CN114812446B - Aircraft horizontal measurement tool calibration method based on photogrammetry technology - Google Patents
Aircraft horizontal measurement tool calibration method based on photogrammetry technology Download PDFInfo
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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
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
- G01B11/27—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes for testing the alignment of axes
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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
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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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
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
Abstract
The application provides an aircraft horizontal measurement tool calibration method based on a photogrammetry technology; the calibration requirements of various tools used for the horizontal measurement of the airplane are systematically integrated in the system, so that the calibration task of the measuring tools is simply and efficiently completed. Meanwhile, the application provides a new tool calibration method, which comprises the following steps: the device comprises a leading-out tool, an axis tool and a plane angle tool; however, the overall logics of the calibration methods of the three types of tools are the same, the coordinate systems of the tools are determined under the known calibration platform coordinate system, and the data originally located under the calibration platform coordinate system are unified into the coordinate systems of the tools. By the novel calibration method, the respective tool can be quickly and conveniently calibrated, so that the measured data of the respective tool in the actual use scene is more accurate.
Description
Technical Field
The invention relates to the technical field of industrial photogrammetry, in particular to a method for calibrating an airplane horizontal measurement tool based on a photogrammetry technology.
Background
In recent years, the aviation industry in China is rapidly developed, and the requirements of research, development, modification, maintenance and the like of various aircrafts are increasingly increased. In the production process, in order to ensure the relative position determination relationship and the installation precision of each part of the airplane and ensure that the product meets the requirements in design, a horizontal measurement technology is required. The photogrammetry technology obtains the geometric state and the motion state of the target through digital image processing and photogrammetry processing, and has the advantages of high efficiency, high precision, no damage, environmental interference resistance and the like. The method is characterized in that identification points are required to be adhered to the surface of a measurement target in photogrammetry so that an industrial camera can conveniently identify and collect point location information, part of point locations cannot be directly shot and obtained through the camera due to the complex appearance of the airplane, the point location information needs to be led out or expressed through various tools, the manufacturing and mounting precision of the tools determines the collection precision of the point location information, and a calibration device needs to be used for calibrating the measurement tools before measurement, so that the precision of measurement results is improved.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a method for calibrating an airplane horizontal measurement tool based on a photogrammetry technology; a new calibration method is provided to realize calibration of various tools before actual use, so that the acquired data is more accurate in actual use.
In order to achieve the purpose, the invention adopts the following technical scheme:
a method for calibrating a leading-out tool in airplane horizontal measurement based on a photogrammetry technology comprises the following steps:
s1: establishing a spatial coordinate system of a calibration platform, and arranging and installing a leading-out tool on the calibration platform;
s2: enabling the coding sheet at one end of the leading-out tool to rotate a plurality of positions around the leading-out point at the other end of the leading-out tool, and further acquiring a plurality of position points corresponding to each coding point on the coding sheet;
s3: fitting a circle according to a plurality of position points corresponding to each coding point, and further acquiring a fitting circle of the plurality of coding points;
s4: projecting the fitting circles onto a calibration platform, and acquiring the center coordinates of each fitting circle under a spatial coordinate system of the calibration platform;
s5: calculating the mass center coordinates of a plurality of circle centers according to the calibration platform space coordinate system;
s6: calculating the coordinate position of the lead-out point relative to the calibration platform space coordinate system according to the centroid coordinate;
s7: and establishing a leading-out tool space coordinate system, and unifying the leading-out points to the leading-out tool space coordinate system relative to the coordinate position under the calibration platform space coordinate system.
In order to optimize the technical scheme, the specific measures adopted further comprise:
further, the specific manner of establishing the calibration platform spatial coordinate system in step S1 is as follows: a plurality of coding pieces are fixedly arranged on the surface of the calibration platform, so that a plurality of fixed points are formed, and a calibration platform space coordinate system is set and established by the plurality of fixed points.
Further, the specific manner of installing the leading-out tool on the calibration platform in the step S1 is as follows: and fixedly mounting a cylinder model with a known model on the calibration platform, and mounting one end of a leading-out point of the leading-out tool on the cylinder model.
Further, the specific content of step S5 is: adding and averaging the x-axis coordinate in each circle center coordinate, adding and averaging the y-axis coordinate in each circle center coordinate, and adding and averaging the z-axis coordinate in each circle center coordinate; thus, a plurality of spatial coordinate points with the averaged circle centers are obtained, and the spatial coordinate points are coordinate points of the mass center relative to the spatial coordinate system of the calibration platform.
Further, the specific content of step S6 is: and combining the coordinate points of the known height and the mass center of the cylinder model to obtain the coordinate points of the leading-out points relative to the spatial coordinate system of the calibration platform.
Further, the specific content of step S7 is:
setting and establishing a leading-out tool space coordinate system by each coding point on a coding sheet at one end of the leading-out tool in any posture, and unifying the space coordinates of the leading-out points relative to the calibration platform space coordinate system in the step S6 into the space coordinate system relative to the leading-out tool; when the aircraft is measured, the position of a leading-out point at the other end of the leading-out tool can be known by identifying a coding piece at one end of the leading-out tool.
Further, a photogrammetry technology-based aircraft horizontal measurement central axis tool calibration method comprises the following steps:
s1: establishing a calibration platform space coordinate system, fixedly installing a cylinder model with a known model on a calibration platform, and clamping an axis tool on the cylinder model;
s2: rotating the axis tool around the cylinder model to enable the coding sheet on the axis tool to rotate around the cylinder model at a plurality of positions, and further acquiring a plurality of position points corresponding to each coding point on the coding sheet;
s3: fitting a plurality of position points corresponding to each coding point into a circle, and further acquiring the fitting circles of the plurality of coding points;
s4: acquiring the circle center space coordinate of each circle according to the calibration platform space coordinate system;
s5: fitting a straight line according to the space coordinates of a plurality of circle centers, wherein the straight line is the axis of the cylinder model
S6: and establishing an axis tool space coordinate system, and corresponding the position relation of the axis of the cylinder model relative to the calibration platform space coordinate system to the axis tool space coordinate system.
Further, the specific manner of establishing the calibration platform spatial coordinate system in step S1 is as follows: a plurality of coding pieces are fixedly arranged on the surface of the calibration platform, so that a plurality of fixed points are formed, and a calibration platform space coordinate system is set and established by the plurality of fixed points.
Further, the specific content of step S6 is:
setting and establishing an axis tool space coordinate system by each coding point on a coding sheet at one end of the axis tool in any posture, and unifying the linear position relation under the calibration platform space coordinate system in the step S5 into the axis tool space coordinate system; when the aircraft is measured, the position of the axis of the aircraft part clamped by the axis tool can be known by identifying the coding sheet at one end of the axis tool.
Further, a plane angle tool calibration method in plane horizontal measurement based on photogrammetry technology comprises the following steps:
s1: establishing a calibration platform space coordinate system: fixedly mounting a plurality of coding pieces on the surface of the calibration platform to form a plurality of fixed points, and setting and establishing a calibration platform space coordinate system by the plurality of fixed points;
then, mounting the bottom surface of the plane angle tool on a calibration platform;
s2: acquiring the space coordinates of each coding point on a coding sheet in the plane angle tool, wherein the space coordinates are relative to a calibration platform space coordinate system;
s3: selecting a coding point on a coding sheet as an original point of a plane angle tool coordinate system, and selecting a second coding point as a reference point; calculating a vector between the two encoding points according to the space coordinates of the two encoding points under a calibration platform space coordinate system;
determining the component of an axis of the vector in a spatial coordinate system of the calibration platform, and determining an axis in the direction of the component;
s4: selecting the coding point serving as the origin in the step S3, and selecting a third coding point as a reference point; calculating a vector between the two encoding points according to the space coordinates of the two encoding points under a calibration platform space coordinate system;
determining the vector of an axis of the vector in a space coordinate system of a calibration platform, and determining an axis according to the direction of the vector;
s5: determining a third axis according to the two axes determined in the steps S3 and S4 and the characteristic that the axes are vertical to each other in the three-dimensional coordinate system;
s6: and establishing a plane angle tool coordinate system by using the determined three axes and the determined original point to finish the calibration of the plane angle tool.
The invention has the beneficial effects that: the method mainly adopts a new tool calibration method, and comprises the following steps: the device comprises a leading-out tool, an axis tool and a plane angle tool; however, the overall logics of the calibration methods of the three types of tools are the same, that is, the coordinate systems of the tools are determined under the known calibration platform coordinate system, and the data originally located under the calibration platform coordinate system are unified into the coordinate systems of the tools. By the novel calibration method, the respective tool can be calibrated quickly and conveniently, so that the measured data of the respective tool in the actual use scene is more accurate.
Drawings
FIG. 1 is a schematic diagram of a calibration platform of the present invention.
FIG. 2 is a schematic view of various tooling of the present invention; FIG. 2a is a schematic diagram of a conventional leading-out tool in one embodiment; FIG. 2b is a schematic view of another prior art type of extraction tool in an embodiment; FIG. 2c is a schematic illustration of a prior art type of axial tooling clamped to a cylindrical form in an embodiment; FIG. 2d is a schematic illustration of a prior art flat angle tooling of an embodiment.
Fig. 3 is a schematic diagram of a type of leading-out tool installed on a calibration platform in the embodiment of the present invention.
Fig. 4 is a schematic diagram of another type of extraction tool installed on a cylinder model and a calibration platform in the embodiment of the present invention.
FIG. 5 is a schematic view of the axis tool of the present invention mounted on a cylinder model and a calibration platform.
FIG. 6 is a schematic view of the process of calibrating the planar angle tooling of the present invention.
Fig. 7 is a schematic diagram of 8 coding points on a coded slice in an embodiment of the present invention.
Fig. 8 is a schematic view of the overall structure of the various tools of the present invention mounted on the calibration platform.
Detailed description of the preferred embodiments
The present invention will now be described in further detail with reference to the accompanying drawings.
Description of the calibration platform (refer to fig. 1 and 8):
(101) The whole design of the bottom plate;
(102) The design of mounting holes and grooves on the table top.
Wherein, (101) is specifically:
(101-1) the whole shape of the bottom plate is a platform with the thickness of 500mm, 500mm and 30mm;
(101-2) the table top is a plane with very high flatness, and is considered to be completely flat in the calibration process;
(101-3) the bottom is hollowed, and only necessary supporting parts are reserved to increase the strength, save materials and reduce weight.
Wherein (102) specifically comprises:
(102-1) the threaded holes comprise a group of 4M 8 threaded holes which are encircled to form a circle with the diameter of 160mm, a group of 4M 6 threaded holes which are encircled to form a circle with the diameter of 100mm, a group of 9M 5 threaded holes, a group of 9M 8 threaded holes and 2M 12 threaded holes which are distributed on the edge of the platform surface and are respectively used for installing a jack, installing an undercarriage, calibrating two types of leading-out tools and fixing the whole device of the calibration platform;
(102-2) the groove is suitable for the size of a horizontal measuring block tool and is 26mm deep, so that the plane angle tool can be installed and calibrated (or the groove is replaced by a threaded hole, and the horizontal plane of the plane angle tool is fixed through a bolt).
The calibration device systematically integrates the calibration work of various tools on one platform, so that the calibration task is completed, the efficiency of the calibration work is improved, the calibration work cost is saved, and the occupied space of the calibration device is reduced. Simultaneously this application has formulated the demarcation principle: the device divides airplane horizontal measurement tools into three types, namely a guide point tool, an axis tool and a plane included angle tool. Three parameters specified by the tool are calibrated by a method of fitting a circle by three points.
Introduction to the calibration method:
aiming at the first embodiment and the second embodiment of the leading-out tool:
the first embodiment is as follows: the existing extraction tool (as shown in fig. 2 a) is adopted, and fig. 2a and fig. 4 are referred.
S1: firstly, establishing a calibration platform space coordinate system, namely, fixedly installing a plurality of coding chips on the surface of a calibration platform to form a plurality of fixed points, and setting and establishing a calibration platform space coordinate system by the plurality of fixed points; when the camera shoots the fixed code pieces, the state of the established space coordinate system can be known. Meanwhile, the leading-out tool is arranged and installed on the calibration platform, namely, a cylinder model (h in fig. 4) with a known model is fixedly installed on the calibration platform, and one end of a leading-out point (O2 point in fig. 4) of the leading-out tool is installed on the cylinder model.
S2: the coding sheet (P1 in fig. 4) at one end of the leading-out tool is horizontally rotated by 3 positions around the leading-out point at the other end of the leading-out tool (the spatial coordinates of the 3 positions are obtained by shooting the coding sheet based on a camera in the photogrammetry technology), and then 3 position points corresponding to the 8 coding points on the coding sheet are obtained.
S3: a circle can be fitted by 3 points, and 8 circles can be fitted according to 8 coding points of the coding sheet and 3 positions corresponding to each coding point.
S4: and projecting the 8 circles onto a calibration platform, and acquiring 8 circle center coordinates of the 8 fitting circles under a spatial coordinate system of the calibration platform.
S5: calculating the centroid coordinate of 8 circle centers, namely dividing the sum of the added x-axis coordinates of the 8 circle centers by 8, dividing the sum of the added y-axis coordinates of the 8 circle centers by 8, and dividing the sum of the added z-axis coordinates of the 8 circle centers by 8; thus, a plurality of spatial coordinate points with the averaged circle center are obtained, and the spatial coordinate points are coordinate points (points O1 in fig. 4) of the centroid relative to the spatial coordinate system of the calibration platform, as can be seen from fig. 4, since the coordinates are projected onto the calibration platform, the coordinate of the centroid in the vertical direction is 0, that is, the coordinate of the z-axis in fig. 4 is 0.
S6: in step S5, the centroid coordinate (the coordinate of the point O1 in fig. 4) is already obtained, and since the height of the cylinder model is known, the height is associated with the z-axis of the centroid coordinate, so that the coordinate (the coordinate position of the point O2) of the tool lead-out point can be obtained.
S7: however, the coordinates of the extraction point obtained in step S6 are coordinate positions in the spatial coordinate system of the calibration platform; at this time, the coordinates of the leading-out points only need to be unified into a space system constructed by all the coding points on the leading-out tool coding sheet. For example, in a certain state of the lead-out tool, the directions of the x axis, the y axis and the z axis of a space system established by each coding point of the lead-out tool are consistent with the directions of the three axes under a calibration space coordinate system, but the position of an original point is different, and the position of the original point under the calibration space coordinate system is (0, 0); the position of (0, 5) is the original point of the tool coordinate system; therefore, the relation between the two coordinate systems is known, and the coordinates of the lead-out point originally positioned in the calibration space system can be converted into the coordinate system of the lead-out tool.
In the actual working scene, when the airplane is measured, the position of a leading-out point at the other end of the leading-out tool can be known by identifying a coding piece at one end of the leading-out tool. Thus, the calibration of the leading-out tool in advance is completed.
Example two: the existing extraction tool is used (see fig. 2 b). Refer to fig. 2b, fig. 3.
S1: firstly, establishing a calibration platform space coordinate system, namely, fixedly installing a plurality of coding chips on the surface of a calibration platform to form a plurality of fixed points, and setting and establishing a calibration platform space coordinate system by the plurality of fixed points; when the camera shoots the fixed code pieces, the state of the established space coordinate system can be known. Meanwhile, the leading-out tool is arranged and installed on the calibration platform, and in the embodiment, a cylinder model is not adopted, but a leading-out point (point O1 in fig. 3) of the leading-out tool is directly installed on the calibration platform.
S2: referring to fig. 2b, the lead-out tool is divided into an upper part and a lower part, and is coupled with the upper part and the lower part through a shaft; the upper part and the lower part can relatively rotate on a vertical axis;
the upper part of the coding piece (P1 in fig. 3) at one end of the leading-out tool is rotated 3 positions around the axis (the coding piece is shot by a camera in the photogrammetry technology to obtain the space coordinates of the 3 positions), and then 3 position points corresponding to 8 coding points on the coding piece are obtained.
S3: a circle can be fitted by 3 points, and 8 circles can be fitted according to 8 coding points of the coding sheet and 3 positions corresponding to each coding point.
S4: and projecting the 8 circles onto a calibration platform, and acquiring 8 circle center coordinates of the 8 fitting circles under a spatial coordinate system of the calibration platform.
S5: calculating the centroid coordinate of 8 circle centers, namely dividing the sum of the added x-axis coordinates of the 8 circle centers by 8, dividing the sum of the added y-axis coordinates of the 8 circle centers by 8, and dividing the sum of the added z-axis coordinates of the 8 circle centers by 8; thus, a plurality of spatial coordinate points with the averaged circle center are obtained, and the spatial coordinate points are coordinate points (points O1 in fig. 3) of the centroid relative to the spatial coordinate system of the calibration platform, as can be seen from fig. 3, since the coordinates are projected onto the calibration platform, the coordinate of the centroid in the vertical direction is 0, that is, the coordinate of the z-axis in fig. 3 is 0.
S6: the centroid coordinates (O1 point coordinates in fig. 3) have been found in step S5. The difference from the embodiment is that the cylinder model is not used in the embodiment, so the coordinate position of the centroid is the coordinate of the exit point.
S7: however, the coordinates of the extraction point obtained in step S6 are coordinate positions in the spatial coordinate system of the calibration platform; at this time, a drawing-out tool coordinate system is established only by using the coding points on the coding pieces on the drawing-out tool, and the coordinates of the drawing-out points are unified into a space system established by the coding points on the drawing-out tool coding pieces.
In the actual working scene, when the airplane is measured, the position of a leading-out point at the other end of the leading-out tool can be known by identifying a coding piece at one end of the leading-out tool. Thus, the calibration of the leading-out tool in advance is completed.
For the third embodiment of the axis tool, an existing axis tool (as shown in fig. 2 c) is adopted. Refer to fig. 2c, fig. 5.
S1: firstly, establishing a calibration platform space coordinate system, namely, fixedly installing a plurality of coding chips on the surface of a calibration platform to form a plurality of fixed points, and setting and establishing a calibration platform space coordinate system by the plurality of fixed points; when the camera shoots the fixed code pieces, the state of the established space coordinate system can be known. Meanwhile, the axis tool is arranged and installed on the calibration platform, namely, a cylinder model (h in figure 5) with a known model is fixedly installed on the calibration platform, and the axis tool is clamped on the cylinder model.
S2: the axis tool is rotated around the cylinder model, so that the coding piece (P1 in fig. 5) on the axis tool rotates 3 positions around the cylinder model (the coding piece is shot by a camera in the photogrammetry technology to obtain the spatial coordinates of the 3 positions), and then 3 position points corresponding to 8 coding points on the coding piece are obtained.
S3: a circle can be fitted by 3 points, and 8 circles can be fitted according to 8 coding points in the coding sheet and 3 positions corresponding to each coding point, so that fitting circles of a plurality of coding points can be obtained.
S4: and acquiring the spatial coordinates of the circle center of each circle according to the spatial coordinate system of the calibration platform.
S5: and fitting a straight line according to the space coordinates of the circle centers, wherein the straight line is the axis of the cylinder model (the straight line of O1-O2 in the figure 5).
S6: and establishing an axis tool space coordinate system, and corresponding the position relation of the axis of the cylinder model relative to the calibration platform space coordinate system to the axis tool space coordinate system. In fact, in step S5, the corresponding linear equation of the straight line can be known, and by referring to the principle of leading out the tool, the linear equation originally in the calibration space system can be converted into the axis tool coordinate system by knowing the relationship between the two coordinate systems.
In an actual working scene, the axis position of the aircraft part clamped by the axis tool can be known by identifying the coding sheet at one end of the axis tool. Thus, the calibration of the leading-out tool in advance is completed.
For the fourth embodiment of the plane angle tool, an existing plane angle tool is adopted (as shown in fig. 2d, the tool includes a horizontal plane and a vertical plane, and a coding chip is arranged on the vertical plane). Refer to fig. 2d, fig. 6.
S1: firstly, establishing a calibration platform space coordinate system, namely, fixedly installing a plurality of coding chips on the surface of a calibration platform to form a plurality of fixed points, and setting and establishing a calibration platform space coordinate system by the plurality of fixed points; when the camera shoots the fixed code pieces, the state of the established space coordinate system can be known. And simultaneously, arranging and installing the horizontal plane of the plane angle tool on the calibration platform.
S2: and acquiring the space coordinates of 8 coding points on the coding sheet (P1 in figure 6) on the vertical surface in the plane angle tool, wherein the space coordinates are relative to the space coordinate system of the calibration platform.
S3: selecting a coding point (O coding point in figure 6) on the coding sheet as an original point of a plane angle tooling coordinate system, and selecting a second coding point (B coding point in figure 6) as a reference point; calculating a vector (vector OB) between the two encoding points according to the space coordinates of the two encoding points under a calibration platform space coordinate system;
and determining the component of one axis of the vector (vector OB) in the space coordinate system of the calibration platform, and determining an axis (OB 1) according to the direction of the component.
S4: selecting the coding point (the O coding point in the figure 6) which is taken as the origin in the step S3, and selecting a third coding point (the A coding point in the figure 6) as a reference point; calculating a vector (vector OA) between the two encoding points according to the space coordinates of the two encoding points under a calibration platform space coordinate system;
the vector (vector OA) is determined to be the component of one axis in the space coordinate system of the calibration platform, and an axis (OA 1) is determined according to the direction of the component.
S5: and determining a third axis (OC) according to the characteristics of the two axes (OB 1 and OA 1) determined in the steps S3 and S4 and the mutual perpendicularity between the axes in the three-dimensional coordinate system.
S6: and establishing a plane angle tool coordinate system (O-A1-B1-C) by using the determined three axes and the determined original point to finish the calibration of the plane angle tool.
In an actual working scene, a horizontal plane of the plane angle tool is fixed on an airplane, when the airplane is measured, a coordinate system of the plane angle tool can be obtained by identifying a code sheet on a vertical plane of the plane angle tool, and the position relation between the horizontal plane of the plane angle tool and the coordinate system is obtained according to the position relation between the horizontal plane of the plane angle tool and the coordinate system; and further the plane state of the fixed point of the airplane is known. Thus completing the calibration of the leading-out tool in advance.
Further, referring to fig. 6, the vertical plane and the horizontal plane of the ideal plane angle tool are vertical, but in actual production, the two planes are not necessarily vertical, and generally have a certain inclination; through the calibration mode, the coordinate system on the vertical surface can be established according to the coordinate system of the calibration platform, so that the included angle relation between the vertical surface and the horizontal surface in the plane angle tool is known, and calibration is completed. In practical application's operational scenario, fix the horizontal plane of plane angle frock on the aircraft, learn plane angle frock coordinate system through discerning the coding piece on the vertical face of plane angle frock, then can learn the plane state of horizontal plane according to the intersection angle relation of vertical face and horizontal plane, just also learn the aircraft plane state of horizontal plane fixed department.
It needs to be supplemented that, the cylinder model of this application is the model that is used for demarcating the frock of supporting aircraft part structure, and it is the same with actual aerobat type structure, for example the cylinder model in the implementation can be supporting certain type aircraft undercarriage and the cylindrical supplementary frock model of demarcating of jack cylinder. According to the tool structure required by the horizontal measurement of a certain type of airplane, the calibration requirements of various tools used by the horizontal measurement of the airplane are systematically integrated in the system by arranging the airplane jack, the standard geometric cylinder model of the landing gear and the tool calibration platform, so that the measurement tool calibration task is simply and efficiently completed. The appearance of the device is a plane platform, the table board is mainly provided with a plurality of threaded holes required for tool installation, and a plurality of threaded holes required for installation of the cylinder model corresponding to the axis tool. The device needs to be matched with a corresponding tool calibration method for use.
It should be added that the distribution of the coding points on the coding slice is shown in fig. 7; shown is a coded slice comprising 8 coding points a-E; I-K. In addition, the method is based on a photogrammetry technology, and other coding pieces can be added outside to assist positioning when shooting and identifying through a camera.
It should be noted that the terms "upper", "lower", "left", "right", "front", "back", etc. used in the present invention are for clarity of description only, and are not intended to limit the scope of the present invention, and the relative relationship between the terms and the terms may be changed or adjusted without substantial technical change.
The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above-mentioned embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may be made by those skilled in the art without departing from the principle of the invention.
Claims (10)
1. A method for calibrating a leading-out tool in airplane horizontal measurement based on a photogrammetry technology is characterized by comprising the following steps:
s1: establishing a calibration platform space coordinate system, and arranging and installing a leading-out tool on a calibration platform;
s2: enabling the coding sheet at one end of the leading-out tool to rotate a plurality of positions around the leading-out point at the other end of the leading-out tool, and further acquiring a plurality of position points corresponding to each coding point on the coding sheet;
s3: fitting a plurality of position points corresponding to each coding point into a circle, and further acquiring the fitting circles of the plurality of coding points;
s4: projecting a plurality of fitting circles onto a calibration platform, and acquiring the center coordinates of each fitting circle under a spatial coordinate system of the calibration platform;
s5: calculating the mass center coordinates of a plurality of circle centers according to the calibration platform space coordinate system;
s6: calculating the coordinate position of the lead-out point relative to the calibration platform space coordinate system according to the centroid coordinate;
s7: and establishing a leading-out tool space coordinate system, and unifying the leading-out points to the leading-out tool space coordinate system relative to the coordinate position under the calibration platform space coordinate system.
2. The method for calibrating the extraction tool in the horizontal measurement of the airplane based on the photogrammetric technology according to claim 1, wherein the specific way for establishing the spatial coordinate system of the calibration platform in the step S1 is as follows: a plurality of coding pieces are fixedly arranged on the surface of the calibration platform, so that a plurality of fixed points are formed, and a calibration platform space coordinate system is set and established by the plurality of fixed points.
3. The method for calibrating the leading-out tool in the horizontal measurement of the airplane based on the photogrammetric technology according to claim 1, wherein the leading-out tool is arranged and installed on the calibration platform in the step S1 in a specific manner that: and fixedly mounting a cylinder model with a known model on the calibration platform, and mounting one end of a leading-out point of the leading-out tool on the cylinder model.
4. The method for calibrating the extraction tool in the horizontal measurement of the airplane based on the photogrammetric technology according to claim 3, wherein the specific contents in the step S5 are as follows: adding and averaging the x-axis coordinate in each circle center coordinate, adding and averaging the y-axis coordinate in each circle center coordinate, and adding and averaging the z-axis coordinate in each circle center coordinate; thus, a plurality of spatial coordinate points with the averaged circle centers are obtained, and the spatial coordinate points are coordinate points of the mass center relative to the spatial coordinate system of the calibration platform.
5. The method for calibrating the extraction tool in the horizontal measurement of the airplane based on the photogrammetric technology according to claim 4, wherein the specific contents in the step S6 are as follows: and combining the coordinate points of the known height and the mass center of the cylinder model to obtain the coordinate points of the leading-out points relative to the spatial coordinate system of the calibration platform.
6. The method for calibrating the extraction tool in the horizontal measurement of the airplane based on the photogrammetric technology according to claim 1, wherein the specific contents in the step S7 are as follows:
setting and establishing a leading-out tool space coordinate system by each coding point on a coding sheet at one end of the leading-out tool in any posture, and unifying the space coordinates of the leading-out points relative to the calibration platform space coordinate system in the step S6 into the space coordinate system relative to the leading-out tool; when the airplane is measured, the position of a leading-out point at the other end of the leading-out tool can be known by identifying the coding piece at one end of the leading-out tool.
7. A tool calibration method for a horizontal measurement central axis of an airplane based on a photogrammetric technology is characterized by comprising the following steps:
s1: establishing a calibration platform space coordinate system, fixedly installing a cylinder model with a known model on a calibration platform, and clamping an axis tool on the cylinder model;
s2: rotating the axis tool around the cylinder model to enable the coding sheet on the axis tool to rotate around the cylinder model at a plurality of positions, and further acquiring a plurality of position points corresponding to each coding point on the coding sheet;
s3: fitting a plurality of position points corresponding to each coding point into a circle, and further acquiring the fitting circles of the plurality of coding points;
s4: acquiring the circle center space coordinate of each circle according to the calibration platform space coordinate system;
s5: fitting a straight line according to the space coordinates of the circle centers, wherein the straight line is the axis of the cylinder model;
s6: and establishing an axis tool space coordinate system, and corresponding the position relation of the axis of the cylinder model relative to the calibration platform space coordinate system to the axis tool space coordinate system.
8. The tool calibration method for the central axis of the horizontal measurement of the airplane based on the photogrammetric technology as claimed in claim 7, wherein the specific way for establishing the spatial coordinate system of the calibration platform in the step S1 is as follows: a plurality of coding pieces are fixedly arranged on the surface of the calibration platform, so that a plurality of fixed points are formed, and a calibration platform space coordinate system is set and established by the plurality of fixed points.
9. The method for calibrating the horizontal measurement central axis tool of the airplane based on the photogrammetry technology as claimed in claim 7, wherein the specific contents of the step S6 are as follows:
setting and establishing an axis tool space coordinate system by each coding point on a coding sheet at one end of the axis tool in any posture, and unifying the linear position relation in the step S5 relative to the calibration platform space coordinate system into the axis tool space coordinate system; when the aircraft is measured, the position of the axis of the aircraft part clamped by the axis tool can be known by identifying the coding sheet at one end of the axis tool.
10. A plane angle tool calibration method in plane horizontal measurement based on photogrammetry technology is characterized by comprising the following steps:
s1: establishing a calibration platform space coordinate system: fixedly mounting a plurality of coding pieces on the surface of the calibration platform to form a plurality of fixed points, and setting and establishing a calibration platform space coordinate system by the plurality of fixed points;
then, mounting the bottom surface of the plane angle tool on a calibration platform;
s2: acquiring the space coordinates of each coding point on a coding sheet in the plane angle tool, wherein the space coordinates are relative to a calibration platform space coordinate system;
s3: selecting a coding point on a coding sheet as an original point of a plane angle tool coordinate system, and selecting a second coding point as a reference point; calculating a vector between the two encoding points according to the space coordinates of the two encoding points under a calibration platform space coordinate system;
determining the vector of an axis of the vector in a space coordinate system of a calibration platform, and determining an axis according to the direction of the vector;
s4: selecting the coding point serving as the origin in the step S3, and selecting a third coding point as a reference point; calculating a vector between the two encoding points according to the space coordinates of the two encoding points under a calibration platform space coordinate system;
determining the vector of an axis of the vector in a space coordinate system of a calibration platform, and determining an axis according to the direction of the vector;
s5: determining a third axis according to the two axes determined in the steps S3 and S4 and the characteristic that the axes are vertical to each other in the three-dimensional coordinate system;
s6: and establishing a plane angle tool coordinate system by using the determined three axes and the determined original point to finish the calibration of the plane angle tool.
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