Aircraft structural part pose automatic pre-alignment method based on indoor GPS and laser ranging

Abstract

The invention discloses an aircraft structural part pose automatic pre-alignment method based on an indoor GPS and laser ranging. A measuring tool mainly comprises the indoor GPS and a laser ranging sensor, a motion tool is an omni-directional transport platform, a bearing positioning device and the omni-directional transport platform of a structure part are used for mounting of an indoor GPS receiver and the laser ranging sensor, a proposed pose correction method is used for finishing large-size station transfer and preliminary alignment, then, through a pose solving method based on laser ranging, pose of the omni-directional transport platform can be obtained, the amount of exercise of the omni-directional transport platform is solved, the omni-directional transport platform is driven tobe adjusted, and the pre-alignment process can be automatically and rapidly finished. The method has the advantages that firstly, large structure part station transfer and rough abut joint are combined, the omni-directional transport platform is used for replacing a positioning device to carry out position adjusting, and station position adjusting and pose pre-alignment efficiency and synchronousfinishing can be achieved; secondly, compared with rough abut joint guided by measuring equipment such as a laser tracking instrument, and a laser radar, the influences from temperatures, air flows and site opening degrees are small; and thirdly, the automation degree is high, and the use range is wide.

Description

technical field [0001] The invention relates to a measurement aided assembly technology. In particular, the invention relates to a method for measuring the pose of a structural part by an indoor GPS and a laser displacement sensor, specifically an automatic pre-alignment method for the pose of an aircraft structural part based on indoor GPS and laser ranging. Background technique: [0002] Measurement-assisted assembly technology is one of the important guarantees for the high-precision docking of large aircraft structural parts. The growing aviation industry has made it have the characteristics of high efficiency and flexibility. In the past, the connection between the transfer of large structural parts and the docking process of attitude adjustment was poor, and the transfer of large structural parts and the cyclic attitude adjustment relying on the numerical control positioner were carried out manually, and the time period was long. In addition, measurement equipment suc...

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Problems solved by technology

[0004] The purpose of the present invention is to provide an automatic pre-alignment method for the position and posture of aircraft structural parts based on indoor GPS and laser ranging, aiming at the shortcomings of low overall automation and poor flexibility in the docking assembly of existing large-scale structural parts transfer stations

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