.
Disclosure of Invention
In view of the above-mentioned drawbacks and deficiencies of the prior art, it is desirable to provide a method and system for measurement based on an oblique viewing mirror method direction.
In a first aspect, a measurement method based on an oblique observation mirror method direction includes the following steps:
establishing a global coordinate system;
in a global coordinate system, a light source is emitted towards a measured mirror surface and along the non-normal vector direction of the measured mirror surface to form an incident light path, and the vector direction of the incident light path in the global coordinate system is obtained and recorded as N2；
Receiving the light source reflected by the measured mirror surface to form a reflected light path, and acquiring the vector direction of the reflected light path under the global coordinate system and recording as N3；
Calculating the sum of the vector directions of the incident light path and the reflected light path to obtain the normal vector direction N of the measured mirror surface1。
According to the technical scheme provided by the embodiment of the application, the establishing of the global coordinate system comprises the following steps:
presetting an original point;
and establishing a global coordinate system by taking the origin as a center.
According to the technical scheme provided by the embodiment of the application, acquiring the vector direction of the incident light path in the global coordinate system comprises:
obtaining the horizontal angle H of the starting point of the incident light path under the coordinate system of the starting point2Angle of pitch V2Is denoted by (H)2，V2)；
Obtaining the mutual aiming angle (H) between the starting point and the origin of the incident light path21，V21)；
Obtaining the mutual aiming angle (H) between the origin and the origin of the incident light path12，V12)；
Calculating the vector direction of the incident light in the global coordinate system
N2＝(cosV2cos(H12+H21-H2),cosV2sin(H12+H21-H2)，sinV2)。
According to the technical scheme provided by the embodiment of the application, the obtaining of the vector direction of the reflection light path under the global coordinate system comprises the following steps:
obtaining the horizontal angle H of the reflecting light path terminal point under the coordinate system thereof3Angle of pitch V3Said is (H)3，V3)；
Obtaining the mutual aiming angle (H) of the end point and the original point of the reflection light path31，V31)；
Obtaining the mutual aiming angle (H) of the original point and the end point of the reflection light path13，V13)；
Calculating the vector direction of the reflected light in the global coordinate system
N3＝(cosV3cos(H13+H31-H3),cosV3sin(H13+H31-H3),sinV3)。
According to the technical scheme provided by the embodiment of the application, the normal vector direction N of the measured mirror surface is calculated according to the following formula1：
N1＝(N2+N3)/|(N2+N3)|。
In a second aspect, a system for measuring a direction based on an oblique observation mirror method comprises:
a first electronic theodolite configured to set a global coordinate system;
the second electronic theodolite is configured to emit a light source to the measured mirror surface to form an incident light path;
the third electronic theodolite is configured for receiving the light source reflected by the measured mirror surface to form a reflection light path;
and the processing module is configured to calculate the normal vector direction of the measured mirror surface based on the acquired attitude information of the first electronic theodolite, the second electronic theodolite and the third electronic theodolite.
According to the technical scheme provided by the embodiment of the application, the processing module comprises: a receiving unit and a calculating unit; the receiving unit is respectively electrically connected with the first electronic theodolite, the second electronic theodolite and the third electronic theodolite and is configured for receiving attitude information; the computing unit is connected with the receiving unit and is configured to compute the normal vector direction of the measured mirror surface.
According to the technical scheme provided by the embodiment of the application, the attitude information comprises:
the horizontal angle H of the second electronic theodolite under the coordinate system of the second electronic theodolite2Pitch angle V2(ii) a The mutual aiming angle of the second electronic theodolite and the first electronic theodolite; the mutual aiming angle of the first electronic theodolite and the second electronic theodolite;
the horizontal angle H of the third electronic theodolite under the coordinate system of the third electronic theodolite3Angle of pitch V3(ii) a The mutual aiming angle of the third electronic theodolite and the first electronic theodolite; and the mutual aiming angle of the first electronic theodolite and the third electronic theodolite.
The invention has the beneficial effects that: the technical scheme of the application specifically discloses a measurement method and a system based on oblique observation of the direction of a mirror surface method. The method comprises the steps of establishing a global coordinate system; emitting a light source to a measured mirror surface under a global coordinate system, wherein the incident direction of the light source is not the normal vector direction of the measured mirror surface, and obtaining the vector direction of an incident light path under the global coordinate system; receiving a light source reflected by the measured mirror surface, and acquiring the vector direction of a reflection light path under a global coordinate system; and finally, the vector direction of the normal line of the measured mirror surface is obtained by calculating the vector sum of the incident light path and the reflected light path.
The non-normal light path is arranged on the measured mirror surface, and the normal vector direction of the measured mirror surface is indirectly obtained through calculation. The problem that the measurement cannot be carried out due to the fact that the normal vector direction of the measured mirror surface is shielded is solved, the application range of the electronic theodolite is widened, the limitation of the installation layout of the measured equipment is reduced, and the measurement difficulty of the measured equipment under certain working conditions is reduced.
Drawings
Other features, objects and advantages of the present application will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings in which:
FIG. 1 is a schematic view of an embodiment of a measurement method based on an oblique observation mirror method direction according to the present application;
FIG. 2 is a schematic diagram of an embodiment of a system of a measurement method based on an oblique observation mirror normal direction according to the present application;
1. a measured mirror surface; 2. a first electronic theodolite; 3. a second electronic theodolite; 4. a third electronic theodolite; 5. a receiving unit; 6. and a computing unit.
Detailed Description
The present application will be described in further detail with reference to the following drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant invention and not restrictive of the invention. It should be noted that, for convenience of description, only the portions related to the present invention are shown in the drawings.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
Example 1
Referring to fig. 1, a method for measuring a direction based on an oblique observation mirror method includes the following steps:
s.100, establishing a global coordinate system;
specifically, a first electronic theodolite 2 is erected, the first electronic theodolite 2 is used as an origin, and after the first electronic theodolite is accurately adjusted to be horizontal, a global coordinate system is established by using a rotation center of the first electronic theodolite as a center and used as a global reference.
S.200, in a global coordinate system, emitting a light source towards the measured lens surface 1 and along the non-normal vector direction thereof to form an incident light path, and acquiring the vector direction of the incident light path in the global coordinate system and marking as N2；
Specifically, a second electronic theodolite 3 is erected on the measured mirror surface 1 in a non-normal vector direction, and the second electronic theodolite 3 aims at the measured mirror surface 1. The state of the second electronic theodolite 3 is: the accurate adjustment level, collimated light source opens, and 3 objective focal length adjustment of second electron theodolite reach infinity, second electron theodolite 3 with form incident light path between the measured mirror surface 1.
The horizontal angle H of the second electronic theodolite 3 under the coordinate system thereof can be measured through the first electronic theodolite 2 and the second electronic theodolite 32Angle of pitch V2Is denoted by (H)2，V2) (ii) a The cross-sighting angle (H) of the second electronic theodolite 3 and the first electronic theodolite 221，V21) (ii) a The cross-sighting angle (H) of the first electronic theodolite 2 and the second electronic theodolite 312，V12) (ii) a Substituting the above data into formulas
N2＝(cosV2cos(H12+H21-H2),cosV2sin(H12+H21-H2)，sinV2) Calculating the vector direction N of the incident light emitted by the second electronic theodolite 3 under the global coordinate system2。
S.300, receiving a light source reflected by the measured mirror surface 1 to form a reflection light path, and acquiring the vector direction of the reflection light path under the global coordinate system and marking as N3；
Specifically, a third electronic theodolite 4 is erected on a light path of parallel light projected by the second electronic theodolite 3 after being reflected by the measured mirror surface 1, and the position and the orientation of the third electronic theodolite 4 are accurately adjusted, so that the parallel light beams from the second electronic theodolite 3 pass through a telescopic objective lens of the third electronic theodolite 4 and are converged at the center of a focal plane of the third electronic theodolite. The state of the third electronic theodolite 4 is: and (4) accurately adjusting the level, turning off the collimated light source, and adjusting the focal length of the objective lens of the third electronic theodolite 4 to infinity.
The horizontal angle H of the third electronic theodolite 4 under the coordinate system thereof can be measured through the first electronic theodolite 2 and the third electronic theodolite 43Pitch angle V3Is denoted by (H)3，V3) (ii) a The cross-sighting angle (H) of the third electronic theodolite 4 and the first electronic theodolite 231，V31) (ii) a The cross-sighting angle (H) of the first electronic theodolite 2 and the third electronic theodolite 413，V13) (ii) a Substituting the above data into formulas
N3＝(cosV3cos(H13+H31-H3),cosV3sin(H13+H31-H3),sinV3) Calculating the vector direction N of the reflected light emitted by the third electronic theodolite (4) under the global coordinate system3。
S.400 calculating the sum of the vector directions of the incident light path and the reflected light path to obtain the vector direction N of the normal of the measured mirror surface 11。
Specifically, the direction vector N of the measured mirror surface 1 under the global coordinate is calculated1＝(N2+N3)|(N2+N3)|。
Example two
A system based on a measurement method of the direction of an oblique observation mirror surface method comprises the following components in communication connection: a first electronic theodolite 2 configured to set a global coordinate system; a second electronic theodolite 3 configured to emit a light source to the measured mirror surface 1 to form an incident light path; the third electronic theodolite 4 is configured to receive the light source reflected by the measured mirror surface 1 to form a reflection light path; and the processing module is configured to calculate the normal vector direction of the measured mirror surface 1 based on the acquired attitude information of the first electronic theodolite 2, the second electronic theodolite 3 and the third electronic theodolite 4.
Specifically, the processing module includes: a receiving unit and a calculating unit; the receiving unit is a multi-serial server which is respectively and electrically connected with the first electronic theodolite 2, the second electronic theodolite 3 and the third electronic theodolite 4; the calculating unit is connected with the receiving unit and is configured to calculate the normal vector direction of the measured mirror surface 1.
The attitude information includes: the horizontal angle H of the second electronic theodolite 3 under the coordinate system thereof2Angle of pitch V2(ii) a The mutual angle of sight (H) of the second electronic theodolite 3 with the first electronic theodolite 221，V21) (ii) a The mutual angle of sight (H) of the first electronic theodolite 2 and the second electronic theodolite 312，V12) (ii) a The horizontal angle H of the third electronic theodolite 4 under the coordinate system thereof3Angle of pitch V3(ii) a The cross-sighting angle (H) of the third electronic theodolite 4 and the first electronic theodolite 231，V31) (ii) a A mutual angle of sight (H) of the first electronic theodolite 2 and the third electronic theodolite 413，V13)。
The above description is only a preferred embodiment of the application and is illustrative of the principles of the technology employed. It will be appreciated by a person skilled in the art that the scope of the invention as referred to in the present application is not limited to the embodiments with a specific combination of the above-mentioned features, but also covers other embodiments with any combination of the above-mentioned features or their equivalents without departing from the inventive concept. For example, the above features may be replaced with (but not limited to) features having similar functions disclosed in the present application.
Claims (8)
1. A measurement method based on oblique observation mirror surface method direction is characterized in that: the method comprises the following steps:
establishing a global coordinate system;
under the global coordinate system, the orientation is controlledMeasuring the mirror surface (1) and emitting a light source along the non-normal vector direction to form an incident light path, and acquiring the vector direction of the incident light path under the global coordinate system and recording the vector direction as N2；
Receiving the light source reflected by the measured mirror surface (1), forming a reflection light path, and acquiring the vector direction of the reflection light path under the global coordinate system and recording the vector direction as N3；
Calculating the sum of the vector directions of the incident light path and the reflected light path to obtain the normal vector direction N of the measured mirror surface (1)1。
2. The method for measuring the direction based on the oblique observation mirror method of claim 1, wherein the establishing of the global coordinate system comprises the following steps:
presetting an original point;
and establishing a global coordinate system by taking the origin as a center.
3. The method for measuring the direction based on the oblique observation mirror surface method according to claim 2, wherein the step of obtaining the vector direction of the incident light path in the global coordinate system comprises the following steps:
obtaining the horizontal angle H of the starting point of the incident light path under the coordinate system of the starting point2Angle of pitch V2Is denoted by (H)2，V2)；
Obtaining the mutual aiming angle (H) between the origin and the starting point of the incident light path21，V21)；
Obtaining the mutual aiming angle (H) between the origin and the origin of the incident light path12，V12)；
Calculating the vector direction of the incident light under the global coordinate system
N2＝(cosV2cos(H12+H21-H2),cosV2sin(H12+H21-H2),sinV2)。
4. The method for measuring the direction based on the oblique observation mirror surface method according to claim 3, wherein the vector direction of the reflection light path under the global coordinate system is obtained, and the method comprises the following steps:
obtaining the horizontal angle H of the reflecting light path terminal point under the coordinate system thereof3Angle of pitch V3Said is (H)3，V3)；
Obtaining the mutual aiming angle (H) between the end point and the origin of the reflection light path31，V31)；
Obtaining the mutual aiming angle (H) of the original point and the end point of the reflection light path13，V13)；
Calculating the vector direction of the reflected light in the global coordinate system
N3＝(cosV3cos(H13+H31-H3),cosV3sin(H13+H31-H3),sinV3)。
5. A method for measuring normal direction based on oblique observation mirror surface according to claim 4, characterized in that the normal vector direction N of the measured mirror surface (1) is calculated according to the following formula1：
N1＝(N2+N3)/|(N2+N3)|。
6. A system based on a measurement method of the direction of an oblique observation mirror surface method is characterized by comprising the following components in communication connection with each other:
a first electronic theodolite (2) configured to set a global coordinate system;
a second electronic theodolite (3) configured to emit a light source to the measured mirror surface (1) to form an incident light path;
the third electronic theodolite (4) is configured to receive the light source reflected by the measured mirror surface (1) to form a reflection light path;
and the processing module is configured to calculate the normal vector direction of the measured mirror surface (1) based on the acquired attitude information of the first electronic theodolite (2), the second electronic theodolite (3) and the third electronic theodolite (4).
7. The system of claim 6, wherein the processing module comprises: a receiving unit (5) and a calculating unit (6); the receiving unit (5) is respectively electrically connected with the first electronic theodolite (2), the second electronic theodolite (3) and the third electronic theodolite (4) and is configured for receiving attitude information; the calculating unit (6) is connected with the receiving unit (5) and is configured to calculate the normal vector direction of the measured mirror surface (1).
8. The system of claim 7, wherein the attitude information comprises:
the horizontal angle H of the second electronic theodolite (3) under the coordinate system thereof2Angle of pitch V2(ii) a The mutual aiming angle (H) of the second electronic theodolite (3) and the first electronic theodolite (2)21，V21) (ii) a The mutual aiming angle (H) of the first electronic theodolite (2) and the second electronic theodolite (3)12，V12)；
The horizontal angle H of the third electronic theodolite (4) under the coordinate system of the third electronic theodolite3Angle of pitch V3(ii) a The mutual aiming angle (H) of the third electronic theodolite (4) and the first electronic theodolite (2)31，V31) (ii) a The mutual aiming angle (H) of the first electronic theodolite (2) and the third electronic theodolite (4)13，V13)。
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