A method for adjusting installation precision of equipment in spacecraft assembly process

Abstract

This invention discloses a method for adjusting the installation accuracy of equipment during spacecraft assembly. The method includes a spacecraft reference cube mirror, electronic theodolites I and II, a cube mirror of the equipment under test, electronic theodolites III and IV, a computer testing system, and a multi-serial-port server. This invention proposes a method for adjusting the installation accuracy of equipment during spacecraft assembly, achieving the unification of the measuring equipment coordinate system with the measurement reference coordinate system. This solves the problem of low adjustment efficiency, cumbersome intermediate iteration processes, and unsatisfactory adjustment results caused by the misalignment of some equipment coordinate systems with the reference coordinate system. It improves the efficiency and accuracy of equipment adjustment, and can quickly complete the installation accuracy adjustment measurement of various installation attitude equipment.

Description

Technical Field

[0001] This invention relates to the field of mechanical structure precision measurement technology, and in particular to a method for adjusting the installation precision of equipment during the spacecraft assembly process. Background Technology

[0002] During spacecraft assembly, it is necessary to measure the attitude relationships of certain key equipment in the overall mechanical coordinate system to optimize control strategies and execution results. For equipment with high installation accuracy requirements, such as sun sensors, gyroscopes, and momentum wheels, adjustments are required if the installation attitude deviates from the tolerance until the installation accuracy requirements are met. Currently, the installation accuracy measurement of equipment is mainly completed using a theodolite-based joint station setup. Through matrix transfer calculations, the actual attitude relationship of the tested equipment in the spacecraft's mechanical coordinate system is obtained, and then compared with the design reference value (the expected value of the tested equipment in the spacecraft coordinate system). If the deviation exceeds the tolerance, adjustments are required until the accuracy requirements are met.

[0003] For devices whose coordinate system coincides with the spacecraft's mechanical coordinate system, the adjustment strategy is relatively intuitive, accurate, and rapid, such as gyroscopes and star sensors. However, for devices whose coordinate system does not coincide with the spacecraft's mechanical coordinate system, the adjustment strategy is more cumbersome. The attitudes in different directions are coupled, resulting in poor adjustment effects and requiring repeated iterations, leading to low efficiency. Against this backdrop, a method for adjusting the installation accuracy of equipment during spacecraft assembly is proposed. This method can unify the coordinate system of the device under test with the reference coordinate system, enabling rapid measurement and adjustment of the installation accuracy of various installation attitude devices. Summary of the Invention

[0004] The purpose of this invention is to propose a method for adjusting and measuring the installation accuracy of equipment during the spacecraft assembly process. This method aims to unify the coordinate system of the equipment under test and compare it with the reference coordinate system, so as to quickly and efficiently achieve the adjustment and measurement of the installation accuracy of equipment in various installation attitudes.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] A method for adjusting the installation accuracy of equipment during the spacecraft assembly process includes the following steps:

[0007] S1: Using electronic theodolite one as the reference theodolite, on one side of the collimator reference cubic mirror, set up electronic theodolite two, on the other side of the collimator reference cubic mirror.

[0008] S2: Set up the electronic theodolite three times to collimate one side of the cubic mirror of the equipment being measured; set up the electronic theodolite four times to collimate the other side of the cubic mirror of the equipment being measured.

[0009] S3: Connect electronic theodolite 1, electronic theodolite 2, electronic theodolite 3, and electronic theodolite 4 to the computer testing system via a multi-serial port server;

[0010] S4: Input the theoretical attitude matrix M0 of the cube mirror of the device under test in the spacecraft mechanical coordinate system under theoretical conditions into the computer testing system;

[0011] S5: Use a computer testing system to collect collimation data and cross-alignment values;

[0012] S6: Calculate the measured attitude matrix M1 of the cubic mirror coordinate system of the device under test in the spacecraft mechanical coordinate system using a computer testing system, and compare it with the theoretical attitude matrix M0. If the deviation is out of tolerance, make adjustment measurements.

[0013] S7: Calculate the matrix N of the actual attitude of the cubic mirror of the device under test relative to the theoretical attitude using a computer testing system, and complete the unification of the coordinate system of the measuring device with the reference coordinate system.

[0014] S8: Compare matrix N with the identity matrix E, and start adjusting the measurement based on the deviation;

[0015] S9: Determine the positional relationship of each mounting screw of the cubic mirror of the device under test in the coordinate system of the cubic mirror of the device under test;

[0016] S10: Based on the spatial geometric attitude change law, determine the thickness of the shims added at each mounting screw position and the rotation angle of the cubic mirror of the device under test;

[0017] S11: Add a shim to the position of the mounting screw corresponding to the cubic mirror of the device under test, rotate the cubic mirror of the device under test by a certain angle, tighten the screw and measure the force;

[0018] S12: Remeasure the attitude matrix M2 of the cube mirror coordinate system of the device under test in the spacecraft mechanical coordinate system, and compare the result with M0. If the deviation is within the accuracy requirement, it is qualified. If it exceeds the accuracy requirement, repeat the above steps S6-S12 until the accuracy requirement is met.

[0019] Preferably, in step S5, the computer testing system collects the collimation data of electronic theodolite one, electronic theodolite two, electronic theodolite three, and electronic theodolite four, respectively.

[0020] Preferably, in step S5, the computer testing system collects the mutual alignment values ​​between electronic theodolite one and electronic theodolite two, between electronic theodolite one and electronic theodolite three, and between electronic theodolite one and electronic theodolite four, respectively.

[0021] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0022] This application proposes a method for adjusting the installation accuracy of equipment during the spacecraft assembly process. It unifies the coordinate system of the measuring equipment with the coordinate system of the measurement reference, and solves the problem of low adjustment efficiency, cumbersome intermediate iteration process, and poor adjustment effect caused by the misalignment of the coordinate system of some equipment with the reference coordinate system. It improves the efficiency and accuracy of equipment adjustment and can quickly complete the installation accuracy adjustment measurement of various installation attitude equipment. Attached Figure Description

[0023] Figure 1 A schematic diagram of the operation of the mirror normal direction method based on oblique observation during the spacecraft assembly process according to an embodiment of the present invention is shown.

[0024] Legend:

[0025] 1. Reference cube mirror for the whole instrument; 2. Electronic theodolite I; 3. Electronic theodolite II; 4. Cube mirror of the device under test; 5. Electronic theodolite III; 6. Electronic theodolite IV; 7. Computer testing system; 8. Multi-serial port server. Detailed Implementation

[0026] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0027] Please see Figure 1 The present invention provides a technical solution:

[0028] A method for adjusting the installation accuracy of equipment during the spacecraft assembly process includes the following steps:

[0029] S1: Using electronic theodolite 1-2 as the reference theodolite and the collimator reference cube mirror 1 as the measurement reference, collimate one side of the collimator reference cube mirror 1, set up electronic theodolite 2-3, collimate the other side of the collimator reference cube mirror 1, and the computer testing system 7 collects data from electronic theodolite 1-2 and electronic theodolite 2-3. Electronic theodolite 1-2 and electronic theodolite 2-3 are cross-aligned, and the computer testing system 7 collects data to complete the construction of the measurement coordinate system.

[0030] S2: The cube mirror (4) of the device under test is used as the device under test. The electronic theodolite 3 5 is set up and collimated on one side of the cube mirror 4 of the device under test. The computer test system 7 collects data. The electronic theodolite 1 2 and the electronic theodolite 3 5 are aligned with each other. The computer test system 7 collects data. The electronic theodolite 4 6 is set up and collimated on the other side of the cube mirror 4 of the device under test. The computer test system 7 collects data. The electronic theodolite 1 2 and the electronic theodolite 4 6 are aligned with each other. The computer test system 7 collects data.

[0031] S3: Electronic theodolite 1 2, electronic theodolite 2 3, electronic theodolite 3 5, and electronic theodolite 4 6 are connected to the computer testing system 7 via the multi-serial port server 8 to assist in the transmission and acquisition of data. The computer testing system 7 is used for data acquisition, calculation, display, and storage of calculation results.

[0032] S4: Input the theoretical attitude matrix M0 of the cube mirror 4 of the device under test in the spacecraft mechanical coordinate system under theoretical conditions into the computer testing system 7;

[0033] S5: Use computer testing system 7 to collect collimation data and mutual aiming values;

[0034] S6: Calculate the measured attitude matrix M1 of the cube mirror 4 coordinate system of the tested equipment in the spacecraft mechanical coordinate system using the computer testing system 7, and compare it with the theoretical attitude matrix M0. If the deviation is out of tolerance, make adjustment measurements.

[0035] S7: Using the computer testing system 7, the matrix N of the actual attitude of the cubic mirror 4 of the device under test relative to the theoretical attitude is calculated, and the coordinate system of the measuring device is unified with the reference coordinate system.

[0036] S8: Compare matrix N with the identity matrix E, and start adjusting the measurement based on the deviation;

[0037] S9: Determine the positional relationship of each mounting screw of the cubic mirror 4 of the device under test in the coordinate system of the cubic mirror 4 of the device under test;

[0038] S10: Based on the spatial geometric posture change law, determine the thickness of the shims added at each mounting screw position and the rotation angle of the cubic mirror 4 of the device under test;

[0039] S11: Add a shim to the position of the mounting screw corresponding to the cubic mirror 4 of the device under test, rotate the cubic mirror 4 of the device under test by a certain angle, tighten the screw and measure the force;

[0040] S12: Remeasure the attitude matrix M2 of the cube mirror 4 coordinate system of the device under test in the spacecraft mechanical coordinate system, and compare the result with M0. If the deviation is within the accuracy requirement range, it is qualified. If it exceeds the accuracy requirement, repeat the above steps S6-S12 until the accuracy requirement is met.

[0041] Specifically, such as Figure 1 As shown, in step S5, the computer testing system 7 collects the collimation data of electronic theodolite 1 2, electronic theodolite 2 3, electronic theodolite 3 5 and electronic theodolite 4 6 respectively.

[0042] Specifically, such as Figure 1As shown, in step S5, the computer testing system 7 collects the mutual alignment values ​​between electronic theodolite 12 and electronic theodolite 23, the mutual alignment values ​​between electronic theodolite 12 and electronic theodolite 35, and the mutual alignment values ​​between electronic theodolite 12 and electronic theodolite 46, respectively. The computer testing system 7 collects data.

[0043] This application proposes a method for adjusting the installation accuracy of equipment during the spacecraft assembly process. It unifies the coordinate system of the measuring equipment with the coordinate system of the measurement reference, and solves the problem of low adjustment efficiency, cumbersome intermediate iteration process, and poor adjustment effect caused by the misalignment of the coordinate system of some equipment with the reference coordinate system. It improves the efficiency and accuracy of equipment adjustment and can quickly complete the installation accuracy adjustment measurement of various installation attitude equipment.

[0044] The above description of the embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for adjusting the installation accuracy of equipment during the spacecraft assembly process, characterized in that, The adjustment method includes the following steps: S1: Using the electronic theodolite one (2) as the reference theodolite and the collimator reference cubic mirror (1) on one side, set up the electronic theodolite two (3) and the other side of the collimator reference cubic mirror (1); S2: Set up the electronic theodolite three (5) to collimate one side of the cubic mirror (4) of the device being measured, and set up the electronic theodolite four (6) to collimate the other side of the cubic mirror (4) of the device being measured; S3: Connect the electronic theodolite 1 (2), electronic theodolite 2 (3), electronic theodolite 3 (5), and electronic theodolite 4 (6) to the computer testing system (7) via the multi-serial port server (8); S4: Input the theoretical attitude matrix M0 of the cubic mirror (4) of the device under test in the spacecraft mechanical coordinate system under theoretical conditions into the computer test system (7); S5: Use the computer testing system (7) to collect the collimation data of electronic theodolite 1 (2), electronic theodolite 2 (3), electronic theodolite 3 (5) and electronic theodolite 4 (6), as well as the mutual aiming values ​​between electronic theodolite 1 (2) and electronic theodolite 2 (3), between electronic theodolite 1 (2) and electronic theodolite 3 (5), and between electronic theodolite 1 (2) and electronic theodolite 4 (6); S6: Calculate the measured attitude matrix M1 of the cubic mirror (4) coordinate system of the tested equipment in the spacecraft mechanical coordinate system using the computer testing system (7), and compare it with the theoretical attitude matrix M0. If the deviation is too large, make adjustment measurements. S7: Using the computer testing system (7), the matrix N of the actual attitude of the cubic mirror (4) of the device under test relative to the theoretical attitude is calculated, and the coordinate system of the measuring device is unified with the reference coordinate system. S8: Compare matrix N with the identity matrix E, and start adjusting the measurement based on the deviation; S9: Determine the positional relationship of each mounting screw of the cubic mirror (4) of the device under test in the coordinate system of the cubic mirror (4); S10: Based on the spatial geometric posture change law, determine the thickness of the shims added at each mounting screw position and the rotation angle of the cubic mirror (4) of the device under test; S11: Add a shim to the corresponding screw position of the cubic mirror (4) of the device under test, rotate the cubic mirror (4) of the device under test by a certain angle, tighten the screw and measure the force; S12: Remeasure the attitude matrix M2 of the cube mirror (4) coordinate system of the device under test in the spacecraft mechanical coordinate system, and compare the result with M0. If the deviation is within the accuracy requirement range, it is qualified. If it exceeds the accuracy requirement, repeat the above steps S6-S12 until the accuracy requirement is met.

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