Rocket stage pose correction method and device based on approximate matrix
An approximate matrix and rocket technology, which is applied in the field of rocket stage position and attitude correction devices based on approximate matrix, can solve problems such as low measurement accuracy, and achieve the effect of improving measurement accuracy
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
Method used
Image
Examples
Embodiment 1
[0091] see figure 1 , figure 2 as well as image 3 , this embodiment provides a method for rectifying the pose of a rocket stage based on an approximate matrix. When docking and assembling a large launch vehicle stage, it can be regarded as two cylinders of the same diameter for automatic docking. Generally, one stage is fixed first, and then the other stage is moved, and the stage is realized by continuous rotation and movement. connection between. Here, it is advisable to call the fixed stage as the fixed part, and the stage that needs to be moved and adjusted as the moving part. The space pose of the stage can be determined by some feature points of the stage. It can be seen that the stage will produce pose deviation during the docking process, which is denoted as where δ α ,δ β ,δ γ Respectively represent the rotation deviation in the direction of the coordinate axis, δ m ,δ n ,δ k Indicates the translational deviation in the direction of the coordinate axis. ...
Embodiment 2
[0165] see Figure 4 , this embodiment provides an approximation matrix-based rocket stage pose correction method, which is further refined on the basis of Embodiment 1. Wherein, the deviation correction method specifically includes the following steps, that is, steps 1-12.
[0166] Step 1: Read the theoretical point coordinate set Q th , and calculate the test point coordinate set Execute step 2;
[0167] Step 2: Set the maximum number of iterations N, the fitting accuracy F, set the number of iterations K to 0, and execute step 3;
[0168] Step 3: The number of iterations K is increased once, and step 4 is performed;
[0169] Step 4: Solve the theoretical matching point set corresponding to the test point set: Q′ th ;According to the third matrix and the fourth matrix, first calculate the rotation variable: [α β γ] T =C -1 *D, and then calculate each translation variable, and finally get the iteration variable δ K =[α K beta K gamma K m K no K k K ] T ;Ca...
Embodiment 3
[0177] This embodiment provides an approximate matrix-based rocket stage pose correction device, which is applied to the approximate matrix-based rocket stage pose correction method in Embodiment 1 or 2. Wherein, the device includes a conversion matrix acquisition module, a test data acquisition module, an approximate matrix deviation correction module and a deviation correction module.
[0178] The transformation matrix acquisition module is used to superimpose the rotation matrix and translation matrix of the rocket stage in the space coordinate system to obtain the space coordinate transformation matrix. The conversion matrix acquisition module mainly uses the spatial geometry analysis method to provide the corresponding relationship between the spatial coordinate transformation matrix and the coordinate rotation parameters and translation parameter variables. The test data acquisition module is used to first input the rotation parameters and translation parameters of the t...
PUM
Login to View More Abstract
Description
Claims
Application Information
Login to View More