Airplane horizontal measurement activity rudder surface point position correction method, device, equipment and medium

Abstract

This application discloses a method, apparatus, device, and medium for correcting the horizontal position of an aircraft's movable control surface. The method acquires n sets of horizontal point measurement data for the movable control surface; each set of horizontal point measurement data includes the horizontal point measurement coordinates of the same measurement point under m different attitudes, where n and m are positive integers greater than or equal to 3; based on the n sets of horizontal point measurement data, a virtual motion axis of the movable control surface is established; according to the virtual motion axis and the n sets of horizontal point measurement data, a rotation matrix with angle as the variable is established; based on the rotation matrix, an optimization function is constructed; based on the optimization function, the target rotation angle and the corresponding horizontal point correction coordinates are obtained. This solves the problem of low efficiency in traditional manual three-dimensional rotation correction when high precision is required.

Description

Technical Field

[0001] This application relates to the field of aircraft manufacturing technology, and in particular to the invention entitled "A method, device, equipment and medium for correcting the position of active control surfaces for horizontal measurement of aircraft". Background Technology

[0002] The horizontal measurement of an aircraft, which checks the relative positions of its various components, the quality of their installation, and any deformation during use, is the final quality inspection before the completion of final assembly. Horizontal measurements typically involve checking the installation position and attitude of movable control surfaces. Because power and voltage are not available during horizontal measurements, movable control surfaces cannot be kept in their electrical zero position, requiring manual alignment to complete the measurement. The highest accuracy of manual alignment is only 1°, which can cause discrepancies between the measured values ​​of movable control surfaces (such as the vertical tail and canard structures) and the standard points specified in the design. These discrepancies can be eliminated by adjusting the angles of the canards and vertical tail. Since some aircraft models have high tolerance requirements for measured values, alignment requirements are often not met during measurement, necessitating a secondary calibration after each horizontal measurement.

[0003] Existing correction schemes mainly involve manual iterative operations in 3D processing software. This method of measuring and correcting horizontal data suffers from low correction efficiency. Summary of the Invention

[0004] The main objective of this application is to provide a method, apparatus, equipment, and medium for correcting the position of active control surfaces in horizontal measurement of aircraft, aiming to solve the technical problem of low efficiency in correcting the position of active control surfaces in horizontal measurement in the prior art.

[0005] To achieve the above objectives, this application provides a method for correcting the position of moving control surfaces in aircraft horizontal measurement, comprising:

[0006] Acquire n sets of horizontal point measurement data for the active control surface; where each set of horizontal point measurement data includes the horizontal point measurement coordinates of the same measurement point under m different attitudes, and n and m are positive integers greater than or equal to 3;

[0007] Based on the n sets of horizontal point measurement data, a virtual motion axis for the active control surface is established;

[0008] Based on the virtual motion axis and the n sets of horizontal point measurement data, a rotation matrix with angle as the variable is established;

[0009] Based on the rotation matrix, construct the optimization function;

[0010] Based on the optimization function, the target rotation angle and the coordinates of the horizontal point correction point corresponding to the target rotation angle are obtained.

[0011] Optionally, the step of establishing the virtual motion axis of the active control surface based on the n sets of horizontal point measurement data includes:

[0012] Fit the coordinates of the horizontal points in each set of horizontal point measurement data to obtain n circles;

[0013] The virtual motion axis is obtained by fitting the centers of n circles.

[0014] Optionally, the step of fitting the horizontal point measurement coordinates in each set of horizontal point measurement data to obtain n circles includes:

[0015] For each set of horizontal point measurement data, the coordinates of the horizontal points are fitted with the least squares method to obtain n circles.

[0016] Optionally, the step of establishing a rotation matrix with angles as variables based on the virtual motion axis and the n sets of horizontal point measurement data includes:

[0017] Based on the linear model of the virtual motion axis, the axis normal and axis length of the virtual motion axis are obtained;

[0018] A matrix parameter with angle as the variable is established based on the axis normal and axis length;

[0019] Based on the matrix parameters and the n sets of horizontal point measurement data, a rotation matrix with angle as the variable is established.

[0020] Optionally, before the step of obtaining the target rotation angle and the horizontal point correction coordinates corresponding to the target rotation angle based on the optimization function, the method further includes:

[0021] Based on the absolute and relative position requirements of the active control surface points in the technical requirements, the objective function is obtained;

[0022] The step of obtaining the target rotation angle and the horizontal point correction coordinates corresponding to the target rotation angle based on the optimization function includes:

[0023] Based on the optimization function and the objective function, the target rotation angle and the horizontal point correction coordinates corresponding to the target rotation angle are obtained.

[0024] Optionally, the step of obtaining the target rotation angle and the horizontal point correction coordinates corresponding to the target rotation angle based on the optimization function and the objective function includes:

[0025] Based on the optimization function and the objective function, the target rotation angle and the horizontal point correction coordinates corresponding to the target rotation angle are obtained using the golden section method.

[0026] Optionally, the step of obtaining the objective function based on the absolute and relative position requirements of the active control surface points in the technical requirements for the points includes:

[0027] Based on the absolute and relative position requirements of the active control surface points in the technical requirements, multiple discrimination conditions are obtained.

[0028] The objective function is obtained by normalizing multiple discrimination conditions.

[0029] In addition, to achieve the above objectives, this application also provides an aircraft horizontal measurement active control surface point correction device, comprising:

[0030] The data acquisition module is used to acquire n sets of horizontal point measurement data of the active control surface; wherein each set of horizontal point measurement data includes the horizontal point measurement coordinates of the same measurement point under m different attitudes, where n and m are positive integers greater than or equal to 3;

[0031] The axis fitting module is used to establish the virtual motion axis of the active control surface based on the n sets of horizontal point measurement data;

[0032] The matrix construction module is used to establish a rotation matrix with angles as variables based on the virtual motion axis and the n sets of horizontal point measurement data;

[0033] A function construction module is used to construct an optimization function based on the rotation matrix;

[0034] An angle optimization module is used to obtain the target rotation angle and the horizontal point correction coordinates corresponding to the target rotation angle based on the optimization function.

[0035] In addition, to achieve the above objectives, this application also provides a computer device including a memory and a processor, wherein the memory stores a computer program and the processor executes the computer program to implement the above-described method.

[0036] In addition, to achieve the above objectives, this application also provides a computer-readable storage medium storing a computer program, on which a processor executes the computer program to implement the above-described method.

[0037] The beneficial effects that this application can achieve.

[0038] This application proposes a method, apparatus, device, and medium for correcting the position of a moving control surface in horizontal measurement. The method acquires n sets of horizontal point measurement data for the moving control surface. Each set of horizontal point measurement data includes the coordinates of the same measurement point in m different attitudes, where n and m are positive integers greater than or equal to 3. Based on the n sets of horizontal point measurement data, a virtual motion axis of the moving control surface is established. A rotation matrix with angle as the variable is established based on the virtual motion axis and the n sets of horizontal point measurement data. An optimization function is constructed based on the rotation matrix. Based on the optimization function, the target rotation angle and the corresponding horizontal point correction coordinates are obtained. In other words, this method uses a spatial rotation matrix and an optimization function for interval optimization, making the correction method mathematical and computable. This avoids the inefficiency of manually rotating and repeatedly calculating in 3D design software, solving the problem of low efficiency in manual 3D rotation correction when high precision is required. Attached Figure Description

[0039] Figure 1 This is a schematic diagram of the computer device structure for the hardware operating environment involved in the embodiments of this application;

[0040] Figure 2 This is a flowchart illustrating a method for correcting the position of active control surfaces in horizontal measurement of an aircraft, according to an embodiment of this application.

[0041] Figure 3 for Figure 2 A flowchart illustrating a specific implementation method of S40 in China;

[0042] Figure 4 for Figure 2 A flowchart illustrating a specific implementation method of S60 in China;

[0043] Figure 5 This is a schematic diagram of the functional modules of an aircraft horizontal measurement active control surface point correction device according to an embodiment of this application.

[0044] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0045] It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to limit this application.

[0046] The main solution of this application embodiment is as follows: n sets of horizontal point measurement data of the active control surface are acquired; wherein each set of horizontal point measurement data includes the horizontal point measurement coordinates of the same measurement point under m different attitudes, and n and m are positive integers greater than or equal to 3; based on the n sets of horizontal point measurement data, a virtual motion axis of the active control surface is established; according to the virtual motion axis and the n sets of horizontal point measurement data, a rotation matrix with angle as the variable is established; according to the rotation matrix, an optimization function is constructed; based on the optimization function, the target rotation angle and the horizontal point correction point coordinates corresponding to the target rotation angle are obtained.

[0047] The existing calibration scheme mainly involves repetitive manual iterations in 3D processing software. The main steps are as follows: 1. Input the measured initial points into the 3D processing software; 2. Import the part's digital model and then establish a rotating coordinate system; 3. Bind the rotating coordinate system to the initial points; 4. Roughly calculate the point offset and point spacing, and use inverse trigonometric functions to calculate the required deflection angle; 5. Deflect the part to obtain the deflected points and calculate whether they meet the design requirements; 6. If not, continue with steps 4-6 until the deviation is eliminated, or if multiple adjustments fail to achieve the desired effect, confirm that the canard or vertical tail mounting angle does indeed exceed the tolerance.

[0048] Using this method for horizontal data measurement correction has the following problems:

[0049] 1. It takes a long time; when the number of iterations is small, the correction time for a single canard or single vertical tail is about half an hour, while when the number of iterations is large, it can reach more than an hour, and the correction time for a single aircraft is between 2 and 4 hours.

[0050] 2. High error rate; there is no numerical method for solving the problem, and most of the work in 3D processing software requires manual input and output of data and calculation, which is prone to errors.

[0051] 3. Poor stability; This method is essentially a trial-and-error method. When the correct range is narrow, the trial-and-error method is unlikely to select the correct range exactly, thus making incorrect judgments about out-of-range situations.

[0052] To address this, this application provides a solution: a method for correcting the position of active control surfaces in aircraft horizontal measurement. This method uses a spatial rotation matrix and optimization functions for interval optimization, making the correction method mathematical and computable. This avoids the inefficiency of manually rotating and repeatedly inputting data into calculations in 3D design software, and solves the problem of low efficiency in manual 3D rotation correction when high precision is required. At the same time, it ensures accuracy.

[0053] Reference Figure 1 , Figure 1 This is a schematic diagram of the computer device structure of the hardware operating environment involved in the embodiments of this application.

[0054] like Figure 1 As shown, the computer device may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is used to enable communication between these components. The user interface 1003 may include a display screen and an input unit such as a keyboard; optionally, the user interface 1003 may also include a standard wired interface or a wireless interface. The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a Wi-Fi interface). The memory 1005 may be a high-speed random access memory (RAM) or a stable non-volatile memory (NVM), such as a disk drive. The memory 1005 may also optionally be a storage device independent of the aforementioned processor 1001.

[0055] Those skilled in the art will understand that Figure 1 The structure shown does not constitute a limitation on the computer device and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0056] like Figure 1 As shown, the memory 1005, which serves as a storage medium, may include an operating system, a data storage module, a network communication module, a user interface module, and electronic programs.

[0057] exist Figure 1 In the computer device shown, the network interface 1004 is mainly used for data communication with the network server; the user interface 1003 is mainly used for data interaction with the user; the processor 1001 and the memory 1005 in the computer device of the present invention can be set in the computer device, and the computer device calls the aircraft horizontal measurement active control surface point correction device stored in the memory 1005 through the processor 1001, and executes the aircraft horizontal measurement active control surface point correction method provided in the embodiment of this application.

[0058] Reference Figure 2 Based on the hardware device of the foregoing embodiments, embodiments of this application provide a method for correcting the position of active control surfaces for horizontal measurement of an aircraft, including:

[0059] S20. Obtain n sets of horizontal point measurement data for the active control surface; wherein, each set of horizontal point measurement data includes the horizontal point measurement coordinates of the same measurement point under m different attitudes, and n and m are positive integers greater than or equal to 3.

[0060] In practical implementation, movable control surfaces, also known as control surfaces, refer to aerodynamic wing surfaces that utilize deflection in airflow to generate missile balancing and control forces to manipulate aircraft flight. They are also called control surfaces. Control surfaces are the aircraft's control surfaces, generally in three directions: the horizontal one is called the elevator (or horizontal stabilizer), responsible for controlling the aircraft's ascent and descent; the vertical one is called the rudder, usually located on the vertical stabilizer, responsible for controlling the aircraft's heading; and the tilting one is called the aileron, usually located at the wingtips, responsible for controlling the aircraft's tilt. There is also a canard. In this embodiment, movable control surfaces include canards and the vertical stabilizer.

[0061] Horizontal point measurement data refers to the coordinates of horizontal measurement points on the control surface during aircraft horizontal measurement. Since the control surface generally includes multiple horizontal measurement points, n is a positive integer greater than or equal to 3. In this embodiment, in order to subsequently fit the spatial rotation axis, each set of horizontal point measurement data includes the horizontal point measurement coordinates of the same measurement point under m different attitudes; therefore, m is a positive integer greater than or equal to 3.

[0062] In practice, the following steps may be included:

[0063] First, manually align the movable control surface and then use measuring equipment to measure the positions of the horizontal points on the control surface. For example, if there are three points a, b, and c on the control surface, the measurement data are (xa1, ya1, za1), (xb1, yb1, zb1), and (xc1, yc1, zc1).

[0064] After the first set of measurements is completed, adjust the control surface at a certain angle (not less than 5°) and measure the horizontal positions on the control surface again. For example, the measurement data are (xa2,ya2,za2), (xb2,yb2,zb2), and (xc2,yc2,zc2).

[0065] After the second set of measurements is completed, the control surface is reversed by a certain angle (not less than 10°), and the horizontal point positions on the control surface are measured again. For example, the measurement data are (xa3,ya3,za3), (xb3,yb3,zb3), and (xc3,yc3,zc3).

[0066] Thus, three measurements were taken at the three points, resulting in three sets of horizontal point measurement data corresponding to the three points.

[0067] S40. Based on the n sets of horizontal point measurement data, establish the virtual motion axis of the active control surface.

[0068] In practice, the virtual motion axis is the same as the motion axis of the control surface.

[0069] For details, see Figure 3 The step of establishing the virtual motion axis of the active control surface based on the n sets of horizontal point measurement data includes:

[0070] S402. Fit the coordinates of the horizontal points in each group of horizontal point measurement data to obtain n circles;

[0071] S404. Fit the centers of the n circles to obtain the virtual motion axis.

[0072] In the specific implementation process, the coordinates of the horizontal points in each set of horizontal point measurement data are fitted with the least squares method to obtain n circles.

[0073] Specifically, for each horizontal measurement point, let the center coordinates be ox, oy, oz, and the radius be r; the initial values ​​of the center are ox1, oy1, oz1:

[0074]

[0075] The average distance from all data points to the center of the circle can be used as the initial value of the circle's radius, i.e., r1 can be expressed as:

[0076]

[0077] Accordingly, for each horizontal measurement point, the circular function can be transformed into a linear model:

[0078] x 2 +y 2 +z 2 =ax + by + cz - d

[0079] Where N is the number of data points corresponding to each horizontal measurement point, and its value is equal to the value of m. a, b, c, and d represent the parameters in the model corresponding to the straight line obtained by fitting the center of the horizontal measurement point.

[0080] Therefore, following the above model, the parameters of multiple rotations of the same point can be substituted into the least squares iterative solution. The number of horizontal measurement points on the control surface is the number of circles obtained. If there are n measurement points, n circle centers are obtained. These n circle centers are fitted to a straight line, which is the actual central axis of the control surface.

[0081] S60. Based on the virtual motion axis and the n sets of horizontal point measurement data, establish a rotation matrix with angle as the variable.

[0082] For details, see Figure 4The step of establishing a rotation matrix with angles as variables based on the virtual motion axis and the n sets of horizontal point measurement data includes:

[0083] S602. Based on the linear model of the virtual motion axis, obtain the axis normal and axis length of the virtual motion axis;

[0084] In the specific implementation process, the linear model of the virtual motion axis includes the linear model corresponding to the straight line obtained by fitting the center of each horizontal measurement point. Using the parameters in the linear model, the axis normal and axis length of the virtual motion axis can be obtained.

[0085] Specifically, the axis normals u, v, w and the axis length d:

[0086]

[0087] Where a1, b1, and c1 are the parameters in the linear model of the first horizontal measurement point, and a2, b2, and c2 are the parameters in the linear model of the second horizontal measurement point.

[0088] S604. Based on the axis normal and axis length, establish a matrix parameter with angle as the variable;

[0089] In specific implementation, based on the preceding embodiments, for example, the matrix parameters include:

[0090] p1 = u^2 + (v^2 + w^2) * Cos(t)

[0091] p2=u*v*(1-Cos(t))-w*Sin(t)

[0092] p3=u*w*(1-Cos(t))+v*Sin(t)

[0093] p4=(a*(v^2+w^2)-u*(b*v+c*w))*(1-Cos(t))+(b*wc*v)*Sin(t),

[0094] By analogy, all matrix parameters (e.g., p5-p12) can be obtained.

[0095] Where t is the angle.

[0096] S606. Based on the matrix parameters and the n sets of horizontal point measurement data, establish a rotation matrix with angle as the variable.

[0097] In the specific implementation process, the assembled rotation matrix is ​​as follows:

[0098]

[0099] After obtaining the rotation matrix, the coordinates of the points after rotating around the polyhedral axis can be obtained from the rotation matrix.

[0100] S80. Construct an optimization function based on the rotation matrix.

[0101] In the specific implementation process, after establishing the rotation matrix of the spatial points around the axis, the measured points are substituted as the initial points, the axis function parameters of the rudder surface main shaft are substituted, and the rotation angle is used as the independent variable, then the optimization function can be obtained.

[0102] S100. Based on the optimization function, obtain the target rotation angle and the coordinates of the horizontal point correction point corresponding to the target rotation angle.

[0103] In the specific implementation process, the rotation angle can be optimized using an optimization function to obtain the optimal target rotation angle and the horizontal point correction coordinates corresponding to the target rotation angle.

[0104] In an optional implementation, before the step of obtaining the target rotation angle and the horizontal point correction coordinates corresponding to the target rotation angle based on the optimization function, the method further includes:

[0105] Based on the absolute and relative position requirements of the active control surface points in the technical requirements, the objective function is obtained;

[0106] In the specific implementation process, the step of obtaining the objective function based on the absolute and relative position requirements of the active control surface points in the technical requirements of the points includes:

[0107] Based on the absolute and relative position requirements of the active control surface points in the technical requirements, multiple discrimination conditions are obtained.

[0108] The objective function is obtained by normalizing multiple discrimination conditions.

[0109] Specifically, the absolute and relative position requirements for the points in the technical requirements can be combined into an objective function. Each constraint is normalized by dividing the absolute value of the measured value and the center value by half the interval length, and the new interval is (0,1). The function obtains the optimal solution when the objective function reaches its minimum value. If any term in the objective function is not satisfied, the objective function is set to a large number.

[0110] For example, the control surface point constraint is: 1980 <p1x<2000,-5<p2x-p1x<5,1.1<(p3x-p2x) / (p3y-p2y)<1.2

[0111] Normalizing constraint 1 gives: abs(p1x-1990) / 10;

[0112] Normalizing constraint 2 gives: abs(p2x-p1x) / 5;

[0113] Normalizing constraint 3 gives: abs((p3x-p2x) / (p3y-p2y)-1.1) / 0.05;

[0114] Where p1x represents the x-coordinate of the first horizontal measurement point, p2x represents the x-coordinate of the second horizontal measurement point, and so on.

[0115] If the result after substitution is greater than 1, then the constraint term is directly set to 999, and subsequent judgments are skipped to directly enter the next golden section iteration.

[0116] Accordingly, the step of obtaining the target rotation angle and the horizontal point correction coordinates corresponding to the target rotation angle based on the optimization function includes:

[0117] Based on the optimization function and the objective function, the target rotation angle and the horizontal point correction coordinates corresponding to the target rotation angle are obtained.

[0118] In the specific implementation process, VBA subroutines can be developed in EXCEL to calculate the objective function by randomly selecting an angle within the optimization interval (-5°, +5°), performing 5000 calculations, with a theoretical optimization accuracy higher than 0.01°. The angle that takes the minimum value of the objective function is the optimal alignment angle, and the coordinates of the horizontal measurement point corresponding to this angle are used as the correction coordinates.

[0119] Given a given interval, the golden section method iterates using initial values ​​at 0.382 and 0.618 of the entire interval, progressively narrowing the search interval proportionally. Since the rudder surface alignment problem has a unique extremum (i.e., the rudder surface is perfectly aligned) and the function's monotonicity is relatively simple, the golden section method can find the optimal rotation angle within a very small interval, providing the corrected coordinates after rotation.

[0120] It should be understood that the above are merely illustrative examples and do not constitute any limitation on the technical solution of this application. Those skilled in the art can make settings as needed in practical applications, and no restrictions are imposed here.

[0121] As can be seen from the above description, the method of this embodiment provides a method for correcting the position of a horizontally measured active control surface of an aircraft. This method acquires n sets of horizontal point measurement data for the active control surface; each set of horizontal point measurement data includes the horizontal point measurement coordinates of the same measurement point under m different attitudes, where n and m are positive integers greater than or equal to 3; based on the n sets of horizontal point measurement data, a virtual motion axis of the active control surface is established; according to the virtual motion axis and the n sets of horizontal point measurement data, a rotation matrix with angle as the variable is established; according to the rotation matrix, an optimization function is constructed; based on the optimization function, the target rotation angle and the horizontal point correction coordinates corresponding to the target rotation angle are obtained. In other words, this method uses a spatial rotation matrix and an optimization function for interval optimization, making the correction method mathematical and computable, avoiding the inefficiency of manually rotating and repeatedly inputting calculations in 3D design software, and solving the problem of low efficiency in manual 3D rotation correction when high precision is required.

[0122] Specifically, firstly, the method in this embodiment uses measured data to fit the spatial rotation axis, eliminating the positional and angular errors caused by rotating points using theoretical axes, thus improving the accuracy of deviation correction; secondly, it uses a spatial rotation matrix and objective function for interval optimization, making the correction method mathematical and computable, avoiding the blindness of manually rotating and repeatedly inputting calculations in 3D design software; finally, the optimization algorithm used can achieve high-precision optimization in small intervals, solving the problem of low efficiency of the original manual 3D rotation correction when high precision is required.

[0123] Reference Figure 5 Based on the same inventive concept, embodiments of this application also provide an aircraft horizontal measurement active control surface point correction device, comprising:

[0124] The data acquisition module is used to acquire n sets of horizontal point measurement data of the active control surface; wherein each set of horizontal point measurement data includes the horizontal point measurement coordinates of the same measurement point under m different attitudes, where n and m are positive integers greater than or equal to 3;

[0125] The axis fitting module is used to establish the virtual motion axis of the active control surface based on the n sets of horizontal point measurement data;

[0126] The matrix construction module is used to establish a rotation matrix with angles as variables based on the virtual motion axis and the n sets of horizontal point measurement data;

[0127] A function construction module is used to construct an optimization function based on the rotation matrix;

[0128] An angle optimization module is used to obtain the target rotation angle and the horizontal point correction coordinates corresponding to the target rotation angle based on the optimization function.

[0129] It should be noted that each module in the aircraft horizontal measurement active control surface point correction device in this embodiment corresponds one-to-one with each step in the aircraft horizontal measurement active control surface point correction method in the aforementioned embodiment. Therefore, the specific implementation method and the technical effects achieved in this embodiment can be referred to the implementation method of the aforementioned aircraft horizontal measurement active control surface point correction method, and will not be repeated here.

[0130] Furthermore, in one embodiment, this application also provides a computer device, the computer device including a processor, a memory, and a computer program stored in the memory, the computer program being executed by the processor to implement the steps of the methods in the foregoing embodiments.

[0131] Furthermore, in one embodiment, this application also provides a computer storage medium storing a computer program, which, when executed by a processor, implements the steps of the methods described in the foregoing embodiments.

[0132] In some embodiments, the computer-readable storage medium may be a memory such as FRAM, ROM, PROM, EPROM, EEPROM, flash memory, magnetic surface memory, optical disk, or CD-ROM; or it may be a device including one or any combination of the above-mentioned memories. The computer may be a variety of computing devices, including smart terminals and servers.

[0133] In some embodiments, executable instructions may take the form of a program, software, software module, script, or code, written in any form of programming language (including compiled or interpreted languages, or declarative or procedural languages), and may be deployed in any form, including as a standalone program or as a module, component, subroutine, or other unit suitable for use in a computing environment.

[0134] As an example, executable instructions may, but do not necessarily, correspond to files in a file system. They may be stored as part of a file that holds other programs or data, for example, in one or more scripts in a Hyper Text Markup Language (HTML) document, in a single file dedicated to the program in question, or in multiple collaborating files (e.g., a file that stores one or more modules, subroutines, or code sections).

[0135] As an example, executable instructions can be deployed to execute on a single computing device, or on multiple computing devices located in one location, or on multiple computing devices distributed across multiple locations and interconnected via a communication network.

[0136] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0137] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0138] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as read-only memory / random access memory, magnetic disk, optical disk), and includes several instructions to cause a multimedia terminal device (which may be a mobile phone, computer, television receiver, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0139] The above are merely preferred embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A method for calibrating the position of moving control surfaces in aircraft horizontal measurement, characterized in that, include: Acquire n sets of horizontal point measurement data for the active control surface; where each set of horizontal point measurement data includes the horizontal point measurement coordinates of the same measurement point under m different attitudes, and n and m are positive integers greater than or equal to 3; Based on the n sets of horizontal point measurement data, a virtual motion axis for the active control surface is established; including: Fit the coordinates of the horizontal points in each set of horizontal point measurement data to obtain n circles; Fitting the centers of n circles to obtain the virtual motion axis; wherein, the step of fitting the horizontal point measurement coordinates in each set of horizontal point measurement data to obtain n circles includes: For each set of horizontal point measurement data, the coordinates of the horizontal points are fitted with the least squares method to obtain n circles. Based on the virtual motion axis and the n sets of horizontal point measurement data, a rotation matrix with angle as the variable is established; Based on the rotation matrix, construct the optimization function; Based on the optimization function, the target rotation angle and the horizontal point correction coordinates corresponding to the target rotation angle are obtained; wherein, before the step of obtaining the target rotation angle and the horizontal point correction coordinates corresponding to the target rotation angle based on the optimization function, the method further includes: Based on the absolute and relative position requirements of the active control surface points in the technical requirements, the objective function is obtained; The step of obtaining the target rotation angle and the horizontal point correction coordinates corresponding to the target rotation angle based on the optimization function includes: Based on the optimization function and the objective function, the target rotation angle and the horizontal point correction coordinates corresponding to the target rotation angle are obtained.

2. The method as described in claim 1, characterized in that, The step of establishing a rotation matrix with angles as variables based on the virtual motion axis and the n sets of horizontal point measurement data includes: Based on the linear model of the virtual motion axis, the axis normal and axis length of the virtual motion axis are obtained; A matrix parameter with angle as the variable is established based on the axis normal and axis length; Based on the matrix parameters and the n sets of horizontal point measurement data, a rotation matrix with angle as the variable is established.

3. The method as described in claim 1, characterized in that, The step of obtaining the target rotation angle and the horizontal point correction coordinates corresponding to the target rotation angle based on the optimization function and the objective function includes: Based on the optimization function and the objective function, the target rotation angle and the horizontal point correction coordinates corresponding to the target rotation angle are obtained using the golden section method.

4. The method as described in claim 1, characterized in that, The step of obtaining the objective function based on the absolute and relative position requirements of the active control surface points in the technical requirements for the points includes: Based on the absolute and relative position requirements of the active control surface points in the technical requirements, multiple discrimination conditions are obtained. The objective function is obtained by normalizing multiple discrimination conditions.

5. A device for correcting the position of movable control surfaces for horizontal measurement of aircraft, characterized in that, include: The data acquisition module is used to acquire n sets of horizontal point measurement data of the active control surface; wherein each set of horizontal point measurement data includes the horizontal point measurement coordinates of the same measurement point under m different attitudes, where n and m are positive integers greater than or equal to 3; An axis fitting module is used to establish a virtual motion axis for the active control surface based on the n sets of horizontal point measurement data; it includes: Fit the coordinates of the horizontal points in each set of horizontal point measurement data to obtain n circles; Fitting the centers of n circles to obtain the virtual motion axis; wherein, the step of fitting the horizontal point measurement coordinates in each set of horizontal point measurement data to obtain n circles includes: For each set of horizontal point measurement data, the coordinates of the horizontal points are fitted with the least squares method to obtain n circles. The matrix construction module is used to establish a rotation matrix with angles as variables based on the virtual motion axis and the n sets of horizontal point measurement data; A function construction module is used to construct an optimization function based on the rotation matrix; An angle optimization module is used to obtain the target rotation angle and the horizontal point correction coordinates corresponding to the target rotation angle based on the optimization function; wherein, before the step of obtaining the target rotation angle and the horizontal point correction coordinates corresponding to the target rotation angle based on the optimization function, the module further includes: Based on the absolute and relative position requirements of the active control surface points in the technical requirements, the objective function is obtained; The step of obtaining the target rotation angle and the horizontal point correction coordinates corresponding to the target rotation angle based on the optimization function includes: Based on the optimization function and the objective function, the target rotation angle and the horizontal point correction coordinates corresponding to the target rotation angle are obtained.

6. A computer device, characterized in that, The computer device includes a memory and a processor, wherein the memory stores a computer program and the processor executes the computer program to implement the method as described in any one of claims 1-4.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, and the processor executes the computer program to implement the method as described in any one of claims 1-4.

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