CN114646261B - 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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- CN114646261B CN114646261B CN202210248765.1A CN202210248765A CN114646261B CN 114646261 B CN114646261 B CN 114646261B CN 202210248765 A CN202210248765 A CN 202210248765A CN 114646261 B CN114646261 B CN 114646261B
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- coordinate system
- mirror surface
- electronic theodolite
- light path
- global coordinate
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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 measurement system based on an oblique observation mirror surface method direction, wherein the method comprises the following steps: establishing a global coordinate system; under the global coordinate system, a light source is emitted towards a detected mirror surface and along a non-normal vector direction of the detected mirror surface to form an incident light path, and the vector direction of the incident light path under the global coordinate system is obtained and is marked as N 2 The method comprises the steps of carrying out a first treatment on the surface of the Receiving a light source reflected by a detected mirror surface to form a reflected light path, and acquiring the vector direction of the reflected light path under the global coordinate system, which is recorded as N 3 The method comprises the steps of carrying out a first treatment on the surface of the Calculating the sum of vector directions of the incident light path and the reflected light path to obtain the vector direction N of the normal line of the detected mirror surface 1 . The method solves the problem that the measurement cannot be implemented due to the shielding of the normal vector direction of the detected mirror surface, widens the application range of the electronic theodolite, reduces the installation layout limitation of the detected equipment, and reduces the measurement difficulty of the detected equipment under certain working conditions.
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 an oblique observation mirror surface method direction.
Background
In the spacecraft assembly process, the pointing direction of the mirror surface normal of an optical reference mirror on a key device under the whole-satellite coordinate system is required to be measured so as to represent the posture relation of the tested device under the whole-satellite coordinate system. At present, the measurement is mainly completed by adopting a mode of combining an electronic theodolite with a station building.
In the measuring process, the electronic theodolite is required to be placed on the measured mirror surface normal line in a collimation mode, and the light path between the electronic theodolite and the measured mirror surface normal line is free of obstruction. With the increasing complexity of the spacecraft structure, the condition that the light path is blocked often occurs, so that measurement cannot be implemented.
Disclosure of Invention
In view of the foregoing drawbacks or shortcomings in the prior art, it is desirable to provide a measurement method and system based on obliquely observed specular direction.
In a first aspect, a measurement method based on oblique observation mirror surface method direction includes the steps of:
establishing a global coordinate system;
under the global coordinate system, a light source is emitted towards a detected mirror surface and along a non-normal vector direction of the detected mirror surface to form an incident light path, and the vector direction of the incident light path under the global coordinate system is obtained and is marked as N 2 ；
Receiving a light source reflected by a detected mirror surface to form a reflected light path, and acquiring the vector direction of the reflected light path under the global coordinate system, which is recorded as N 3 ；
Calculating the sum of vector directions of the incident light path and the reflected light path to obtain the vector direction N of the normal line of the detected mirror surface 1 。
According to the technical scheme provided by the embodiment of the application, the establishment of the global coordinate system comprises the following steps:
presetting an origin;
and building a global coordinate system by taking the origin as the center.
According to the technical scheme provided by the embodiment of the application, the method for acquiring the vector direction of the incident light path under the global coordinate system comprises the following steps:
obtaining a horizontal angle H of an incident light path starting point under a self coordinate system 2 Pitch angle V 2 Is denoted as (H) 2 ，V 2 )；
Obtaining the mutual aiming angle (H) between the origin and the origin of the incident light path 21 ，V 21 )；
Obtaining the mutual aiming angle (H) 12 ，V 12 )；
Calculating the vector direction of the incident light under the global coordinate system
N 2 ＝(cosV 2 cos(H 12 +H 21 -H 2 ),cosV 2 sin(H 12 +H 21 -H 2 )，sinV 2 )。
According to the technical scheme provided by the embodiment of the application, the method for obtaining the vector direction of the reflected light path under the global coordinate system comprises the following steps:
obtaining a horizontal angle H of a reflection light path end point under a self coordinate system 3 Pitch angle V 3 The symbol (H) 3 ，V 3 )；
Obtaining the mutual aiming angle (H) of the end point and the original point of the reflected light path 31 ，V 31 )；
Obtaining the mutual aiming angle (H) 13 ，V 13 )；
Calculating the vector direction of the reflected light under the global coordinate system
N 3 ＝(cosV 3 cos(H 13 +H 31 -H3),cosV 3 sin(H 13 +H3 1 -H 3 ),sinV 3 )。
According to the technical scheme provided by the embodiment of the application, the vector direction N of the normal line of the detected mirror surface is calculated according to the following formula 1 ：
N 1 ＝(N 2 +N 3 )/|(N 2 +N 3 )|。
In a second aspect, a system for measuring a specular direction based on oblique observation includes:
the first electronic theodolite is configured to set a global coordinate system;
the second electronic theodolite is configured to emit a light source to the mirror surface to be tested to form an incident light path;
the third electronic theodolite is configured to receive a light source reflected by the detected mirror surface to form a reflected light path;
and the processing module is configured to calculate the normal vector direction of the detected 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 and electrically connected with the first electronic theodolite, the second electronic theodolite and the third electronic theodolite and is configured to receive gesture information; the calculating unit is connected with the receiving unit and is configured to calculate the normal vector direction of the mirror surface to be measured.
According to the technical scheme provided by the embodiment of the application, the gesture information comprises:
horizontal angle H of second electronic theodolite under self coordinate system 2 Pitch angle V 2 The method comprises the steps of carrying out a first treatment on the surface of the 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;
horizontal angle H of third electronic theodolite under self coordinate system 3 Pitch angle V 3 The method comprises the steps of carrying out a first treatment on the surface of the The mutual aiming angle of the third electronic theodolite and the first electronic theodolite; and the first electronic theodolite and the third electronic theodolite are mutually aimed at angles.
The application has the beneficial effects that: the technical scheme of the application particularly discloses a measurement method and a measurement system based on an oblique observation mirror surface method direction. The application establishes a global coordinate system; transmitting a light source to a detected mirror surface under a global coordinate system, wherein the incident direction of the light source is not the normal vector direction of the detected mirror surface, and acquiring the vector direction of an incident light path under the global coordinate system; receiving a light source reflected by a detected mirror surface, and obtaining a vector direction of a reflected light path under a global coordinate system; and finally, calculating the vector sum of the incident light path and the reflected light path to obtain the normal vector direction of the measured mirror surface.
And setting a non-normal light path on the measured mirror surface, and indirectly obtaining the normal vector direction of the measured mirror surface through calculation. The method solves the problem that the measurement cannot be implemented due to the shielding of the normal vector direction of the detected mirror surface, widens the application range of the electronic theodolite, reduces the installation layout limitation of the detected equipment, and reduces the measurement difficulty of the detected equipment under certain working conditions.
Drawings
Other features, objects and advantages of the present application will become more apparent upon reading of the detailed description of non-limiting embodiments, made with reference to the accompanying drawings in which:
FIG. 1 is a schematic view of an embodiment of a measurement method based on oblique observation mirror method direction according to the present application;
FIG. 2 is a schematic diagram of an embodiment of a measurement method system based on oblique observation mirror method direction according to the present application;
1. a mirror surface to be measured; 2. a first electronic theodolite; 3. a second electronic theodolite; 4. a third electronic theodolite; 5. a receiving unit; 6. and a calculation unit.
Detailed Description
The application is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the application and are not limiting of the application. It should be noted that, for convenience of description, only the portions related to the application are shown in the drawings.
It should be noted that, without conflict, the embodiments of the present application and features of the embodiments may be combined with each other. The application will be described in detail below with reference to the drawings in connection with embodiments.
Example 1
Referring to fig. 1, a measurement method based on oblique observation mirror surface method direction 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 taken as an origin, the first electronic theodolite 2 is accurately adjusted to be horizontal, and a global coordinate system is established by taking the rotation center of the first electronic theodolite as the center and is taken as a global reference.
S.200 emitting light source towards the detected mirror surface 1 and along the non-normal vector direction thereof under the global coordinate system to form an incident light path, obtaining the vector direction of the incident light path under the global coordinate system, and marking as N 2 ；
Specifically, a second electronic theodolite 3 is erected in a non-normal vector direction of the measured mirror surface 1, and the second electronic theodolite 3 aims at the measured mirror surface 1. The state of the second electronic theodolite 3 is: and (3) accurately adjusting the level, opening a collimation light source, adjusting the focal length of an objective lens of the second electronic theodolite 3 to infinity, and forming an incident light path between the second electronic theodolite 3 and the measured mirror surface 1.
The horizontal angle H of the second electronic theodolite 3 under the self coordinate system can be measured through the first electronic theodolite 2 and the second electronic theodolite 3 2 Pitch angle V 2 Is denoted as (H) 2 ，V 2 ) The method comprises the steps of carrying out a first treatment on the surface of the The mutual aiming angle (H) of the second electronic theodolite 3 and the first electronic theodolite 2 21 ，V 21 ) The method comprises the steps of carrying out a first treatment on the surface of the The mutual aiming angle (H) of the first electronic theodolite 2 and the second electronic theodolite 3 12 ，V 12 ) The method comprises the steps of carrying out a first treatment on the surface of the Bringing the above data into the formula
N 2 ＝(cosV 2 cos(H 12 +H 21 -H 2 ),cosV 2 sin(H 12 +H 21 -H 2 )，sinV 2 ) Calculating the vector direction N of the incident light emitted by the second electronic theodolite 3 under the global coordinate system 2 。
S.300, receiving the light source reflected by the detected mirror surface 1 to form a reflected light path, obtaining the vector direction of the reflected light path under the global coordinate system, and marking as N 3 ；
Specifically, the third electronic theodolite 4 is erected on the optical path of the 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 the telescope objective lens of the third electronic theodolite 4 and are converged at the focal plane center of the telescope objective lens. The state of the third electronic theodolite 4 is: and (3) accurately adjusting the level, closing the collimation 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 self coordinate system can be measured through the first electronic theodolite 2 and the third electronic theodolite 4 3 Pitch angle V 3 Is denoted as (H) 3 ，V 3 ) The method comprises the steps of carrying out a first treatment on the surface of the The mutual aiming angle (H) of the third electronic theodolite 4 and the first electronic theodolite 2 31 ，V 31 ) The method comprises the steps of carrying out a first treatment on the surface of the The mutual aiming angle (H) of the first electronic theodolite 2 and the third electronic theodolite 4 13 ，V 13 ) The method comprises the steps of carrying out a first treatment on the surface of the Bringing the above data into the formula
N3＝(cosV 3 cos(H 13 +H 31 -H 3 ),cosV 3 sin(H 13 +H 31 -H 3 ),sinV 3 ) Calculating the vector direction N of the reflected light emitted by the third electronic theodolite (4) under the global coordinate system 3 。
S.400, calculating the sum of vector directions of an incident light path and a reflected light path to obtain the vector direction N of the normal line of the detected mirror surface 1 1 。
Specifically, the direction vector N of the mirror 1 under test in the global coordinates is calculated 1 ＝(N 2 +N 3 )/|(N 2 +N 3 )|。
Example two
A system based on a measurement method of a 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; the second electronic theodolite 3 is configured to emit a light source to the mirror 1 to be tested to form an incident light path; the third electronic theodolite 4 is configured to receive a light source reflected by the detected mirror surface 1 to form a reflected light path; and the processing module is configured to calculate the normal vector direction of the detected 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, and the multi-serial server is electrically connected with the first electronic theodolite 2, the second electronic theodolite 3 and the third electronic theodolite 4 respectively; the calculating unit is connected with the receiving unit and is configured to calculate the normal vector direction of the mirror surface 1 to be measured.
The gesture information includes: horizontal angle H of second electronic theodolite 3 under self coordinate system 2 Pitch angle V 2 The method comprises the steps of carrying out a first treatment on the surface of the The mutual aiming angle (H 21 ，V 21 ) The method comprises the steps of carrying out a first treatment on the surface of the The mutual aiming angle (H 12 ，V 12 ) The method comprises the steps of carrying out a first treatment on the surface of the Horizontal angle H of third electronic theodolite 4 under self coordinate system 3 Pitch angle V 3 The method comprises the steps of carrying out a first treatment on the surface of the The mutual aiming angle (H 31 ，V 31 ) The method comprises the steps of carrying out a first treatment on the surface of the The mutual aiming angle (H 13 ，V 13 )。
The above description is only illustrative of the preferred embodiments of the present application and of the principles of the technology employed. It will be appreciated by persons skilled in the art that the scope of the application referred to in the present application is not limited to the specific combinations of the technical features described above, but also covers other technical features formed by any combination of the technical features described above or their equivalents without departing from the inventive concept. Such as the above-mentioned features and the technical features disclosed in the present application (but not limited to) having similar functions are replaced with each other.
Claims (4)
1. A measurement method based on an oblique observation mirror surface method direction is characterized by comprising the following steps: the method comprises the following steps:
establishing a global coordinate system;
under the global coordinate system, a light source is emitted towards the detected mirror surface (1) and along the non-normal vector direction of the detected mirror surface to form an incident light path, and the vector direction of the incident light path under the global coordinate system is obtained and is marked as N 2 ；
Receiving the light source reflected by the detected mirror surface (1) to form a reflected light path to obtain the reflectionThe vector direction of the light-emitting path under the global coordinate system is marked as N 3 ；
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 line of the mirror surface (1) to be measured 1 ；
The global coordinate system is established, and the method comprises the following steps of:
presetting an origin;
establishing a global coordinate system by taking an origin as a center;
the method for acquiring the vector direction of the incident light path under the global coordinate system comprises the following steps:
obtaining a horizontal angle H of an incident light path starting point under a self coordinate system 2 Pitch angle V 2 Is denoted as (H) 2 ，V 2 )；
Obtaining the mutual aiming angle (H) between the origin and the origin of the incident light path 21 ，V 21 )；
Obtaining the mutual aiming angle (H) 12 ，V 12 )；
Calculating the vector direction of the incident light under the global coordinate system
N 2 ＝(cosV 2 cos(H 12 +H 21 -H 2 ),cosV 2 sin(H 12 +H 21 -H 2 ),sinV 2 )。
2. The method for measuring the direction based on the oblique observation mirror surface method according to claim 1, wherein the step of obtaining the vector direction of the reflected light path in the global coordinate system comprises the steps of:
obtaining a horizontal angle H of a reflection light path end point under a self coordinate system 3 Pitch angle V 3 The symbol (H) 3 ，V 3 )；
Obtaining the mutual aiming angle (H) of the end point and the original point of the reflected light path 31 ，V 31 )；
Obtaining the mutual aiming angle (H) 13 ，V 13 )；
Calculating the vector direction of the reflected light under the global coordinate system
N 3 ＝(cosV 3 cos(H 13 +H 31 -H3),cosV 3 sin(H 13 +H3 1 -H 3 ),sinV 3 )。
3. The measurement method based on the direction of the oblique observation mirror surface method according to claim 2, characterized in that the normal vector direction N of the measured mirror surface (1) is calculated according to the following formula 1 ：
N 1 ＝(N 2 +N 3 )/|(N 2 +N 3 )|。
4. A system for measuring a specular direction based on oblique observation, comprising:
a first electronic theodolite (2) configured to set a global coordinate system;
the second electronic theodolite (3) is configured to emit a light source to the mirror surface (1) to be tested to form an incident light path;
the third electronic theodolite (4) is configured to receive a light source reflected by the detected mirror surface (1) to form a reflected light path;
the processing module is configured to calculate the normal vector direction of the detected mirror surface (1) based on acquiring the attitude information of the first electronic theodolite (2), the second electronic theodolite (3) and the third electronic theodolite (4);
the processing module comprises: a receiving unit (5) and a calculating unit (6); the receiving unit (5) is respectively and electrically connected with the first electronic theodolite (2), the second electronic theodolite (3) and the third electronic theodolite (4) and is configured to receive gesture information; the calculating unit (6) is connected with the receiving unit (5) and is configured to calculate the normal vector direction of the mirror surface (1) to be measured;
the gesture information includes:
horizontal angle H of the second electronic theodolite (3) under self coordinate system 2 Pitch angle V 2 The method comprises the steps of carrying out a first treatment on the surface of the -mutual aiming angle (H) of said second electronic theodolite (3) and said first electronic theodolite (2) 21 ，V 21 ) The method comprises the steps of carrying out a first treatment on the surface of the The first electronic theodolite (2) and the second electronic theodoliteMutual aiming angle (H) of sub theodolite (3) 12 ，V 12 )；
Horizontal angle H of third electronic theodolite (4) under self coordinate system 3 Pitch angle V 3 The method comprises the steps of carrying out a first treatment on the surface of the -mutual aiming angle (H) of said third electronic theodolite (4) and said first electronic theodolite (2) 31 ，V 31 ) The method comprises the steps of carrying out a first treatment on the surface of the -mutual aiming angle (H) of the first electronic theodolite (2) and the third electronic theodolite (4) 13 ，V 13 )。
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