Three-dimensional centroid measurement method for large-scale wing aerospace craft
A space vehicle, three-dimensional center of mass technology, applied in the field of aerospace, can solve the problem of poor measurement accuracy of center of mass coordinates
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specific Embodiment approach 1
[0036] Embodiment 1: Combining figure 1 and figure 2 Illustrating this embodiment, a three-dimensional centroid measurement method for a large-scale winged aerospace vehicle described in this embodiment is achieved through the following steps:
[0037] Step 1: Before measuring, calibrate the transformation matrix T of the reference coordinate system of the measuring coordinate system MC , the inclination angle θ of the inclination tooling of the measuring table;
[0038] Step 2: Install the product in the horizontal state of the inclined tooling, use the laser tracker to establish the product coordinate system, and measure the coordinates of the three reference points A(x) in the product coordinate system. A , y A ,z A ), B(x B , y B ,z B ), C(x C ,y C ,z C ), and the coordinates of the endpoints at both ends of the axis E(x E ,y E ,z E ), F(x F ,y F ,z F ), establish the intermediate conversion coordinate system of the inclination angle θ, and solve the conve...
specific Embodiment approach 2
[0046] Specific implementation mode 2: Combining figure 1 and figure 2 This embodiment is described. The conversion matrix T of the intermediate conversion coordinate system between the product coordinate system and the inclination angle θ in step 2 of a three-dimensional centroid measurement method for a large-scale winged aerospace vehicle described in this embodiment is described. PR The solution process is as follows:
[0047]
[0048] In formula ①, A 1 Represents the x-axis unit direction vector, A 2 Represents the y-axis unit direction vector, A 3 Represents the unit direction vector of the z-axis, T represents the position vector composed of the origin coordinates, T x represents the X component of T, T y represents the Y component of T, T z represents the Z component of T, a 11 means A 1 The X component of , a 21 means A 1 The Y component of , a 31 means A 1 The Z component of , a 12 means A 2 The X component of , a 22 means A 2 The Y component of ,...
specific Embodiment approach 3
[0059] Specific implementation three: combination figure 1 and figure 2 Illustrating this embodiment, the process of solving the coordinates of the reference point in the product coordinate system when the measuring table tilts the tooling inclination angle θ in step 3 of a three-dimensional centroid measurement method for a large-scale winged aerospace vehicle described in this embodiment is:
[0060]
[0061] in is a rotation matrix, which represents a rotation of θ degrees around the z-axis; when the tooling is tilted horizontally, the coordinates of the three reference points in the product coordinate system pass through Convert to the intermediate conversion coordinate system of tilt θ degrees, and then pass the rotation matrix T θ Rotate θ degrees around the z-axis of the intermediate conversion coordinate system with an inclination of θ degrees, that is, rotate θ degrees around the axis FE of the rotating shaft, and finally pass through T PR Convert to the prod...
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