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An automatic pre-alignment method for the position and orientation of aircraft structural parts based on indoor GPS and laser ranging

A technology for aircraft structural parts and laser ranging, which is applied to measurement devices, optical devices, radio wave measurement systems, etc., and can solve problems such as poor flexibility and low degree of automation.

Active Publication Date: 2021-04-02
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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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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  • An automatic pre-alignment method for the position and orientation of aircraft structural parts based on indoor GPS and laser ranging
  • An automatic pre-alignment method for the position and orientation of aircraft structural parts based on indoor GPS and laser ranging
  • An automatic pre-alignment method for the position and orientation of aircraft structural parts based on indoor GPS and laser ranging

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[0065] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0066] like Figure 1-3 shown.

[0067] An automatic pre-alignment method for the position and orientation of aircraft structural parts based on indoor GPS and laser ranging. The general idea is: first, install the indoor GPS receiver 2 and laser ranging sensor 3 for measurement on the omnidirectional transport platform 1 ; Obtain the overall pose of the "moving component-positioner-omnidirectional transport platform" through indoor GPS2, then use the pose correction method to guide the moving component 5 to approach the stationary component 6, and then obtain the plane two-way relative distance through the laser ranging system , and finally use the pose calculation method to analyze and obtain the overall pose, and calculate the movement amount of the omnidirectional transport platform 1, so as to guide the moving component 5 to the stationary compone...

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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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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B23P19/10G01B11/00G01S19/53
CPCB23P19/105G01B11/00G01S19/53
Inventor 李泷杲黄翔曾琪李根楼佩煌钱晓明陶克梅
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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