CN115060201B - Device and method for measuring installation angle of aircraft skin equipment - Google Patents
Device and method for measuring installation angle of aircraft skin equipment Download PDFInfo
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- CN115060201B CN115060201B CN202210888690.3A CN202210888690A CN115060201B CN 115060201 B CN115060201 B CN 115060201B CN 202210888690 A CN202210888690 A CN 202210888690A CN 115060201 B CN115060201 B CN 115060201B
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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 invention discloses a device and a method for measuring a mounting angle of aircraft skin equipment, wherein the device comprises an adapter plate, a mounting interface of the skin equipment is connected with the adapter plate; the rolling platform is connected with the adapter plate and the bearing platform, can rotate relative to the adapter plate and drives the bearing platform to synchronously roll and move, and is provided with at least one thumb screw and a locking bolt; at least one thumb screw is arranged on the rolling platform, and the rolling motion of the rolling platform is limited through the tightness state of the thumb screw; the locking bolt is arranged on the rolling table and inserted into the adapter plate so as to position the initial position of the rolling table; the rolling surface of the rolling platform is parallel to the surface of the adapter plate, and the rolling central shaft of the rolling platform is vertical to the adapter plate; the bearing table is provided with a digital display inclinometer and a wiring harness laser. The method is simple and easy to implement, the measuring device is portable and reliable, no dependence is caused on a test scene, and the testing efficiency is high, so that the method can be widely applied to the measurement of the internal and external fields of the installation angle of the aircraft skin equipment.
Description
Technical Field
The invention belongs to the technical field of aviation manufacturing and processing, and particularly relates to a device and a method for measuring a mounting angle of aircraft skin equipment special for a fighter.
Background
A plurality of avionics device sensors and exposed antennas are distributed on the skin of the airplane, and the sensors and the exposed antennas are used for sensing the flight situation of the airplane, monitoring the flight environment of the airplane and the like, so that the sensors and the exposed antennas play a decisive role in the performance of the airplane. The sensors and the antennas of the aircraft avionics equipment mostly work in a vector detection mode, and target information in different directions can be acquired. The vector detection direction is determined by the structural design and the installation mode of the sensor or the antenna, the vector detection directions of different equipment can be different, but the final vector detection result is generally and uniformly converted into a body coordinate system so as to be convenient for the mutual calling of all systems of the airplane.
When a vector detection sensor or an exposed antenna and other equipment are installed on the skin, in order to perform coordinate conversion, the information of the installation angle of the relevant skin equipment relative to the body needs to be calibrated and calibrated. At present, the mode of measuring the installation angle pose of aircraft skin equipment mainly comprises a laser tracker, a calibration target plate, a micrometering collimating telescope, an optical quadrant and the like. However, the existing measurement system is relatively complex in structure, requires an operation scene meeting conditions in the test process, has high requirements on experience of operators, and is long in test time and low in test efficiency.
Disclosure of Invention
The invention aims to provide a device and a method for measuring an installation angle of aircraft skin equipment, aiming at overcoming the defects in the prior art, and solving the problems that the existing measuring system is complex in structure, needs an operation scene meeting conditions in a testing process, has high experience requirements on operators, is long in testing time and is low in testing efficiency.
In order to achieve the purpose, the invention adopts the technical scheme that:
in a first aspect, the device for measuring the installation angle of the aircraft skin equipment comprises an adapter plate, a rolling table, a bearing table, a digital display inclinometer and a wire harness laser;
the adapter plate is connected with the skin equipment installation interface; the rolling platform is connected with the adapter plate and the bearing platform, can rotate relative to the adapter plate and drives the bearing platform to synchronously roll and move, and is provided with at least one thumb screw and a locking bolt; at least one thumb screw is arranged on the rolling platform, and the rolling motion of the rolling platform is limited through the tightness state of the thumb screw; the locking bolt is arranged on the rolling platform and inserted into the adapter plate so as to position the initial position of the rolling platform;
the rolling surface of the rolling platform is parallel to the surface of the adapter plate, and the rolling central shaft of the rolling platform is vertical to the adapter plate; the bearing table is provided with a digital display inclinometer and a wiring harness laser.
Furthermore, a bearing platform reference surface is processed on the bearing platform, and the bearing platform reference surface is parallel to the rolling central axis of the rolling platform and is vertical to the rolling surface of the rolling platform; a first digital display inclinometer placing reference groove and a second digital display inclinometer placing reference groove which are perpendicular to each other are arranged on the bearing table; the direction of the notch of the first digital display inclinometer placing reference groove is vertical to the rolling central shaft, and the direction of the notch of the second digital display inclinometer placing reference groove is parallel to the rolling central shaft; the first digital display inclinometer placement reference groove and the second digital display inclinometer placement reference groove are coplanar with the reference surface of the bearing table, and the inner surfaces of the first digital display inclinometer placement reference groove and the second digital display inclinometer placement reference groove are attached to the outer surface of the digital display inclinometer; the gravity sensing reference surface of the digital display inclinometer is in coplanar contact with the reference surface of the plummer; the bearing table is also provided with a wiring harness laser installation interface, and the wiring harness laser is fixed on the wiring harness laser installation interface; and the beam laser projection of the beam laser is parallel to the rolling central shaft and is vertical to the reference surface of the bearing table.
In a second aspect, a method for measuring a device for measuring a setting angle of an aircraft skin device includes the following steps:
s1, leveling an airplane, constructing an airplane body coordinate system O-XYZ according to an initial attitude of the airplane parked in a field, and marking a longitudinal axis projection line of the airplane;
s2, positioning an aircraft skin equipment installation interface, positioning the vector orientation of the skin equipment on the basis of the installation interface, and constructing an intermediate coordinate system O-XYZ', namely a skin equipment installation coordinate system;
s3, measuring an included angle between an OY 'axis of the intermediate coordinate system O-X' Y 'Z' and a horizontal coordinate plane XOY of the organism coordinate system O-XYZ, namely the horizontal pitch angleα；
S4, taking an OX ' axis of an intermediate coordinate system O-X ' Y ' Z ' as a rotating shaft, rotating a Y ' OZ ' coordinate surface until the OY ' axis coincides with a horizontal plane XOY of an organism coordinate system O-XYZ, and thus, a horizontal pitch angle is formedαAdjusting to zero, and constructing a secondary intermediate coordinate system O-X' Y 1 ´Z 1 ´；；
S5, measuring a secondary intermediate coordinate system O-X' Y 1 ´Z 1 OZ of 1 An included angle is formed between the' axis and the OZ axis of the organism coordinate system O-XYZ, namely a gravity transverse roll angleγ；
S6, performing O-X' Y on the secondary intermediate coordinate system 1 ´Z 1 ' of XOZ 1 The 'rolling surface is projected to mark the X' OZ 1 An intersection line of the' coordinate plane and a horizontal coordinate plane XOY of the organism coordinate system O-XYZ;
s7, measuring an included angle between the projection line of the longitudinal axis of the airplane marked in the step S1 and the projection line of the rolling surface in the step S6, namely the included angle is a horizontal yaw angleβ。
Further, step S1 specifically includes:
constructing a body coordinate system O-XYZ with the initial attitude of the aircraft parked in the field, wherein the heading of the aircraft is Y-axis, and the direction facing the aircraft nose is positive direction; the vertical direction is a Z axis, the upward direction is a positive direction, and an X axis is determined according to a right-hand coordinate system rule;
zeroing the airplane, wherein the axial direction of a coordinate system ZO of the airplane body is coincident with the direction of local gravity, and an XOY coordinate plane is horizontal;
and marking the gravity projection line of the longitudinal axis of the airplane according to the airplane datum point, namely marking the OY axis of the body coordinate system O-XYZ.
Further, step S2 specifically includes:
mounting the aircraft skin equipment mounting angle measuring device on an aircraft, and connecting the adapter plate with an aircraft skin equipment mounting interface; and characterizing the installation vector orientation of the aircraft skin equipment by using the rolling initial position of the rolling table locked by the adapter plate and the locking bolt, and constructing an intermediate coordinate system O-XYZ 'according to the installation vector orientation of the aircraft skin equipment, wherein the intermediate coordinate system O-XYZ' is the installation coordinate system of the skin equipment.
Further, step S3 specifically includes:
keeping the locking state of the locking bolt on the initial rolling position of the rolling platform, placing the digital display inclinometer in the first digital display inclinometer placing reference groove on the bearing platform, keeping the gravity sensing reference surface of the digital display inclinometer in coplanar fit with the reference surface of the bearing platform, reading the inclination of the digital display inclinometerThe inclination angle display value of the angle display window is the horizontal pitch angleα；
Adopting a coordinate system to express, measuring the horizontal pitch angle of the aircraft skin equipmentαThe included angle between the OY 'axis of the intermediate coordinate system O-X' -Y '-Z' and the horizontal coordinate plane XOY of the engine body coordinate system O-XYZ is measured.
Further, step S4 specifically includes:
the mounting state of the digital display inclinometer on the bearing platform is kept, the locking of the locking bolt to the rolling initial position of the rolling platform is released, the thumb screw is adjusted to the released state, the rolling platform rolls along the rolling central shaft until the inclination display value of the inclination display window of the digital display inclinometer is zero, and the thumb screw is tightly fixed;
the corresponding coordinate transformation is:
rotating the Y 'OZ' coordinate plane until the OY 'axis coincides with the horizontal plane XOY of the machine coordinate system O-XYZ, with the OX' axis of the intermediate coordinate system O-X 'Y' as the rotation axis, so as to align the horizontal pitch angle with the horizontal plane XOY of the machine coordinate system O-XYZαAdjusting to zero;
the axial direction after rotating the OY 'axis and the OZ' axis is defined as OY 1 The axis and OZ 1 Axis and defining a secondary intermediate coordinate system of O-X' Y 1 ´Z 1 And then from the primary intermediate coordinate system O-X ' Y ' to the secondary intermediate coordinate system O-X ' Y 1 ´Z 1 The transformation matrix of' is:
wherein, the first and the second end of the pipe are connected with each other,
、
、
respectively representing the three-axis coordinate values of the vector orientation of the skin equipment by adopting an original intermediate coordinate system O-X ' Y ' Z ',
、
、
respectively adopting a secondary intermediate coordinate system O-X' Y 1 ´Z 1 And represents the three-axis coordinate values of the vector orientation of the skin equipment.
Further, step S5 specifically includes:
keeping the tightening state of all thumb screws on the roll platform, taking out the digital display inclinometer from the first digital display inclinometer placing reference groove, then placing the digital display inclinometer into the second digital display inclinometer placing reference groove, keeping the gravity sensing reference surface of the digital display inclinometer coplanar and attached to the bearing platform reference surface, and reading the inclination display value of the inclination display window of the digital display inclinometer, wherein the inclination display value is the gravity roll angleγ；
The gravity roll angle of the aircraft skin equipment is measured by adopting coordinate system representationγI.e. measuring the secondary intermediate coordinate system O-X' Y 1 ´Z 1 OZ of 1 An included angle is formed between the' axis and an OZ axis of an organism coordinate system O-XYZ;
the OZ axis of the body coordinate system O-XYZ is positioned in a secondary intermediate coordinate system O-X' Y 1 ´Z 1 ' of XOZ 1 In the 'transverse rolling plane', measuring the gravity transverse rolling angleγIs just measuring the angle Z 1 ´OZ。
Further, step S6 specifically includes:
starting a beam laser, emitting a beam laser projection, the beam laser projection having a transverse opening angleθ 1 The divergent fan surface is unfolded, and the projection is presented as an intersecting straight line on a horizontal plane vertical to the divergent fan surface;
expressing by adopting a coordinate system, and converting a secondary intermediate coordinate system O-X' Y into a secondary intermediate coordinate system 1 ´Z 1 ' of XOZ 1 The 'cross roll is projected on a horizontal coordinate surface XOY of an organism coordinate system O-XYZ to obtain X' OZ 1 The intersection of the' coordinate plane with the horizontal coordinate plane XOY.
Further, step S7 specifically includes:
keeping the emergent state of the line beam laser, and measuring the included angle between the line beam laser projection and the longitudinal axis projection line of the airplane, namely the horizontal yaw angleβ；
Taking a horizontal length on a projection line of a longitudinal axis of the airplane as a longitudinal axis measurement lengthyThe line segments are used as vertical horizontal straight lines of two end points of the line segments, the line segments are simultaneously intersected with the laser projection of the line beam, the lengths of the intersected line segments are respectively measured, wherein one transverse axial measurement length is recorded asx 1 And another transverse axial measurement length is recorded asx 2 Then, there are:
transverse roll angle according to gravityγAngle of horizontal yawβDenotes a quadratic intermediate coordinate system O-X' Y 1 ´Z 1 The matrix transformation of the object coordinate system O-XYZ is:
x, Y and Z are three-axis coordinate values which adopt a machine body coordinate system O-XYZ to represent the vector orientation of the skin equipment respectively;
then, the matrix transformation of the intermediate coordinate system O-X "yz" to the organism coordinate system O-XYZ is represented as:
the device and the method for measuring the installation angle of the aircraft skin equipment have the following beneficial effects:
the device can quickly measure the installation angle of the aircraft skin installation sensor and the exposed antenna according to the steps of the test method, and can meet the requirement of converting the vector detection data of skin equipment into an aircraft body coordinate system.
Compared with the traditional measurement mode of the installation angle of the existing aircraft skin equipment, the method is simple and feasible, the measurement device is portable and reliable, no dependence is caused on a test scene, the test efficiency is high, and the method can be widely applied to the measurement of the internal field and the external field of the installation angle of the aircraft skin equipment.
Drawings
FIG. 1 is a flow chart of the method of the present invention.
Fig. 2 is a schematic diagram of an aircraft body coordinate system.
Fig. 3 is a schematic composition diagram of an aircraft skin equipment installation angle measurement device.
FIG. 4 is a schematic diagram of the operation of the cascading table.
Fig. 5 is a schematic structural diagram of a carrier stage.
Fig. 6 is a schematic diagram of the operation of the digital display inclinometer.
Fig. 7 is a schematic diagram of the operation of a beam laser.
FIG. 8 is a schematic diagram of the intermediate coordinate system O-X "Y" Z "set up.
Fig. 9 is a schematic view of horizontal yaw angle measurement.
Wherein, 1, a patch panel; 2. a rolling table; 21. rolling the central shaft; 22. rolling the surface; 3. a thumb screw; 4. locking the bolt; 5. a bearing table; 51. a bearing platform datum plane; 52. a first digital display inclinometer placing reference groove; 53. a second digital display inclinometer is arranged in the reference groove; 54. a wire harness laser mounting interface; 6. a digital display inclinometer; 61. a tilt angle display window; 62. a gravity sensing datum plane; 7. a line beam laser; 8. performing laser projection on the line beam; 9. a handpiece.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Embodiment 1, refer to fig. 3-7, the aircraft skin equipment installation angle measuring device of this scheme, it is complicated to current aircraft skin equipment installation angle measurement system, and test condition requires highly, and efficiency of software testing low scheduling problem, and this measuring device can realize aircraft skin equipment installation angle information measurement fast to do not have the dependence to the test scenario, efficiency of software testing is high, can extensively correspond to aircraft skin equipment installation angle measuring inside and outside field demand, and it specifically includes:
the device comprises an adapter plate 1, a rolling table 2, a bearing table 5, a digital display inclinometer 6 and a wire harness laser 7.
Referring to fig. 3, an adapter plate 1 is connected with a skin equipment installation interface, a rolling table 2 is connected with the adapter plate 1 and a bearing table 5, the rolling table 2 can rotate relative to the adapter plate 1 and drives the bearing table 5 to synchronously roll and move, and at least one thumb screw 3 and a locking bolt 4 are installed on the rolling table 2; at least one thumb screw 3 is arranged on the rolling platform 2, and the rolling motion of the rolling platform 2 is limited through the tightness state of the thumb screw 3; the locking bolt 4 is arranged on the rolling platform 2 and inserted into the adapter plate 1 so as to position the initial position of the rolling platform 2, the rolling surface 22 of the rolling platform 2 is parallel to the surface of the adapter plate 1, and the rolling central shaft 21 of the rolling platform 2 is vertical to the adapter plate 1; a digital display inclinometer 6 and a wiring harness laser 7 are arranged on the bearing table 5.
The above-described respective components will be described in detail below;
an adapter plate 1;
the adapter plate 1 is a mounting joint surface for mounting an angle measuring device on the skin part of the airplane and is provided with a mechanical interface matched with a mounting interface of skin equipment.
The adapter plate 1 is connected with the rolling table 2 in a switching mode, the adapter plate 1 is connected with a skin equipment installation interface, and the installation condition of an actual sensor or antenna equipment on a skin is simulated. In practical applications, the interposer 1 is not limited to a specific interface definition, and the matched interposer 1 should be designed according to the measured skin equipment installation interface.
A rolling table 2;
referring to fig. 4, the roll table 2 is used to connect the adapter plate 1 with the carrier table 5, on which at least one thumb screw 3 and a locking bolt 4 are mounted. The roll table 2 can rotate relative to the adapter plate 1 based on the roll central shaft 21, wherein the roll surface 22 is parallel to the adapter plate 1, and the roll central shaft 21 is perpendicular to the adapter plate 1.
The thumb screw 3 is mounted on the roll table 2, and a plurality of thumb screws 3 may be employed to define the rolling motion of the roll table 2. When the thumb screws 3 are all in a loose state, the rolling platform 2 can freely rotate around the rolling central shaft 21; when the thumb screws 3 are all in a tightened or locked state, the roll table 2 is fixed relative to the adapter plate 1, limiting the motion of the roll table 2.
The locking bolt 4 is mounted on the roll table 2 for positioning the roll table 2 in an initial roll position. The method can set the initial rolling position of the rolling table 2 relative to the adapter plate 1 according to the relation between the vector detection orientation of an actual sensor or antenna equipment and an installation interface on a skin, and uses a locking bolt 4 to lock the position; when the installation angle of the skin equipment is measured, the locking state of the locking bolt 4 needs to be firstly released, and the rolling position of the rolling platform 2 can be adjusted.
A carrier table 5;
referring to fig. 5, the carrier 5 is fixedly connected to the rolling platform 2, and can perform rolling motion with the rolling platform 2, so as to place the carrier digital display inclinometer 6 and fixedly mount the line beam laser 7.
The carrier 5 is provided with a carrier reference surface 51, and the carrier reference surface 51 is parallel to the rolling center axis 21 of the rolling table 2 and perpendicular to the rolling surface 22 of the rolling table 2.
For placing the bearing digital display inclinometer 6, two digital display inclinometer 6 placing reference grooves with mutually vertical notch directions, namely a first digital display inclinometer placing reference groove 52 and a second digital display inclinometer placing reference groove 53, are arranged on the bearing table 5; the direction of the notch of the first digital display inclinometer placing reference groove 52 is vertical to the rolling central axis 21 of the rolling platform 2, and the direction of the notch of the second digital display inclinometer placing reference groove 53 is parallel to the rolling central axis 21 of the rolling platform 2; the bottom surfaces of the first digital inclinometer mounting reference groove 52 and the second digital inclinometer mounting reference groove 53 are coplanar with the plummer reference surface 51. When the digital display inclinometer 6 is placed, the inner surfaces of the first digital display inclinometer placing reference groove 52 and the second digital display inclinometer placing reference groove 53 are just attached to the outer surface of the digital display inclinometer 6, and the gravity sensing reference surface 62 of the digital display inclinometer 6 is in coplanar contact with the bearing table reference surface 51. Further, the carrier 5 is provided with a harness laser attachment interface 54, and when the harness laser 7 is fixedly attached through the harness laser attachment interface 54, the harness laser projection 8 emitted from the harness laser 7 is parallel to the roll center axis 21 of the roll table 2 and perpendicular to the carrier reference plane 51.
A digital display inclinometer 6;
referring to fig. 6, the digital display inclinometer 6 is an inclination measuring device based on the gravity sensing principle, and has at least one gravity sensing reference surface 62, and when the gravity sensing reference surface 62 deviates from the ground level, the digital display inclinometer 6 senses the inclination (horizontal pitch angle)αAngle of transverse rolling of gravityγ) The tilt value is displayed through the tilt display window 61. Horizontal pitch angleαOr gravity roll angleγDepending on the mounting orientation of the digital inclinometer 6. The digital display inclinometer 6 is placed so that the gravity sensing datum plane 62 is in coplanar contact with the plummer datum plane 51.
A beam laser 7;
referring to fig. 7, the line beam laser 7 is a laser transmitter which emits a line beam laser projection 8 by beam shaping, the line beam laser projection 8 being at a certain transverse opening angle in one planeθ 1 Divergent, but highly collimated in the vertical plane, longitudinal opening angleθ 2 0. The beam laser projection 8 emitted by the beam laser 7 is spread in space in the form of a diverging fan, parallel to the roll center axis 21 of the roll table 2 and perpendicular to the carrier reference plane 51.
s1, leveling an airplane, and marking a projection line of a longitudinal axis of the airplane;
referring to fig. 2, the aircraft is parked in the field at an initial attitude, a coordinate system O-XYZ of the aircraft body is established, the heading of the aircraft is taken as an axis Y, and the direction facing the aircraft nose 9 is taken as a positive direction; the vertical direction is a Z axis, and the upward direction is a positive direction; the X-axis is determined by the right hand coordinate system rule.
Leveling operation is carried out on the airplane, and specifically comprises transverse leveling and longitudinal leveling of the airplane. The traditional leveling mode can be adopted, firstly, the deviation of the leveling reference point is measured by means of tools such as a level, a theodolite, a steel tape and the like, and the horizontal and longitudinal leveling reference points of the airplane are adjusted to be in a horizontal state by manually adjusting jacks which are positioned at three fixed jacking points of a left wing, a right wing and a nose 9. The leveling sequence of the airplane generally comprises the steps of firstly performing transverse leveling, then performing longitudinal leveling, finally checking the leveling condition of the airplane again, and if deviation exists, continuing to adjust.
After leveling is finished, the ZO axial direction of the body coordinate system O-XYZ coincides with the local gravity direction, the XOY coordinate plane is kept horizontal, and at the moment, the body coordinate system of the airplane is equivalent to a local horizontal coordinate system and is represented by an O-XYZ coordinate system.
To assist subsequent horizontal yaw anglesβAnd measuring, namely marking the gravity projection line of the longitudinal axis of the airplane according to the reference point of the longitudinal axis of the airplane on the basis of airplane leveling, wherein the marked projection line corresponds to the OY axis of the airplane body coordinate system O-XYZ.
S2, positioning a mounting interface of the skin equipment;
the aircraft skin equipment installation angle measuring device of embodiment 1 is installed on an aircraft, and specifically operates to connect the adapter plate 1 with an aircraft skin equipment installation interface. Due to the fact that the roll table 2, the thumb screw 3, the locking bolt 4, the bearing table 5 and the wiring harness laser 7 are directly or indirectly connected with the adapter plate 1, the wiring harness laser and the adapter plate 1 are installed on the airplane together.
Referring to fig. 8, the adapter plate 1 and the roll table 2 locked by the locking bolt 4 together represent an aircraft skin device mounting vector orientation. According to the vector orientation, an intermediate coordinate system O-X ' Y ' Z ' is established, and the coordinate system is equivalent to a skin device installation coordinate system.
S3, measuring horizontal pitch angleα；
The locking state of the locking bolt 4 to the initial rolling position of the rolling platform 2 is kept, and the digital display inclinometer 6 is placed in the first digital display inclinometer placing reference groove 52 on the bearing platform 5And the gravity sensing reference surface 62 of the digital display inclinometer 6 is kept coplanar with the bearing platform reference surface 51, and the inclination display value of the inclination display window 61 of the digital display inclinometer 6 is read, namely the horizontal pitch angleαIn practical application, the average value can be obtained by multiple measurements.
The horizontal pitch angle of the aircraft skin equipment is measured by adopting coordinate system representationαThe included angle between the OY 'axis of the intermediate coordinate system O-X' -Y '-Z' and the horizontal coordinate plane XOY of the engine body coordinate system O-XYZ is measured.
S4, adjusting the horizontal pitch angle to zero;
the mounting state of the digital display inclinometer 6 in the first digital display inclinometer mounting reference groove 52 on the bearing platform 5 is maintained, the locking of the locking bolt 4 on the rolling initial position of the rolling platform 2 is released, meanwhile, the thumb screws 3 are all in the released state, then the rolling platform 2 is allowed to roll along the rolling central shaft 21 until the inclination display value of the inclination display window 61 of the digital display inclinometer 6 is zero, and then all the thumb screws 3 are fastened.
The step corresponds to coordinate transformation:
rotating the Y ' OZ ' coordinate plane until the OY ' axis coincides with the horizontal plane XOY of the machine body coordinate system O-XYZ, and at this moment, horizontally pitchingαAdjusting to zero;
the axial direction after rotating the OY 'axis and the OZ' axis is defined as OY 1 The axis and OZ 1 Axis and defining a secondary intermediate coordinate system of O-X' Y 1 ´Z 1 And then the second intermediate coordinate system O-X 'Y' is transformed from the original intermediate coordinate system O-X 'Y' to the secondary intermediate coordinate system 1 ´Z 1 The transformation matrix of' is:
wherein the content of the first and second substances,
、
、
respectively representing the three-axis coordinate value of the vector orientation of the covering equipment by adopting an original intermediate coordinate system O-X ' Y ' Z ',
、
、
and respectively representing the three-axis coordinate values of the vector orientation of the covering equipment by using a secondary intermediate coordinate system O-X ' -Y ' -Z '.
Step S5, measuring the gravity roll angleγ) (ii) a The specific embodiment is as follows:
keeping the fastening state of all thumb screws 3 on the roll table 2, taking out the digital display inclinometer 6 from the first digital display inclinometer placing reference groove 52, then placing the digital display inclinometer into the second digital display inclinometer placing reference groove 53, keeping the gravity sensing reference surface 62 of the digital display inclinometer 6 in coplanar fit with the bearing table reference surface 51, reading the inclination display value of the inclination display window 61 of the digital display inclinometer 6, wherein the inclination display value is the gravity roll angleγAnd the average of multiple measurement can be realized in practical application.
According to the coordinate system representation, measuring the gravity roll angle of the aircraft skin equipmentγI.e. measuring the secondary intermediate coordinate system O-X' Y 1 ´Z 1 OZ of 1 And an included angle is formed between the' axis and the OZ axis of the organism coordinate system O-XYZ. Because the OZ axis of the body coordinate system O-XYZ is positioned in the secondary intermediate coordinate system O-X' Y 1 ´Z 1 ' of XOZ 1 In the' coordinate plane, i.e. the transverse rolling plane, the transverse rolling angle of gravity is measuredγNamely measuring the angle Z 1 ´OZ。
S6, marking the projection line of the rolling surface; the specific embodiment is as follows:
the beam laser 7 is switched on so that a beam laser projection 8 is emitted, the beam laser projection 8 being at a transverse opening angleθ 1 At a level perpendicular to the diverging fanOn the surface, the projections appear as intersecting straight lines.
The corresponding coordinates operate as:
subjecting the secondary intermediate coordinate system O-X' Y 1 ´Z 1 ' of XOZ 1 The 'coordinate surface, namely a horizontal coordinate surface XOY projection of a cross rolling surface to the body coordinate system O-XYZ is obtained to obtain X' OZ 1 The' coordinate plane intersects the horizontal coordinate plane XOY.
S7, measuring an included angle between the rolling surface projection line and the aircraft longitudinal axis projection line, namely a horizontal yaw angleβ；
Referring to fig. 9, the emitting state of the line beam laser 7 is maintained, and the included angle between the line beam laser projection 8 and the projection line of the longitudinal axis of the airplane, namely the horizontal yaw angle, is measuredβ。
The specific operation is as follows:
taking a horizontal length on a projection line of a longitudinal axis of the airplane as a longitudinal axis measurement lengthyThe line segment(s) is (are) taken as vertical horizontal straight lines of two end points of the line segment(s), and simultaneously intersected with the beam laser projection 8 to respectively measure the lengths of the intersected line segments, wherein the length measured in the transverse axial direction is recorded asx 1 And the other transverse axial measuring length is recorded asx 2 Then, there are:
transverse roll angle according to gravityγAngle of horizontal yawβDenotes a quadratic intermediate coordinate system O-X' Y 1 ´Z 1 The matrix transformation of the object coordinate system O-XYZ:
x, Y and Z are three-axis coordinate values which adopt an organism coordinate system O-XYZ to express the vector orientation of the skin equipment respectively;
the matrix transformation of the intermediate coordinate system O-X '-yz' to the machine coordinate system O-XYZ is represented as:
in this embodiment, the device for measuring the installation angle of the aircraft skin equipment in embodiment 1 is applied to complete the installation angle and the horizontal pitch angle of the aircraft skin equipmentαAngle of transverse rolling of gravityγHorizontal yaw angleβAnd according to the measurement result of the installation angle, the coordinate conversion from the skin equipment vector detection data to the aircraft body coordinate system is further realized.
While the embodiments of the invention have been described in detail in connection with the accompanying drawings, it is not intended to limit the scope of the invention. Various modifications and changes may be made by those skilled in the art without inventive step within the scope of the appended claims.
Claims (3)
1. An aircraft skin equipment installation angle measuring device which characterized in that: the device comprises an adapter plate, a rolling table, a bearing table, a digital display inclinometer and a wire harness laser;
the adapter plate is connected with the skin equipment installation interface; the rolling platform is connected with the adapter plate and the bearing platform, can rotate relative to the adapter plate and drives the bearing platform to synchronously roll and move, and is provided with at least one thumb screw and a locking bolt; at least one thumb screw is installed on the rolling platform, and the rolling motion of the rolling platform is limited through the tightness state of the thumb screw; the locking bolt is arranged on the rolling table and inserted into the adapter plate so as to position the initial position of the rolling table;
the rolling surface of the rolling platform is parallel to the surface of the adapter plate, and the rolling central shaft of the rolling platform is vertical to the adapter plate; and a digital display inclinometer and a wiring harness laser are arranged on the bearing table.
2. The aircraft skin equipment installation angle measurement device of claim 1, wherein: a bearing platform reference surface is processed on the bearing platform, and the bearing platform reference surface is parallel to the rolling central shaft of the rolling platform and is vertical to the rolling surface of the rolling platform; a first digital display inclinometer placing reference groove and a second digital display inclinometer placing reference groove which are perpendicular to each other are arranged on the bearing table; the notch direction of the first digital display inclinometer placing reference groove is vertical to the rolling central shaft, and the notch direction of the second digital display inclinometer placing reference groove is parallel to the rolling central shaft; the first digital display inclinometer placement reference groove and the second digital display inclinometer placement reference groove are coplanar with the reference surface of the bearing table, and the inner surfaces of the first digital display inclinometer placement reference groove and the second digital display inclinometer placement reference groove are attached to the outer surface of the digital display inclinometer; the gravity sensing reference surface of the digital display inclinometer is in coplanar contact with the reference surface of the bearing table; the bearing table is also provided with a wiring harness laser installation interface, and the wiring harness laser is fixed on the wiring harness laser installation interface; and the beam laser projection of the beam laser is parallel to the rolling central shaft and is vertical to the reference surface of the bearing table.
3. A measurement method using the aircraft skin equipment installation angle measurement device of claim 2, characterized by comprising the steps of:
s1, leveling an airplane, constructing an airplane body coordinate system O-XYZ according to an initial attitude of the airplane parked in a field, and marking a longitudinal axis projection line of the airplane;
s2, positioning an aircraft skin equipment installation interface, positioning the vector orientation of the skin equipment on the basis of the installation interface, and constructing an intermediate coordinate system O-XYZ', namely a skin equipment installation coordinate system;
s3, measuring an included angle between an OY 'axis of the intermediate coordinate system O-X' Y 'Z' and a horizontal coordinate plane XOY of the organism coordinate system O-XYZ, namely the horizontal pitch angleα；
S4, taking an OX ' axis of an intermediate coordinate system O-X ' Y ' Z ' as a rotating shaft, rotating a Y ' OZ ' coordinate surface until the OY ' axis coincides with a horizontal plane XOY of an organism coordinate system O-XYZ, and thus, a horizontal pitch angle is formedαAdjusting to zero, and constructing a secondary intermediate coordinate system O-X' Y 1 ´Z 1 ´；
S5, measuring a secondary intermediate coordinate system O-X' Y 1 ´Z 1 OZ of 1 An included angle between the' axis and the OZ axis of the body coordinate system O-XYZ is the gravity roll angleγ；
S6, carrying out O-X' Y on the secondary intermediate coordinate system 1 ´Z 1 ' of XOZ 1 The 'transverse rolling surface is projected and labeled with X' OZ 1 An intersection line of the' coordinate plane and a horizontal coordinate plane XOY of the organism coordinate system O-XYZ;
s7, measuring the included angle between the projection line of the longitudinal axis of the airplane marked in the step S1 and the projection line of the rolling surface marked in the step S6, namely the horizontal yaw angleβ；
The step S1 specifically includes:
constructing a body coordinate system O-XYZ with the initial attitude of the aircraft parked in the field, wherein the heading of the aircraft is Y-axis, and the direction facing the aircraft nose is positive direction; the vertical direction is a Z axis, the upward direction is a positive direction, and an X axis is determined according to a right-hand coordinate system rule;
zeroing the airplane, wherein the axial direction of a coordinate system ZO of the airplane body is coincident with the direction of local gravity, and an XOY coordinate plane is horizontal;
marking a gravity projection line of a longitudinal axis of the airplane according to the airplane datum point, namely marking an OY axis of an airplane body coordinate system O-XYZ;
the step S2 specifically includes:
mounting the aircraft skin equipment mounting angle measuring device on an aircraft, and connecting the adapter plate with an aircraft skin equipment mounting interface; representing the installation vector orientation of the aircraft skin equipment by using the rolling initial position of the rolling table locked by the adapter plate and the locking bolt, and constructing an intermediate coordinate system O-X 'Y' Z 'according to the installation vector orientation of the aircraft skin equipment, wherein the intermediate coordinate system O-X' Y 'Z' is the installation coordinate system of the skin equipment;
step S3 specifically includes:
keeping the locking state of the locking bolt on the rolling initial position of the rolling platform, placing the digital display inclinometer in a first digital display inclinometer placing reference groove on the bearing platform, keeping the gravity sensing reference surface of the digital display inclinometer in coplanar fit with the reference surface of the bearing platform, reading an inclination angle display value of an inclination angle display window of the digital display inclinometer, wherein the inclination angle display value is a horizontal pitch angleα；
Adopting a coordinate system to express, measuring the horizontal pitch angle of the aircraft skin equipmentαI.e. an OY axis and an organism coordinate system O-XYZ horizontal coordinate system for measuring the intermediate coordinate system O-X 'Y' ZThe included angle of the label surface XOY;
step S4 specifically includes:
the mounting state of the digital display inclinometer on the bearing platform is kept, the locking of the locking bolt to the rolling initial position of the rolling platform is released, the thumb screw is adjusted to the released state, the rolling platform rolls along the rolling central shaft until the inclination display value of the inclination display window of the digital display inclinometer is zero, and the thumb screw is fastened;
the corresponding coordinate transformation is:
rotating the Y 'OZ' coordinate plane until the OY 'axis coincides with the horizontal plane XOY of the machine coordinate system O-XYZ, with the OX' axis of the intermediate coordinate system O-X 'Y' as the rotation axis, so as to align the horizontal pitch angle with the horizontal plane XOY of the machine coordinate system O-XYZαAdjusting to zero;
the axial direction after rotating the OY 'axis and the OZ' axis is defined as OY 1 Axis and OZ 1 Axis and defining a secondary intermediate coordinate system of O-X' Y 1 ´Z 1 And then from the primary intermediate coordinate system O-X ' Y ' to the secondary intermediate coordinate system O-X ' Y 1 ´Z 1 The transformation matrix of' is:
wherein the content of the first and second substances,
、
、
respectively representing the three-axis coordinate value of the vector orientation of the covering equipment by adopting an original intermediate coordinate system O-X ' Y ' Z ',
、
、
respectively adopting a secondary intermediate coordinate system O-X' Y 1 ´Z 1 A three-axis coordinate value representing a vector orientation of the skin device;
step S5 specifically includes:
keeping the fastening state of all thumb screws on the roll table, taking out the digital display inclinometer from the first digital display inclinometer placing reference groove, then placing the digital display inclinometer into the second digital display inclinometer placing reference groove, keeping the gravity sensing reference surface of the digital display inclinometer in coplanar fit with the bearing table reference surface, reading the inclination display value of the inclination display window of the digital display inclinometer, wherein the inclination display value is the gravity roll angleγ；
The gravity roll angle of the aircraft skin equipment is measured by adopting coordinate system representationγI.e. measuring the secondary intermediate coordinate system O-X' Y 1 ´Z 1 OZ of 1 An included angle is formed between the' axis and an OZ axis of an engine body coordinate system O-XYZ;
the OZ axis of the body coordinate system O-XYZ is positioned in a secondary intermediate coordinate system O-X' Y 1 ´Z 1 ' of XOZ 1 In' tumbling plane, measuring gravity tumbling angleγIs just measuring the angle Z 1 ´OZ；
Step S6 specifically includes:
starting a beam laser, emitting a beam laser projection, the beam laser projection having a transverse opening angleθ 1 The divergent fan surface is unfolded, and the projection is presented as an intersecting straight line on a horizontal plane vertical to the divergent fan surface;
adopting a coordinate system to express, and converting a secondary intermediate coordinate system O-X' Y into a secondary intermediate coordinate system 1 ´Z 1 ' of XOZ 1 The 'cross roll is projected on a horizontal coordinate surface XOY of an organism coordinate system O-XYZ to obtain X' OZ 1 The intersection line of the' coordinate plane and the horizontal coordinate plane XOY;
step S7 specifically includes:
keeping the emergent state of the line beam laser, and measuring the included angle between the line beam laser projection and the longitudinal axis projection line of the airplane, namely the horizontal yaw angleβ；
Projecting a line on the longitudinal axis of the aircraftTaking a horizontal length as a longitudinal axial measurement lengthyThe line segments are used as vertical horizontal straight lines of two end points of the line segments, the line segments are simultaneously intersected with the laser projection of the line beam, the lengths of the intersected line segments are respectively measured, wherein one transverse axial measurement length is recorded asx 1 And the other transverse axial measuring length is recorded asx 2 Then, there are:
transverse roll angle according to gravityγAngle of horizontal yawβDenotes a quadratic intermediate coordinate system O-X' Y 1 ´Z 1 The matrix transformation of the object coordinate system O-XYZ:
x, Y and Z are three-axis coordinate values which adopt a machine body coordinate system O-XYZ to represent the vector orientation of the skin equipment respectively;
then, the matrix transformation of the intermediate coordinate system O-X '-yz' to the engine coordinate system O-XYZ is represented as:
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