Automatic collimation measurement system, collimation method and measurement method for spacecraft devices

Abstract

The invention discloses a collimation measurement system for attitudes and angles among spacecraft devices based on the combination between a robot and a theodolite. The system herein includes a robot, a laser tracker, a laser tracking target (T-MAC), a robot terminal tool, and the like. The system searches a to-be-tested datum cube mirror which is disposed on a spacecraft device by conducting mode identification, and computes the relations of phase position and direction of the datum cube mirror with respect to the theodolite. The laser tracker is intended for calibrating the relative direction relation in a coordinate system of respective spacecraft devices and integrating the measurement results of the theodolite at different measurement positions to the same coordinate system. Based onthe calibration relation and the relative relation, the laser tracker is guided to real-timely track the robot terminal tool and establish the relative relation between the laser track and the robotterminal tool. And eventually, the attitude relation matrix of the spacecraft is computed. According to the invention, the automatic measurement of the attitude relation among different devices is realized, the measurement efficiency can reach one time per half-minute, the measurement precision can be higher than 30'', on-site measurement flexibility is higher, and construction and measurement indifferent places can be much easier.

Description

technical field [0001] The invention belongs to the technical field of industrial measurement, and specifically relates to a method and device for measuring the relative posture relationship between spacecraft equipment that comprehensively utilizes robots, theodolites, laser trackers, and visual measurement equipment. It can be applied to optical plane mirrors and cubic mirrors. Automated measurement of baseline inter-device attitude angles. Background technique [0002] In the integrated manufacturing process of modern large-scale precision systems represented by spacecraft assembly, it is necessary to precisely measure the relative attitude angles between a large number of different devices. The reference of equipment requiring high-precision assembly generally adopts an optical plane mirror or an optical cube mirror, and the normal line of the cube mirror or plane mirror represents the coordinate axis orientation of the equipment. Therefore, measuring the relative attit...

AI Technical Summary

Problems solved by technology

In the spacecraft assembly process, more attention is paid to the assembly angle information of the equipment, and the measurement accuracy is high. The existing visual mea

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