CN114993608A - Wind tunnel model three-dimensional attitude angle measuring method - Google Patents
Wind tunnel model three-dimensional attitude angle measuring method Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M9/00—Aerodynamic testing; Arrangements in or on wind tunnels
- G01M9/06—Measuring arrangements specially adapted for aerodynamic testing
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C1/00—Measuring angles
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- G—PHYSICS
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
- G06T7/85—Stereo camera calibration
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30244—Camera pose
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Abstract
A wind tunnel model three-dimensional attitude angle measuring method belongs to the field of aerodynamic tests. The invention realizes the camera calibration of the stereoscopic vision system by establishing the axial vector rotation relationship between the camera coordinate system and the wind tunnel coordinate system, and expands the three-dimensional attitude measurement of the model in the wind tunnel based on the stereoscopic vision principle. Before a test, the adjusting mechanism enables the light target installation part to be in a 0-degree pitch angle posture, the angle control mechanism drives the light target installation part provided with the optical calibration plate to perform a series of axial motions, the optical calibration plate is ensured to be capable of imaging in a stereoscopic vision camera without shielding in the process, an axial vector of a rotating shaft of the angle mechanism under a camera coordinate system is obtained, and a rotating relation from the camera coordinate system to a wind tunnel coordinate system is established based on a right-hand rule. In the test process, the three-dimensional space coordinates of the measured model surface mark points under the camera coordinate system are converted to the wind tunnel shafting for subsequent processing, and a three-dimensional Euler attitude angle reflecting the attitude of the aircraft model is obtained.
Description
Technical Field
The invention relates to a wind tunnel model three-dimensional attitude angle measuring method, and belongs to the field of aerodynamic tests.
Background
The requirement on the accuracy of wind tunnel test data for the refinement of modern aircraft design is higher and higher, along with the increase of the wind tunnel aperture, the corresponding model size and the aerodynamic load are also synchronously increased, and the elastic angle of the model and the supporting system thereof in the test is increasingly obvious: the elastic angle of the model can be as high as 2.42 degrees, the borne aerodynamic load can be as high as several tons, and the resistance coefficient error caused by the angle measurement error in the measurement process of the J7 model accounts for about 25 percent of the total resistance coefficient. Therefore, accurately measuring the actual attitude angle of the model is an important factor for improving the accuracy of the pneumatic analysis data.
The common model continuous attitude angle control mode in the wind tunnel is a pitch angle control mode and a roll angle control mode. In the test process, the model is more represented as three-dimensional attitude change, and particularly, when the attitude change of the model is controlled by adopting control modes such as a single rotating shaft, a pre-biased support rod or a double rotating shaft mechanism, the model can present a yaw attitude. The conventional angle sensor is generally based on the solid pendulum principle, has high measurement accuracy, is easily influenced by ambient temperature and model vibration, can only measure the pitch angle and the roll angle, and does not have the yaw angle measurement capability. Meanwhile, for the test that some models such as jet flow models, CTS models and air inlet channels have serious vibration, the conventional angle sensor and other measurement devices cannot work normally, and real model pitch angle data in the test process cannot be obtained.
The three-dimensional measurement of the model by adopting stereo vision in the wind tunnel is established under a camera coordinate system, and the three-dimensional attitude of the model cannot be reflected by directly calculating the Euler angle. Therefore, how to simply and rapidly measure the three-dimensional attitude angle of the wind tunnel model based on the stereoscopic vision method is a technical problem which needs to be solved urgently at present.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention obtains the three-dimensional euler attitude angle of the test model in the wind tunnel coordinate system, and realizes the comprehensive measurement of the pitch angle, the yaw angle and the roll angle. It should be understood that this summary is not an exhaustive overview of the invention. It is not intended to determine the key or important part of the present invention, nor is it intended to limit the scope of the present invention.
The technical scheme of the invention is as follows:
a method for measuring a three-dimensional attitude angle of a wind tunnel model comprises the following steps:
step 1, stereoscopic vision system arrangement
Arranging a camera outside an optical window of a test section according to the condition state of a test model and the field installation condition of a wind tunnel before a test, so that the camera in a stereoscopic vision system has a common view field, and the common view field is aligned to a rigid body part of the model; selecting a lens with a proper focal length, and adjusting the focal length and the aperture to enable the field of view to meet the measurement requirement;
step 2, calibrating the stereoscopic vision system and the wind tunnel coordinate system
By adopting a Zhang Zhengyou calibration method, the wind tunnel angle mechanism is used for driving the optical calibration plate to realize calibration of the internal and external parameters of the camera in the stereoscopic vision system, the geometric parameters between the cameras and the wind tunnel axial vector, and the method specifically comprises the following steps: obtaining the three-dimensional coordinates of the optical mark of the optical calibration plate under the rolling posture in a series of 0-degree pitch angles under the camera coordinate system, and enabling the optical mark to be in a rolling state
、
The three-dimensional coordinates of the optical mark of the time optical calibration plate in the camera coordinate system are respectively
And
because the optical mark point on the surface of the optical calibration plate has no relative motion and conforms to the rigid body hypothesis, the optical calibration plate has the advantages of simple structure, convenient operation, low cost and no influence on the optical calibration plate surface
And
satisfies the following conditions:
wherein the content of the first and second substances,
is composed of
And
the rotation matrix of the transformation between the two,
is composed of
And
translation vectors transformed between. Solving the value by calculation of a generalized inverse matrix or singular value decomposition
，
]Will rotate the matrix
Expressed as shaft angleThe form is as follows:
wherein, the first and the second end of the pipe are connected with each other,
which represents the rank of the matrix R,
in order to be the pitch angle,
、
、
are respectively a vector
In the three directions x, y, z of the coordinate system.
Calculating to obtain an average rolling axis vector under a camera coordinate system as a wind tunnel rolling axis vector according to the optical scale three-dimensional coordinates of the optical scale plate under each rolling attitude
And similarly, calculating to obtain an average pitch axis vector under a camera coordinate system as a wind tunnel pitch axis vector according to the optical scale three-dimensional coordinates of the optical scale plate under each pitch attitude
Establishing a lower sliding axis vector of a camera coordinate system based on a right-hand rule and a vector orthogonal relation
Thereby obtaining a wind tunnel coordinate system vector matrix
；
Installing a test model, arranging a plurality of mark points on the surface of the model, wherein the mark points are required to be arranged at positions (usually the front section of a model body, the layout among the mark points has no special requirement and can be randomly distributed) on the surface of the model, conforming to the rigid body hypothesis, adjusting the model to a reference state of 0-degree pitching and 0-degree rolling, recording a current model image based on a calibrated stereoscopic vision system, obtaining the space coordinates of the mark points on the surface of the model in the current state under a camera coordinate system, and taking the space coordinates as the coordinates of the reference mark points
(ii) a In the test process, model images under the nominal postures required by the test are collected according to the test plan, and space coordinates of the model surface mark points under the test state under the camera coordinate system are obtained
Will be
And
by a rotational relationship
Converting the coordinate system into a wind tunnel coordinate system to obtain new coordinates
And
resolving to
And with
The rigid body transformation rotation relation R1 is obtained, and when the model is acted by pneumatic load in the test process, the model is relative to the true test three-dimensional Euler angle-pitch angle of the 0-degree pitching and 0-degree rolling reference states in the wind tunnel coordinate system
Yaw angle
And roll angle
：
Then the Euler angle is converted into a model attitude angle-attack angle
And angle of sideslip
The formula is as follows:
preferably: in step 1, in order to make the stereoscopic vision system camera have a common field of view and ensure that the optical calibration plate can be imaged without occlusion in the stereoscopic vision camera, before the test, the installation of the optical calibration plate is assisted by using a light target installation part, specifically: the light target mounting part main body is a square frame, an optical calibration plate can be fixedly arranged on the light target mounting part, a high-precision platform which is parallel to the axis of the light target mounting part and used for placing an inclinometer is arranged on the light target mounting part, the light target mounting part provided with the optical calibration plate and a support rod arranged on the wind tunnel bent knife mechanism are connected and assembled in a switching mode through flanges or taper sleeves and the like, and therefore when the bent knife mechanism drives the support rod to move, relative movement does not exist between the light target mounting part and the support rod.
Preferably: in step 3, obtaining
And
the specific method for converting the rotational relationship R1 by the rigid body is to use the three-dimensional space coordinates of the model surface mark points under the reference state in the wind tunnel coordinate system
As source point cloud, three-dimensional space point coordinates of model surface mark points under a test state in a wind tunnel coordinate system
And (3) as a target point cloud, adopting a CPD algorithm based on maximum likelihood estimation, searching model parameters corresponding to a probability density maximum likelihood function by using a Gaussian mixture model, and calculating conversion parameters of two point cloud models after finding out a neighboring point pair. To obtain
And with
The rigid body of (3) transforms the rotational relationship R1.
The invention has the following beneficial effects:
(1) the image is measured by using the optical calibration plate moving around the rotating shaft of the wind tunnel angle mechanism, and the axial vector conversion relation of the wind tunnel coordinate system is synchronously obtained while the camera calibration process required by a stereoscopic vision system is realized.
(2) The method for measuring the three-dimensional Euler attitude angle of the test model under the wind tunnel coordinate system is capable of simply and quickly realizing the axial vector conversion from the stereoscopic vision camera coordinate system to the wind tunnel coordinate system, considering that the angle measurement is irrelevant to the original point translation amount in the coordinate system conversion, providing a method for realizing the axial motion of the optical calibration plate through the wind tunnel angle control mechanism, and obtaining the vector relation of the pitching axis and the rolling axis of the wind tunnel angle mechanism under the camera coordinate system, thereby obtaining the rotation relation of the camera coordinate system converted to the wind tunnel coordinate system.
Drawings
FIG. 1 is a flow chart of an embodiment of a method for measuring a three-dimensional attitude angle of a wind tunnel model according to the present invention;
FIG. 2 is a schematic diagram of the structural error of the stereo vision system;
FIG. 3 is a front view of the structure of the lightweight target mount, optical calibration plate and high precision platform.
Detailed Description
In order that the objects, aspects and advantages of the invention will become more apparent, the invention will be described by way of example only, and with reference to the accompanying drawings. It is to be understood that this description is made only by way of example and not as a limitation on the scope of the invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.
In the embodiment, the method for measuring the three-dimensional attitude angle of the wind tunnel model is described with reference to fig. 1 to 3, before a test, according to the condition state of the test model and the field installation condition of the wind tunnel, the structure of the stereo vision system is reasonably arranged, a lens with a proper focal length is selected, and the focal length and the aperture are adjusted to enable the field of view to meet the test requirement. Designing a special light target mounting piece 1, wherein an optical calibration plate 2 can be fixedly arranged on the special light target mounting piece 1, the light target mounting piece 1 can be assembled with a model supporting rod, the position of the assembled optical calibration plate 2 is overlapped with a part to be measured of a model, and the surface of the light target mounting piece 1 is provided with a high-precision platform 3 for placing an inclination measuring instrument;
the special light target installation part 1 provided with the optical calibration plate 2 and the support rod installed on the wind tunnel curved knife mechanism are connected and assembled in a flange or taper sleeve 4 mode, so that when the curved knife mechanism drives the support rod to move, no relative movement exists between the light target installation part 1 and the support rod. The dip meter is placed on the high-precision platform 3, and the bending knife mechanism is controlled to enable the light target mounting piece 1 to be in a horizontal state through the reading of the dip meter. The rolling mechanism is controlled to drive the light target mounting piece to change in rolling postures under a series of 0-degree pitch angles, the bent knife mechanism is controlled to drive the light target mounting piece to change in pitching postures, and the optical calibration plate can be ensured to be free of shielding imaging in the stereoscopic vision camera in the process.
The calibration of the stereoscopic vision camera is completed based on the Zhangyingyou calibration method, and the three-dimensional coordinates of the optical mark on the surface of the optical calibration plate 2 under each posture under the camera coordinate system are obtained. Resolving and obtaining the wind tunnel rolling axis vector under the camera coordinate system according to the optical scale three-dimensional coordinates of the optical scale plate under each posture in the rolling state
Resolving and obtaining wind tunnel pitching axis vector under a camera coordinate system according to optical mark three-dimensional coordinates of each attitude optical calibration plate in a pitching state
Establishing a lower sliding axis vector of a camera coordinate system based on a right-hand rule and a vector orthogonal relation
Thereby obtaining a wind tunnel coordinate system vector matrix
。
Installing a test model, arranging a plurality of mark points on the surface of the model, adjusting the model to a reference state of 0-degree pitching and 0-degree rolling, recording a current model image based on a calibrated stereoscopic vision system, obtaining the space coordinates of the mark points on the surface of the model in the current state under a camera coordinate system, and using the space coordinates as the coordinates of the reference mark points
(ii) a In the test process, acquiring a required attitude model image to obtain the space coordinates of the model surface mark points under the test state in a camera coordinate system
. Will be provided with
And
by a rotational relationship
Converting the coordinate system into a wind tunnel coordinate system to obtain new coordinates
And
resolving to
And
the three-dimensional Euler angle-pitch angle of the model relative to the reference states of 0-degree pitching and 0-degree rolling under the wind tunnel coordinate system can be obtained through the conversion relation
Yaw angle
And roll angle
。
The specific implementation process is as follows:
step 1, stereoscopic vision system arrangement
According to the condition state of a test model and the field installation condition of the wind tunnel before a test, the structure of a stereo vision system is reasonably arranged, and a camera is arranged outside an optical window of a test section, so that the camera in the stereo vision system has a common view field, the common view field is aligned with a rigid part (usually a front part of a machine body) of the model, and if the periphery of the test section is provided with the optical window, a side wall optical window is preferred because the main attitude angle of the wind tunnel test model is an attack angle, and the depth direction error of the stereo vision system with a limited light path is the depth direction error of the stereo vision system
Relatively large, as shown in fig. 2, there is an error in extracting the coordinates of the feature point image plane points, and the accuracy of the extraction is set to be as shown in fig. 2
Then the three-dimensional coordinates of the feature points obtained by the three-dimensional reconstruction by the stereoscopic vision system will be located within the 3D uncertainty region (shaded region) in fig. 2, rather than just at the feature point location. Wherein
In order to look at the visual error in the planar direction,
is a depth vision error. As can be seen from FIG. 2, the accuracy of the extraction of the coordinates of the focal length f and the image plane point of the camera is improved
Under the condition of no change, the depth visual error can be effectively reduced by increasing the base line distance B
However, in practical wind tunnel applications, due to the position limitation of the optical window, the system baseline distance B is usually short, and the included angle between the optical axes of the two cameras (the solid line perpendicular to the image plane in the figure) is generally less than 60 °, so that the depth vision error is caused
Generally greater than the viewing plane direction vision error
. In order to ensure the measurement accuracy of the attack angle as much as possible, the field of view condition consistent with the running direction of the sensor is selected. Selecting a lens with a proper focal length, and adjusting the focal length and the aperture to enable the field of view to meet the test requirement;
in order to make the camera in the stereoscopic vision system have a public view field, ensure that the optical calibration plate can be imaged without sheltering from in the stereoscopic vision camera, before the experiment, use the installation of the supplementary optical calibration plate 2 of light target installed part 1, specifically be:
the light target mounting piece 1 is a square frame, an optical calibration plate 2 is fixedly arranged on the light target mounting piece 1, a high-precision platform 3 for placing an inclination angle measuring instrument is arranged on the light target mounting piece 1, the light target mounting piece 1 provided with the optical calibration plate 2 and a support rod arranged on a wind tunnel bent knife mechanism are connected and assembled in a transfer mode in a flange or taper sleeve 4 mode, and therefore when the bent knife mechanism drives the support rod to move, the light target mounting piece 1 and the support rod do not move relatively;
step 2, calibrating the stereoscopic vision system and the wind tunnel coordinate system
The method for calibrating the stereo vision system comprises the following steps of calibrating internal and external parameters of cameras in the stereo vision system and geometric parameters among the cameras by using an optical calibration plate by adopting a Zhang-Zhengyou calibration method, wherein the method specifically comprises the following steps: obtaining the three-dimensional coordinates of the optical mark of the optical calibration plate in the camera coordinate system under each posture, and enabling the optical mark to be in a rolling statei、jTime opticsThe three-dimensional coordinates of the optical mark of the calibration plate in the camera coordinate system are respectively
And
because the optical mark points on the surface of the optical calibration plate do not have relative movement and conform to the rigid body hypothesis, the optical calibration plate has the advantages of simple structure, low cost, and good precision
And
satisfies the following conditions:
usually, the surface of the calibration plate has several tens of optical marker points, and therefore, the solution of [ 2 ] is obtained by calculation of a generalized inverse matrix or singular value decomposition
，
]Will rotate the matrix
Expressed in shaft angle form as follows:
calculating to obtain the average rolling axis vector under the camera coordinate system as the wind tunnel rolling according to the optical scale three-dimensional coordinates of the optical scale plate under each rolling stateVector of rotation axis
And similarly, calculating to obtain the average pitch axis vector under the camera coordinate system as the wind tunnel pitch axis vector according to the optical scale plate optical scale three-dimensional coordinates under each pitch state
Establishing a lower sliding axis vector of a camera coordinate system based on a right-hand rule and a vector orthogonal relation
Thereby obtaining a vector matrix of the wind tunnel coordinate system
；
And (3) mounting a test model, and arranging a plurality of mark points on the surface of the model, wherein the mark points require to arrange the part of the surface of the model, which conforms to the rigid body hypothesis, usually the front section of the fuselage of the model. The layout among the marking points has no special requirement and can be randomly distributed, the model is adjusted to be in a reference state of 0-degree pitching and 0-degree rolling, the image of the current model is recorded based on a calibrated stereoscopic vision system, the space coordinates of the marking points on the surface of the model in the current state under a camera coordinate system are obtained and are used as the coordinates of the reference marking points
(ii) a In the test process, model images under the nominal postures required by the test are collected according to the test plan, and space coordinates of the model surface mark points under the test state under the camera coordinate system are obtained
Will be
And
by a rotational relationship
Converting the coordinate system into a wind tunnel coordinate system to obtain new coordinates
And with
Resolving to
And with
The rigid body transformation rotation relation R1 is obtained, and when the model is acted by pneumatic load in the test process, the model is relative to the true test three-dimensional Euler angle-pitch angle of the 0-degree pitching and 0-degree rolling reference states in the wind tunnel coordinate system
Yaw angle
And roll angle
：
Then the Euler angle is converted into a model attitude angle-attack angle
And angle of sideslip
The formula is as follows:
further, in step 3, obtaining
And
the specific method for converting the rotational relationship R1 by the rigid body is to use the three-dimensional space coordinates of the model surface mark points under the reference state in the wind tunnel coordinate system
As source point cloud, three-dimensional space point coordinates of model surface mark points under a test state in a wind tunnel coordinate system
Using a CPD algorithm based on maximum likelihood estimation as a target point cloud, searching model parameters corresponding to a probability density maximum likelihood function by using a Gaussian mixture model, calculating conversion parameters of two point cloud models after finding a neighboring point pair, and obtaining
And with
The rigid body of (3) transforms the rotational relationship R1.
The measurement method was used for the civil aircraft model in the FL62 wind tunnel, and the measurement results are shown in tables 1 and 2.
TABLE 1 model longitudinal movement (Single pitching movement)
TABLE 2 model longitudinal and transverse coupled motion (pitching + rolling motion)
When the model moves longitudinally, the measurement of a DMI900 digital display inclinometer is used as a reference value, the accuracy of the inclinometer is 0.005 degrees, and when the model moves in a transverse-longitudinal coupling mode, the nominal angle of the mechanism is used as a reference value. Compared with a reference true value, the measured data obtained by the method has the measurement error superior to 1 'during the pure longitudinal motion of the model and the measurement error superior to 3' during the transverse and longitudinal coupling motion, and can meet the measurement requirement of model tests.
This embodiment is only illustrative of the patent and does not limit the scope of protection thereof, and those skilled in the art can make modifications to its part without departing from the spirit of the patent.
Claims (3)
1. A wind tunnel model three-dimensional attitude angle measurement method is characterized by comprising the following steps:
step 1, stereoscopic vision system arrangement
Arranging a camera outside an optical window of a test section according to the condition state of a test model and the field installation condition of a wind tunnel before a test, so that the camera in a stereoscopic vision system has a common view field, and the common view field is aligned to a rigid body part of the model;
step 2, calibrating the stereoscopic vision system and the wind tunnel coordinate system
The stereo vision system is realized by adopting a training friend calibration method and using a wind tunnel angle mechanism to drive an optical calibration plateThe method comprises the following steps of calibrating internal and external parameters of a middle camera, geometric parameters among cameras and wind tunnel axis vectors, and specifically comprises the following steps: obtaining the three-dimensional coordinates of the optical mark of the optical calibration plate under the rolling attitude at a series of 0-degree pitch angles, and enabling the optical mark to be in a rolling state
、
The three-dimensional coordinates of the optical mark of the time optical calibration plate in the camera coordinate system are respectively
And
because the optical mark points on the surface of the optical calibration plate do not have relative movement and conform to the rigid body hypothesis, the optical calibration plate has the advantages of simple structure, low cost, and good precision
And
satisfies the following conditions:
wherein the content of the first and second substances,
is composed of
And
the rotation matrix of the transformation between the two,
is composed of
And
the translation vector converted between the two is solved by adopting the calculation of a generalized inverse matrix or the singular value decomposition
，
]Will rotate the matrix
Expressed in shaft angle form as follows:
wherein the content of the first and second substances,
which represents the rank of the matrix R,
in order to be the pitch angle,
、
、
are respectively vector
The components in the three directions of the coordinate system x, y and z;
calculating to obtain an average rolling axis vector under a camera coordinate system as a wind tunnel rolling axis vector according to the optical scale three-dimensional coordinates of the optical scale plate under each rolling attitude
And similarly, calculating to obtain an average pitch axis vector under a camera coordinate system as a wind tunnel pitch axis vector according to the optical scale three-dimensional coordinates of the optical scale plate under each pitch attitude
Establishing a lower sliding axis vector of a camera coordinate system based on a right-hand rule and a vector orthogonal relation
Thereby obtaining a vector matrix of the wind tunnel coordinate system
；
Step 3, measuring model attitude
Installing a test model, arranging a plurality of mark points on the surface of the model, wherein the mark points are required to be arranged at positions on the surface of the model, which accord with rigid body hypothesis, adjusting the model to a reference state of 0-degree pitching and 0-degree rolling, recording a current model image based on a calibrated stereoscopic vision system, obtaining space coordinates of the mark points on the surface of the model in the current state under a camera coordinate system, and using the space coordinates as the coordinate coordinates of the reference mark points
(ii) a In the test processAcquiring a model image under a nominal posture required by a test according to a test plan to obtain space coordinates of the model surface mark points under the test state under a camera coordinate system
Will be
And
by a rotational relationship
Converting the coordinate system into a wind tunnel coordinate system to obtain new coordinates
And
resolving to
And
in the test process, when the rigid body transformation rotation relation R1 is obtained and is acted by pneumatic load, the model is relative to the true test three-dimensional Euler angle-pitch angle of the 0-degree pitching and 0-degree rolling reference state in the wind tunnel coordinate system
Yaw angle
And roll angle
：
Then the Euler angle is converted into a model attitude angle-attack angle
And angle of sideslip
The formula is as follows:
2. the wind tunnel model three-dimensional attitude angle measurement method according to claim 1, characterized in that: in step 1, in order to make the stereoscopic vision system camera have a common field of view and ensure that the optical calibration plate can be imaged in the stereoscopic vision camera without occlusion, before the test, the installation of the optical calibration plate (2) is assisted by using a light target installation part (1), specifically: light target installed part (1) is square frame, light target installed part (1) is gone up fixed arrangement has optical calibration board (2), light target installed part (1) is gone up to have and is used for placing inclinometer's high accuracy platform (3) parallel with light target installed part (1) axis, it has light target installed part (1) of optical calibration board (2) and installs branch on wind-tunnel curved knife mechanism and carries out the switching through flange or taper sleeve (4) mode and join in marriage, make when curved knife mechanism drives branch and moves, there is not relative motion between light target installed part (1) and branch.
3. The wind tunnel model three-dimensional attitude angle measurement method according to claim 1, characterized in that: in step 3, obtaining
And
the specific method for converting the rotational relationship R1 by the rigid body is to use the three-dimensional space coordinates of the model surface mark points under the reference state in the wind tunnel coordinate system
As source point cloud, three-dimensional space point coordinates of model surface mark points under a test state in a wind tunnel coordinate system
Using a CPD algorithm based on maximum likelihood estimation as a target point cloud, searching model parameters corresponding to a probability density maximum likelihood function by using a Gaussian mixture model, calculating conversion parameters of two point cloud models after finding a neighboring point pair, and obtaining
And
the rigid body of (3) transforms the rotational relationship R1.
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| CN116399551A (en) * | 2023-06-06 | 2023-07-07 | 中国航空工业集团公司沈阳空气动力研究所 | Model three-dimensional density field measurement method for hypersonic wind tunnel |
| CN117048848A (en) * | 2023-10-12 | 2023-11-14 | 中国飞机强度研究所 | Space attitude and deformation testing method for full-size airplane test |
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| CN115307866A (en) * | 2022-10-12 | 2022-11-08 | 中国航空工业集团公司沈阳空气动力研究所 | Wind tunnel balance body axis elastic angle online calibration device and method |
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| CN116399551B (en) * | 2023-06-06 | 2023-08-04 | 中国航空工业集团公司沈阳空气动力研究所 | Model three-dimensional density field measurement method for hypersonic wind tunnel |
| CN117048848A (en) * | 2023-10-12 | 2023-11-14 | 中国飞机强度研究所 | Space attitude and deformation testing method for full-size airplane test |
| CN117048848B (en) * | 2023-10-12 | 2024-01-05 | 中国飞机强度研究所 | Space attitude and deformation testing method for full-size airplane test |
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