Deep Space Exploration Planetary Landing Simulator Pose Measurement Device and Method
A technology of position and attitude measurement and deep space detection, applied in the direction of integrated navigator, etc., can solve the problem of inability to measure the translation information of objects, and achieve the effect of shortening the distance and improving the measurement accuracy.
Active Publication Date: 2020-03-10
HARBIN INST OF TECH
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However, this method is only suitable for rotation and cannot measure the translation information of the object
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[0030] The present invention will be described in further detail below in conjunction with the accompanying drawings: the present embodiment is implemented on the premise of the technical solution of the present invention, and detailed implementation is provided, but the protection scope of the present invention is not limited to the following embodiments.
[0031] Such as figure 1 and figure 2 As shown, a deep space exploration planetary landing simulator pose measurement device involved in this embodiment includes: a motor 1, a guide rail 2, a lead screw 3, two Y beams 4, an X beam 5, and four Z beams 6 , bracket 7, camera 8, air bearing platform 9, air bearing 10, marble platform 11, four bases 12 and marker points 13, the four Z beams 6 are vertically arranged, and the upper end of each Z beam 6 is set There is a motor 1, the lower end of each Z beam 6 is fixedly connected to a base 12, each Z beam 6 is provided with a guide rail 2 and a lead screw 3, and one end of the ...
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The invention provides a pose measuring device and a pose measuring method for deep-space-exploration planet landing simulators, and belongs to the technical field of pose measuring devices and methods for landing simulators. The pose measuring device comprises motors, guide rails, lead screws, Y crossbeams, an X crossbeam, Z crossbeams, supports, a camera, an air bearing table, an air bearing, a marble platform, bases and mark points. The air bearing is arranged at the upper end of the marble platform, the air bearing table is arranged at the upper end of the air bearing. The mark points are fixed at the upper end of the air bearing table. Three coordinates are taken as feedback information to be transmitted to the corresponding motors on the crossbeams, and the motors drive the lead screws to generate corresponding displacement, so that the camera can always follow translation of the air bearing table, the height difference between the camera and the mark points can be adjusted, and measuring accuracy is improved. Through coordinate change from a camera coordinate system to a world coordinate system, coordinate change conditions of the three mark points in the world coordinate system can be acquired, and the rotation angle of the air bearing table can be calculated.
Description
technical field [0001] The invention relates to a deep space exploration planetary landing simulator pose measuring device and method, and belongs to the technical field of landing simulator pose measuring devices and methods. Background technique [0002] Modern aerospace deep space exploration missions require planetary landing detection. It is a complex movement process for the spacecraft to enter the atmosphere of Mars from orbit until it lands on Mars. During this process, the lander needs to face the complex and changeable Martian environment and sudden conditions, and it is necessary to control the orbital attitude, whether the landing is successful or not is directly related to the success or failure of the detection mission. Therefore, it is particularly important to design a full physical simulation test system for Mars capture braking and device separation, and to carry out simulation verification for the control of deceleration braking and safety separation durin...
Claims
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IPC IPC(8): G01C21/24
CPCG01C21/24
Inventor 王常虹祝月夏红伟马广程张大力
Owner HARBIN INST OF TECH