Six-displacement-sensor dynamic measuring method of space six-degree-of-freedom movement

Abstract

The invention discloses a six-displacement-sensor dynamic measuring method of a space six-degree-of-freedom movement. According to the method, six displacement sensors are connected in parallel to carry out dynamic measurement on the six-degree-of-freedom movement of a moving object. The method mainly comprises a series of steps of: overlapping a parallel measurement mechanism of the six displacement sensors, establishing a coordinate system, converting coordinates, inversely solving positions, positively solving the positions and the like. The measurement mechanism comprises an upper platform, stay wire type displacement sensors and a lower platform. After the measurement mechanism is established, a position-posture relation between a stay wire length and the upper platform can be found by establishing the suitable coordinate system through converting the coordinates; the initial stay wire length can be calculated by inversely solving and a variation principle of the space six-degree-of-freedom movement of an object to be detected is calculated by changing and positively solving the stay wire length. The six-displacement-sensor dynamic measuring method can simultaneously measure a movement principle of a moving object to be measured in six degrees of freedom, the measurement precision is high, the algorithm is easy to realize and the reliability is strong; and the application range is wide and the six-displacement-sensor dynamic measuring method can be applied to important national defense fields of parallel machine tools, flight simulators, wind tunnel test model devices, space butt joint equipment and the like.

Description

technical field [0001] The invention relates to a six-degree-of-freedom dynamic measurement method of six displacement sensors in space, which uses six displacement sensors in parallel to perform dynamic measurement of six-degree-of-freedom movement in space on a moving object. Space six-degree-of-freedom movement includes: three-degree-of-freedom movement displacement x(t), y(t), z(t) and three-degree-of-freedom movement angle θx(t), θy(t), θz(t), movement displacement and After the angle is differentiated, it can be converted into motion speed, motion acceleration, motion angular velocity, and motion angular acceleration. Background technique [0002] The existing industry and military have higher and higher requirements for the measurement of object space motion, and the environment is more and more complex. The original measurement method can no longer meet the requirements of measurement accuracy, environment, frequency, coupling and so on. For example, during the rock...

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Problems solved by technology

[0003] Accuracy is one of the main criteria for measuring measuring devices or methods, but at present, such as vibration acceleration sensors or vibration velocity sensors are directly installed on the launch device, and are integrated into velocity or displacement, resulting in large errors due to range, frequency response, and integration errors. ; The measurement based on machine vision is affected by the air refraction fluctuations of high-temperature air waves and smoke and dust, so that the measurement error of this method is large, and it cannot adapt to the smoke and high temperature environment during launch, or even cannot be used at all; the three-axis gyroscope is used to measure the three-axis angular velocity in space. Integrate angular displacement, this method cannot measure three-axis displacement, due to large errors caused by range, frequency response and integral errors, etc.

[0004] In other engineering applications in industry, military and aerospace, the current methods for measuring the motion of objects at home and abroad cannot simultaneously measure the six-degree-of-freedom motion of the moving object, the integral error is large, the measurement is complex and the accuracy is low, and the moving object cannot be accurately obtained at the same time. six degrees of freedom of motion

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