A system for automatic detection of payload attitude of large space probes

Abstract

The present invention discloses a system for automatic detection of the attitude of a large space probe payload, which belongs to the field of metrology and detection in the manufacturing industry. The present invention includes a ground measurement network component, an omnidirectional mobile space positioning platform, a precise positioning platform, and a tracking and collimating measuring instrument. The present invention uses an adaptive collimating target to construct a ground measurement network with the support of a tracking and collimating measuring instrument, uses one of the dual tracking and collimating measuring instruments to cooperate with the adaptive collimating target in the ground measurement network to realize real-time measurement of the spatial position and attitude of the tracking and collimating measuring instrument, uses one of the dual tracking and collimating measuring instruments to realize alignment measurement with the cubic mirror on the satellite payload, uses a high-altitude carrying platform to realize initial positioning and stable support of the tracking and collimating measuring instrument according to the measured spatial position and attitude data, uses a tracking and collimating measuring instrument support frame to realize precise positioning of the dual tracking collimators according to the measured spatial position and attitude data, and realizes automatic measurement of the attitude of a large space probe payload.

Description

Technical Field

[0001] The present invention belongs to the field of manufacturing measurement and detection, and relates to a system for automatic detection of the payload posture of a large space probe, and in particular to a system that directly provides automatic detection of the payload posture during the manufacturing process of the large space probe payload. Background Art

[0002] Satellite payload attitude measurement is used to obtain the attitude relationship between satellite payloads such as the IMU, antenna, and star sensors. It is an essential inspection and testing step during satellite assembly, integration, and testing. A search revealed two main measurement schemes. One is a manual aiming measurement scheme based on dual latitude and longitude. In this scheme, the satellite being measured is fixed, and two theodolites are used to align the mirror surfaces of the reference cubic mirrors on different payloads on the satellite being measured. The attitude relationship between the different payloads is then established through manual mutual aiming. This scheme obtains the payload attitude angle by aligning the electronic theodolite with the reference mirror and then manually aiming the horizontal and elevation angles of the measuring theodolite and the ground theodolite. Therefore, each payload position that needs to be measured requires a manually set up theodolite for alignment measurement. Furthermore, due to the complex satellite structure and diverse payload placement, this scheme has the problems of high difficulty and low efficiency in manual measurement, and the measurement accuracy is easily affected by external factors.

[0003] The second measurement scheme is based on a combined measurement scheme of a single theodolite, a vertical back frame and a high-precision turntable. In this scheme, the satellite payload is installed on a high-precision turntable using pin-hole positioning, and the theodolite is installed on the vertical back frame. The theodolite uses a digital CCD instead of human eye aiming. Through height adjustment and rotation adjustment of the turntable, the theodolite and the mirror surface of the first payload reference cubic mirror are aligned and the corresponding angle is recorded. Then, according to the design value or pre-learned attitude relationship between each reference cubic mirror, the turntable rotates and the vertical back frame carries the theodolite for height movement, so that the theodolite and the reference cubic mirror at the second measurement position are precisely aligned. Then, the second payload position is measured through the theodolite angle, the yaw repeatability provided by the vertical back frame, and the angle provided by the turntable. And so on. Therefore, this scheme is suitable for the automated measurement of small detectors. This solution requires the use of the rotation angle of the turntable and the high-precision yaw consistency provided by the vertical support frame as a reference benchmark. This is combined with the two-dimensional angle of the theodolite to achieve high-precision load attitude measurement. Therefore, the system requires regular calibration after operation, and the system accuracy is limited by the yaw repeatability of the turntable and support frame, making it difficult to further improve. Furthermore, for large space probes with heights exceeding 8 meters, high-precision rotational positioning is difficult due to their heavy weight and complex structure. Even with bottom positioning, the bottom-top assembly error and rotational tower error will affect measurement accuracy. Therefore, large space probes are not suitable for rotational measurement. Summary of the Invention

[0004] In order to solve the problems that the existing large-scale space probe payload attitude cannot be automatically measured and the existing automated measurement system has a complex structure and low measurement accuracy, the main purpose of the present invention is to provide a system for automatic detection of the payload attitude of a large-scale space probe, using an adaptive collimation target to build a ground measurement network with the support of a tracking and collimation measuring instrument, using one of the dual tracking and collimation measuring instruments to cooperate with the adaptive collimation target in the ground measurement network to realize real-time measurement of the spatial position and attitude of the tracking and collimation measuring instrument, using one of the dual tracking and collimation measuring instruments to realize collimation measurement with the cubic mirror on the satellite payload, using a high-altitude carrying platform to realize the initial positioning and stable support of the tracking and collimation measuring instrument according to the measured spatial position and attitude data, using a tracking and collimation measuring instrument support frame to realize precise positioning of the dual tracking collimators according to the measured spatial position and attitude data, thereby achieving the purpose of automatic measurement of the payload attitude of a large-scale space probe.

[0005] The present invention is achieved through the following technical solutions:

[0006] The present invention discloses a system for automatic detection of the payload attitude of a large space probe, which mainly consists of four parts: a ground measurement network component, an omnidirectional mobile space positioning platform, a precise positioning platform, and a tracking and collimation measuring instrument.

[0007] The ground measurement network components are distributed on both sides of the large space detector to be measured, and are used to construct an overall measurement network on the ground, establish a measurement coordinate system, and cooperate with the tracking and collimation measuring instrument to provide real-time spatial coordinate data for the high-altitude carrying platform, thereby providing data support for the planning of the high-altitude carrying platform movement. At the same time, when the tracking and collimation measuring instrument arrives at the stationary state of the measurement station, the tracking and collimation measuring instrument is used to perform alignment measurement to provide attitude data for the tracking and collimation measuring instrument, which serves as the attitude reference for the measurement of the large space detector payload. The omnidirectional mobile space positioning platform is used to install a precise positioning platform, which is used to realize the spatial carrying and stable support of the collimation tracking measuring instrument installed on the precise positioning platform. The precise positioning platform is installed on the high-altitude carrying platform and is used to install the tracking and collimation measuring instrument to realize adaptive position adjustment according to the structure of the cubic mirror of the large space detector payload measured by the tracking and collimation measuring instrument, and arrive at the alignment measurement station. The tracking collimator is used to provide measurement laser and collimation data for the adaptive collimator target, thereby establishing a ground measurement network. At the same time, the aiming angle is established through collimation measurement with the cubic mirror of the large space probe payload to be measured, and then the automatic measurement of the large space probe payload is achieved through collimation measurement with an adaptive target in the ground measurement network component.

[0008] The ground measurement network assembly primarily consists of a ground position and attitude measurement unit consisting of multiple adaptive collimation targets and a leveling support frame. The adaptive collimation target can sense the direction of the tracking collimator's emission and perform two-dimensional horizontal and pitch rotation adjustments, allowing the reference plane conic mirror mounted on it to return the incident laser beam along its original path while simultaneously measuring the horizontal and pitch rotation angles with high precision, thereby providing a reference for the attitude angle of the tracking collimator. The support frame can provide leveling and stabilizing support functions, facilitating the placement of the ground position and attitude measurement unit in different locations.

[0009] The omnidirectional mobile space positioning platform is mainly composed of an omnidirectional mobile carrier, a vertical high-altitude carrier frame, and a stable support. The omnidirectional mobile carrier is the basis of automated measurement. It adopts omnidirectional wheels with stable support and is equipped with a control system based on measurement data to realize autonomous navigation positioning and stable support after initial positioning. The vertical high-altitude carrier frame is installed in the middle of the omnidirectional mobile vehicle and is used to install a precise positioning platform. It realizes mobile positioning in the height direction of space based on the measurement data of the tracking and alignment measuring instrument installed on the precise positioning platform and the adaptive alignment target in the ground measurement network component. The stable support is used to increase the lateral stiffness of the vertical high-altitude carrier frame and improve the stability of the tracking and alignment measuring instrument installed on the precise positioning platform during measurement.

[0010] The precise positioning platform primarily consists of a high-precision two-dimensional translation stage, a lower connecting plate, support rods, a lower connecting plate, and an upper connecting plate. The high-precision two-dimensional translation stage is mounted on a vertical motion slide of a vertical high-altitude carrier. It supports a tracking and alignment measuring instrument via a support frame consisting of the lower connecting plate, support rods, and lower and upper connecting plates. This platform achieves precise two-dimensional horizontal movement based on alignment measurement data from the tracking and alignment measuring instrument mounted on the precise positioning platform and a cubic mirror mounted on the payload of a large space probe.

[0011] The tracking collimator is mainly used to cooperate with the adaptive collimator target to achieve high-precision spatial position and attitude measurement between the tracking collimator measurement and the adaptive collimator target. When the adaptive collimator target is fixed on the ground, the real-time measurement of the spatial position of the tracking collimator can be achieved, and then the large-area spatial positioning of the tracking collimator can be achieved through the measurement network constructed by two or more ground position and attitude measurement units, thereby providing the omnidirectional mobile space positioning platform with motion reference data of the spatial position. At the same time, by reasonably arranging the ground measurement network around the large detector, it is effectively avoided that the large space detector blocks the line of sight of the tracking collimator, thereby providing all-round automatic attitude measurement for the large detector load measurement. In addition, the spatial coordinate measurement of the measurement reference point is achieved by coordinating the tracking collimator measurement with the spherical angle cone target mirror, thereby realizing the alignment of the design coordinate system and the measurement coordinate system of the large space detector, thereby improving efficiency. The tracking collimator establishes a coordinate relationship with the adaptive collimator target that constitutes the ground position and attitude measurement unit, thereby constructing a ground measurement network.

[0012] The adaptive pitch adjustment assembly is used to mount a perforated conic mirror, a reference plane mirror, and a laser displacement sensor (PSD). This allows for position sensing of the incoming laser beam from the tracking collimator and subsequent pitch adjustment, enabling tracking collimation measurement and alignment with the reference plane mirror. The horizontal rotation adjustment assembly is used to mount the adaptive pitch adjustment assembly, ensuring pitch rotation accuracy, providing power for pitch rotation, and enabling high-precision measurement of pitch angles. The base assembly is used to mount the horizontal rotation adjustment assembly, ensuring horizontal rotation accuracy, providing power for horizontal rotation, and enabling high-precision measurement of horizontal angles. The control assembly is used to collect and calculate PSD data, perform adaptive motion control, and measure and calculate pitch and horizontal angles.

[0013] Preferably, the vertical high-altitude carrying back frame in the omnidirectional mobile space positioning platform adopts a back stand, with a guide rail laid on the front, a brake motor driving the screw to drive the slide to move, and an additional back counterweight to achieve the goal of a low starting position of the instrument, smooth movement and protection of the safety of the tracking and alignment measuring instrument.

[0014] Preferably, the slide position of the vertical high-altitude carrier in the omnidirectional mobile space positioning platform adopts an absolute positioning grating ruler as a measurement feedback means to achieve precise height direction mobile positioning control of the tracking collimation measuring instrument.

[0015] Preferably, the high-precision two-dimensional displacement stage used in the precise positioning platform adopts an absolute positioning grating ruler as a measurement feedback means to achieve precise two-dimensional displacement movement of the tracking collimation measuring instrument.

[0016] Preferably, the tracking and alignment measuring instrument utilizes two sets of tracking and alignment measuring instruments arranged in an upper and lower arrangement. The inverted tracking and alignment measuring instrument is used to cooperate with the measurement network constructed by the ground position and attitude measurement unit to achieve real-time measurement of the spatial position of the tracking and alignment measuring instrument itself as navigation data for the omnidirectional mobile space positioning platform. At the same time, after arriving at the measurement station, the tracking and alignment measuring instrument and the adaptive tracking and alignment standard constituting the ground position and attitude measurement unit are used to achieve high-precision attitude measurement of the tracking and alignment measuring instrument itself. The upper tracking and alignment measuring instrument is used to perform position and alignment measurements with the cubic mirror installed on the payload of a large space probe.

[0017] The present invention discloses a working method of a system for automatic detection of payload attitude of a large space probe as follows:

[0018] The large-scale space detector to be measured is fixedly installed. The spatial coordinate values ​​of the adaptive alignment target measured by the tracking collimator are recorded. Simultaneously, alignment measurements are performed, recording the angle values ​​of the tracking collimator and the adaptive target. This establishes a unified positional relationship between the two ground position and attitude measurement units and the tracking collimator, thus forming a ground measurement network. The coordinate measurement function of the tracking collimator is used in conjunction with a spherical cone target to measure the reference points of the large-scale space detector to be measured. Coordinate fitting is used to align the measurement coordinate system with the coordinate system of the large-scale space detector. The tracking collimator, in conjunction with the ground position and attitude measurement unit, performs spatial positioning measurements of the tracking collimator mounted on the omnidirectional mobile spatial positioning platform, thereby providing ground and altitude guidance data for the omnidirectional mobile spatial positioning platform. The tracking collimator, in conjunction with the ground position and attitude measurement unit, performs spatial positioning measurements of the tracking collimator mounted on the omnidirectional mobile spatial positioning platform, thereby providing ground and altitude guidance data for the omnidirectional mobile spatial positioning platform. The omnidirectional mobile spatial positioning platform plans a path based on the payload's attitude measurement points and pointing data, combining it with guidance data to achieve initial positioning on the ground and in space. The tracking and alignment instrument calculates its own position through alignment measurement of its positional relationship with the large space probe payload being measured. The precise positioning platform and vertical back frame then precisely adjust their position and attitude based on the tracking and alignment instrument's alignment measurement results. The tracking and alignment instrument then performs alignment measurements with the large space probe payload being measured and with the adaptive alignment target of the ground position and attitude measurement unit. Attitude measurements of different payloads are performed sequentially. When the tracking and alignment instrument reaches a position where it can no longer see the adaptive alignment target of the ground position and attitude measurement unit, it uses data from the established ground measurement network to automatically calculate its own position relationship with the adaptive alignment target of the ground position and attitude measurement unit on the other side, achieving automatic aiming and tracking measurement, and completing the measurement reference conversion. Attitude measurements of the remaining payloads are then completed sequentially, enabling automatic detection of the large space probe payload's attitude.

[0019] The large space probes mentioned above refer to lunar, Martian and other probes with a size of more than 2 meters.

[0020] Beneficial effects:

[0021] 1. The present invention discloses a system for automatically detecting the attitude of a large space probe payload. When the space probe is fixed, the system can realize automatic measurement of the attitude of the probe payload by cooperating with a mobile tracking collimator and a fixed adaptive collimator target. Compared with the existing solution of mounting the probe on a turntable and carrying a theodolite on a back frame for alignment measurement, the system can effectively avoid the large angle measurement error caused by the rotational pyramid error after the probe is mounted on the turntable and the problem of limited turntable load, thereby improving measurement accuracy and expanding the scope of application of the measurement system.

[0022] 2. The present invention discloses a system for automatically detecting the attitude of a large space probe payload. The reference for the attitude angle of the large space probe payload being measured is obtained by tracking the collimator and the adaptive collimator standard in the ground position and attitude measurement unit. The combined angle measurement error of the tracking collimator and the adaptive target is ±5", which can effectively improve the accuracy of attitude measurement compared with the existing theodolite mutual aiming method and the attitude measurement method using a turntable and a back frame to provide a reference.

[0023] 3. The present invention discloses a system for automatically detecting the attitude of large space probe payloads. This system utilizes a tracking collimator in conjunction with an adaptive collimator target in a ground position and attitude measurement unit to achieve real-time coordinate tracking and measurement. This allows for spatial positioning measurements of the tracking collimator mounted on an omnidirectional mobile space positioning platform. The tracking collimator calculates its own position by collimating the positional relationship with the large space probe payload being measured. The precise positioning platform and vertical back frame then precisely adjust their position and attitude based on the tracking collimator's measurement results. This effectively improves the automation of alignment measurements during measurement, thereby increasing measurement efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a general diagram of a system for automatic detection of payload attitude of a large space probe according to the present invention;

[0025] Figure 2 It is a structural diagram of the ground position and attitude measurement unit of the present invention;

[0026] Figure 3 This is a structural diagram of the omnidirectional mobile spatial positioning platform of the present invention;

[0027] Figure 4 This is a structural diagram of the precise positioning platform and tracking collimation measuring instrument of the present invention;

[0028] Figure 5 It is a structural diagram of the tracking collimation measuring instrument of the present invention;

[0029] Figure 6 It is a structural diagram of the adaptive collimation target of the present invention;

[0030] Figure 7 It is a flow chart of the working method of automatic detection of the present invention.

[0031] Among them: 1-ground measurement network component, 2-omnidirectional mobile space positioning platform, 3-precision positioning platform, 4-tracking and collimation measuring instrument, 5-large space detector, 101-adaptive collimation target, 102-leveling support frame, 201-omnidirectional mobile carrier, 202-vertical high-altitude carrier back frame, 203-stable support, 301-high-precision two-dimensional displacement stage, 302-lower connecting plate, 303-support rod, 304-upper connecting plate, 305-lower connecting plate, 401-two-dimensional tracking and angle measurement component, 402-integrated optical component, 403-automatic zoom collimation component, 404-ranging component, 405-integrated control and measurement component, 1011-adaptive pitch adjustment component, 1012-horizontal rotation adjustment component, 1013-base component, 1014-control component. DETAILED DESCRIPTION

[0032] The present invention is further described below with reference to the accompanying drawings and implementation examples.

[0033] See attached Figure 1 As shown, the system disclosed in this embodiment for automatic detection of the payload posture of a large space probe 5 mainly consists of four parts: one is a ground measurement network component 1, the second is an omnidirectional mobile space positioning platform 2, the third is a precise positioning platform 3, and the fourth is a tracking and collimation measuring instrument 4.

[0034] The ground measurement network assembly 1 is distributed on both sides of the large-scale space detector 5 to be measured, and is used to construct an overall measurement network on the ground, establish a measurement coordinate system, and cooperate with the inverted tracking collimator 4 to provide real-time spatial coordinate data for the high-altitude carrier platform, thereby providing data support for the planning of the high-altitude carrier platform's movement. At the same time, when the tracking collimator 4 reaches the stationary state of the measurement station, the tracking collimator 4 is aligned with the tracking collimator 4 to provide posture data for the tracking collimator 4, which serves as the posture reference for the load measurement of the large-scale space detector 5. The omnidirectional mobile space positioning platform 2 is used to install the precise positioning platform 3, which can realize the spatial carrying and stable support of the collimator tracking instrument installed on the precise positioning platform 3. The precise positioning platform 3 is installed on the high-altitude carrier platform and is used to install the tracking collimator 4 to realize adaptive position adjustment according to the structure of the cubic mirror of the load of the large-scale space detector 5 measured by the tracking collimator 4, and arrive at the collimation measurement station. The tracking collimator 4 is used to provide measurement laser and collimation data for the adaptive collimator target 101, thereby establishing a ground measurement network component 1. At the same time, the aiming angle is established through collimation measurement with the cubic mirror of the payload of the large space probe 5 to be measured, and then the automatic measurement of the payload of the large space probe 5 is realized through collimation measurement with an adaptive target in the ground measurement network component 1.

[0035] See attached Figure 2 As shown, the ground measurement network component 1 is mainly composed of a ground position and attitude measurement unit consisting of multiple adaptive collimation targets 101 and a leveling support frame 102. The adaptive collimation target 101 can sense the direction of emission of the tracking collimator 4 and perform two-dimensional horizontal rotation and pitch rotation adjustment, so that the reference plane angle conic plane mirror installed thereon can return the incident laser to the original path, and at the same time measure the horizontal and pitch rotation angles with high precision, thereby providing a reference for the attitude angle of the tracking collimator 4; the support frame can have leveling and stable support functions, which is convenient for the arrangement of different positions of the ground position and attitude measurement unit.

[0036] See attached Figure 3As shown, the omnidirectional mobile space positioning platform 2 is mainly composed of an omnidirectional mobile carrier 201, a vertical high-altitude carrier frame 202, a stable support 203 and other components. The omnidirectional mobile carrier 201 is the basis of automated measurement. It adopts an omnidirectional wheel solution with stable support, and is equipped with a control system based on measurement data to achieve autonomous navigation positioning and stable support after initial positioning. The vertical high-altitude carrier frame 202 is installed in the middle of the omnidirectional mobile vehicle and is used to install the precise positioning platform 3. It realizes mobile positioning in the height direction of space based on the measurement data of the tracking and alignment measuring instrument 4 installed on the precise positioning platform 3 and the adaptive alignment target 101 in the ground measurement network component 1. The stable support 203 is used to increase the lateral stiffness of the vertical high-altitude carrier frame 202, and improve the stability of the tracking and alignment measuring instrument 4 installed on the precise positioning platform 3 during measurement.

[0037] See attached Figure 4 As shown, the precise positioning platform 3 is primarily composed of a high-precision two-dimensional translation stage 301, lower connecting plates 305-302, support rods 303, lower and upper connecting plates 304, and other components. The high-precision two-dimensional translation stage 301 is mounted on the vertical motion slide of the vertical high-altitude carrier 202. It is used to support the tracking and alignment measuring instrument 4 via a support frame consisting of the lower connecting plates 305-302, support rods 303, and lower and upper connecting plates 304. It achieves precise two-dimensional horizontal movement based on alignment measurement data from the tracking and alignment measuring instrument 4 mounted on the precise positioning platform 3 and the cubic mirror mounted on the payload of the large space probe 5.

[0038] The tracking collimator 4 is mainly used to cooperate with the adaptive collimator target 101 to achieve high-precision spatial position and attitude measurement between the tracking collimator measurement and the adaptive collimator target 101. When the adaptive collimator target 101 is fixed on the ground, the real-time measurement of the spatial position of the tracking collimator 4 can be achieved. Then, through the measurement network constructed by two or more ground position and attitude measurement units, the large-area spatial positioning of the tracking collimator 4 can be achieved, thereby providing the omnidirectional mobile space positioning platform 2 with motion reference data of the spatial position. At the same time, by reasonably arranging the ground measurement network around the large detector, the occlusion of the tracking collimator 4 when measuring the load can be effectively avoided, thereby providing a full range of automatic attitude measurement for the large detector load measurement. In addition, the tracking collimator measurement can be combined with the spherical angle cone target to achieve the spatial coordinate measurement of the measurement reference point, thereby enabling the alignment of the design coordinate system and the measurement coordinate system of the large space detector 5, thereby improving efficiency. The tracking collimator 4 establishes a coordinate relationship with the adaptive collimator target 101 that constitutes the ground position and attitude measurement unit, thereby constructing a ground measurement network.

[0039] See attached Figure 5As shown, the tracking and collimating measuring instrument 4 is mainly composed of a two-dimensional tracking angle measuring component 401, an integrated optical component 402, an automatic zoom collimating component 403, a distance measuring component 404 and an integrated control and measuring component 405.

[0040] The two-dimensional tracking angle measurement component 401 is used to install a reflecting plane mirror to achieve high-precision horizontal rotation and measurement and pitch rotation and measurement of the reflecting plane mirror. The ranging laser provides the horizontal angle, pitch angle and ranging information of the ranging light after being reflected by the rotation center of the plane mirror; a reflective mirror is also installed on it, which can bring together the ranging laser, tracking indicator laser, collimation indicator light in the integrated optical component 402 and the optical center axis in the automatic zoom collimation component 403, and reach the measured cooperative target component after being reflected by the reflective mirror, and return to the integrated optical component 402 and the automatic zoom collimation component 403 along the original path after being reflected by the measured cooperative target component, and obtain the ranging information combined with the horizontal angle, pitch angle and ranging component 404 through the integrated control measurement component 405, so as to achieve high-precision measurement of the spatial coordinates or posture of the measured cooperative target; the integrated optical component 402 is mainly used to bring together the ranging laser, tracking indicator laser, collimation indicator light and the optical center axis in the automatic zoom collimation component 403 The indicator laser and the collimated indicator light converge and adjust to the same optical path to achieve the convergence of the optical paths. At the same time, the modular assembly facilitates installation and overall adjustment. The automatic zoom collimation component 403 is used to achieve automatic zooming according to the distance information from the cooperative target measured by the ranging component 404, so as to obtain clear image information of the collimated indicator light reflected by the cooperative target, and realize high-precision posture measurement by combining the center point solution with the ranging information. The ranging component 404 is used to realize the distance measurement of the cooperative target point and provide real-time distance measurement information for tracking and collimation posture solution. The integrated control and measurement component 405 is used to realize the motion control of the two-dimensional angle of the two-dimensional tracking angle measurement component 401 and the real-time horizontal angle and pitch angle feedback measurement and output, and is also used to realize the ranging information acquisition and output of the ranging component 404, the extraction and processing of the center point of the collimated indicator light, and realize the measurement of spatial position and posture. The two-dimensional tracking angle measurement assembly 401 includes a circular grating reading head, a pitch angle measurement circular grating, a pitch axis left precision bearing, a pitch axis counterweight, a plane reflector, a pitch axis, a pitch axis seat, an inclination sensor, a pitch axis right precision bearing, a pitch axis direct-drive torque motor, a pitch direct-drive torque motor mounting seat, a protective cover, a main reflective mirror, an upper precision bearing of the horizontal rotation axis, a cable protective cover, a ring handle, a lower precision bearing, a bearing locking thread, a ball bearing, a horizontal rotation axis direct-drive torque motor, a handle mounting seat, a horizontal angle measurement circular grating, a horizontal rotation axis mounting seat and a horizontal rotation axis.The pitch angle measurement circular grating is installed on the pitch axis and cooperates with the reading head to achieve high-precision pitch angle measurement; after the left precision bearing of the pitch axis is installed on the left side of the pitch axis, the right precision bearing of the pitch axis is installed through the bearing mounting hole of the pitch axis. The pitch axis realizes precise rotation guidance through the left precision bearing of the pitch axis and the right precision bearing of the pitch axis; the pitch axis is driven by the direct-drive torque motor installed at its right end; the pitch axis direct-drive torque motor is installed on the pitch axis seat through the direct-drive torque motor mounting seat; the inclination sensor is installed on the top of the pitch axis seat to realize instrument leveling and compensation; the horizontal rotation axis is installed on the horizontal rotation axis mounting seat through the upper precision bearing and the lower precision bearing of the horizontal rotation axis. The angle of the horizontal rotation axis is measured by the horizontal angle measurement circular grating; its drive is provided by the horizontal rotation axis direct-drive torque motor; the plane reflector is installed on the pitch axis with its reflecting surface located at the center of the pitch axis and the center of the horizontal axis. The pitch and horizontal angles are rotated by the direct-drive torque motor of the horizontal rotation axis, and the precise measurement of the pitch and horizontal angles is achieved through the horizontal angle measuring circular grating and the pitch angle measuring circular grating; the ring handle is connected to the horizontal rotation axis mount through the mounting handle mount installed on both sides, and the buffering of the mounting handle mount can effectively prevent the deformation of the horizontal rotation axis mount caused by excessive force of the ring handle during transportation; the main reflector is installed at the bottom of the hollow frame inside the pitch axis mount, and is used to converge the ranging laser, tracking indication laser, collimation indication light emitted by the integrated optical component 402 installed on the left side of the pitch axis mount, and the optical center axis of the automatic focus collimation component 403 installed in the middle of the horizontal rotation axis, and reach the measured cooperative target component after reflection by the reflector; the protective cover is installed on the left and right sides of the pitch axis mount to include the components installed thereon, and the cable protective cover is installed on the top of the horizontal rotation axis mount to protect the internal wiring cables. The integrated optical component 402 includes a collimated light laser, a collimated laser diffraction lenslet, a diffraction reflector, a laser displacement sensing sensor, a laser displacement sensing sensor mounting seat, a lens assembly mounting seat, a laser lens mounting seat, a laser collimating lens, a filter, a flat transflector, a layered reflector, a transflector reflector mounting seat, a reflector, a diffraction ranging convergence transflector, a ranging laser fiber collimator, a diffraction large lens and a diffraction large lens mounting seat.The collimated light laser is installed on the lens assembly mounting seat through the collimated light laser mounting seat, and a collimated laser diffraction small lens is also installed on it for cooperating with the diffraction large lens installed on the diffraction large lens mounting seat to generate an annular collimated laser based on the diffraction principle; the annular collimated laser passes through the diffraction ranging convergence reflector and the ranging laser emitted by the ranging laser fiber collimator to converge, and then enters the plane reflector after being reflected by the reflector. The plane reflector is installed on the reflector reflector mounting seat and is installed at 45 degrees. The converged light is reflected by the plane reflector and enters the main reflector installed on the two-dimensional tracking angle measurement component 401, and then reflected by the main reflector and enters the plane reflector. The light from the cooperative target is projected onto the target, and the light from the cooperative target returns along the original path, passes through the plane reflective mirror, and is reflected by the added reflective mirror. It is collimated by the filter and the laser collimating lens, and then hits the laser displacement sensing sensor installed on the laser displacement sensing sensor mounting base. After signal processing, the horizontal angle and pitch angle values ​​measured by the two-dimensional tracking angle measurement component 401 are combined, and the tracking control of the two-dimensional tracking angle measurement component 401 is realized through processing by the integrated control and measurement component 405. The ranging light returns along the original path and reaches the ranging laser fiber collimator, enters the optical fiber, reaches the laser detector surface, and is processed by the integrated control and measurement component 405 to realize the distance measurement of the cooperative target. The automatic zoom collimation assembly 403 includes a collimation image acquisition camera, a zoom mount, a zoom lens group, a focusing motor, and a reflector. The zoom lens group is integrated into the zoom lens group barrel, and its optical center is strictly coaxial with the mechanical center of the external axis of the zoom lens group barrel after adjustment. The zoom lens group barrel is then installed in the horizontal rotation axis. The optical center of the zoom lens group is coaxial with the rotation axis of the rotation axis through the cooperation of upper and lower precision ball bearings. The zoom lens group achieves zoom by driving the gear and rack by the zoom motor. The zoom feedback uses distance measurement feedback to achieve automatic zoom, achieving the goal of automatically acquiring the collimated image. The distance measurement assembly 404 is integrated into the control box of the integrated control and measurement assembly 405. The distance measurement assembly 404 includes a measurement fiber, a measurement interferometer fiber, a balanced detector A, a balanced detector B, a reference fiber, an external frequency modulated laser, an external frequency modulated laser frequency modulation control and distance measurement processing circuit, and a distance measurement laser fiber collimator, and mainly realizes absolute distance measurement. The integrated control and measurement component 405 includes a control box upper cover, an image processing circuit, an image processing circuit mounting plate, an integrated motion control circuit, an integrated control circuit mounting plate, a dual reading head processor, a motion driver, a connector mounting plate, a control box body and a control box lower connecting plate.The image processing circuit is used to realize real-time processing of the collimated image to obtain the center point position of the collimated image. The collimated image processing circuit is installed on the upper cover of the control box through the image processing circuit mounting board; the integrated motion control circuit is installed on the upper cover of the control box through the integrated control circuit mounting board. It mainly controls the pitch axis direct drive torque motor, the horizontal rotation axis direct drive torque motor, and the focusing motor by controlling three motion drivers. The control box body is installed between the upper cover of the control box and the lower connecting plate of the control box to protect the control components and support them.

[0041] See attached Figure 6 As shown, the adaptive collimation target 101 mainly consists of four parts: an adaptive pitch adjustment component 1011 , a horizontal rotation adjustment component 1012 , a base component 1013 , and a control component 1014 .

[0042] The adaptive pitch adjustment assembly 1011 is used to mount a perforated conic mirror, a reference plane mirror, and a laser displacement sensor (PSD), enabling position sensing of the laser beam from the tracking collimator 4 and subsequent pitch adjustment, thereby achieving alignment and aiming between the tracking collimator 4 and the reference plane mirror. The horizontal rotation adjustment assembly 1012 is used to mount the adaptive pitch adjustment assembly 1011, ensuring pitch rotation accuracy, providing power for pitch rotation, and enabling high-precision measurement of pitch angles. The base assembly 1013 is used to mount the horizontal rotation adjustment assembly 1012, ensuring horizontal rotation accuracy, providing power for horizontal rotation, and enabling high-precision measurement of horizontal angles. The control assembly 1014 is used to collect and calculate PSD data, perform adaptive motion control, and measure and calculate pitch and horizontal angles.

[0043] When the angle of the reference plane mirror of the adaptive target is adjusted to be less than ±20° from the direction of the incoming light, the laser emitted from the main tracking collimator 4 passes through the small hole of the corner cone and reaches the PSD of the pitch adjustment component. After the position of the PSD sensor senses the offset of the laser, the adaptive pitch adjustment component 1011 control system will adaptively adjust the reference plane mirror to the direction of the incoming light, and then correct the pitch and horizontal adjustment angles of the main tracking collimator 4 and the adaptive adjustment device according to the laser image reflected back from the main tracking collimator 4, thereby realizing the alignment of the laser emitted by the reference plane mirror and the main tracking collimator 4.

[0044] The adaptive pitch adjustment assembly 1011 includes: a corner cone, a reference plane mirror, a PSD, a center positioning ring, a PSD mounting seat, a pitch rotation axis, a reference plane mirror adjustment seat, a left precision bearing, a bearing clamping threaded sleeve, a pitch circular grating mounting plate, a pitch circular grating, a right precision bearing, a pitch drive motor mover and a clamping adjustment ring.

[0045] The corner cube is mounted at the center of the reference plane mirror. Light is transmitted through a hole punched in the corner cube. It is used in conjunction with the PSD to sense the direction of the incident laser and simultaneously return incident laser light over a wide range, thereby achieving distance measurement. The reference plane mirror provides a high-precision mirror reflection reference for measurement alignment. The PSD is mounted on the PSD mount, which is mounted behind the centering ring. The centering ring has the reference plane mirror embedded within it. The assembled cube, reference plane mirror, PSD, centering ring, PSD mount, and reference plane mirror adjustment seat are collectively known as the corner cube reference plane mirror adjustment subassembly. The pitch rotation axis is a hollow structure with an axis; the angle cone reference plane mirror adjustment subassembly is placed in the hollow structure of the pitch rotation axis and is fixed by the reference plane mirror adjustment seat; the angle cone reference plane mirror adjustment subassembly is concentric and coaxial with the pitch rotation axis; the whole is placed inside the pitch axis mounting seat of the horizontal rotation adjustment assembly 1012; one end of the pitch rotation axis is equipped with a pitch circular grating mounting plate, which is placed in the mounting cover of the horizontal rotation adjustment assembly 1012; the other end is equipped with a pitch drive motor mover and a pitch drive motor stator, which are placed in the mounting cover of the horizontal rotation adjustment assembly 1012.

[0046] The horizontal rotation adjustment component 1012 includes: a mounting cover, a PSD signal processing circuit, a pitch axis mounting seat and a pitch grating scale reading head; the pitch grating scale reading head is used to read the circular grating to obtain pitch angle data; the PSD signal processing circuit is used to realize PSD signal processing.

[0047] The base assembly 1013 includes: a horizontal rotation axis, a horizontal circular grating reading head and a horizontal circular grating; the horizontal rotation axis and the horizontal circular grating are coaxially connected;

[0048] The control assembly 1014 includes a scale reading head processor, a motor driver, and a bottom mounting plate. The scale reading head processor processes angle measurement data, and the motor driver drives the horizontal drive motor. The bottom mounting plate is used to connect to an external mounting base.

[0049] See attached Figure 7 As shown, the working method of the system for automatic detection of the payload attitude of a large space probe 5 disclosed in the present invention is as follows:

[0050] The large-scale spatial detector 5 to be measured is fixedly installed. The spatial coordinate values ​​of the adaptive alignment target 101 measured by the tracking collimator 4 are recorded. Simultaneously, alignment measurements are performed, recording the angle values ​​of the tracking collimator 4 and the angle values ​​of the adaptive target. This establishes a unified positional relationship between the two ground position and attitude measurement units and the tracking collimator 4, thus forming a ground measurement network. The coordinate measurement function of the tracking collimator 4 is used in conjunction with a spherical cone target to measure the reference points of the large-scale spatial detector 5 to be measured. Coordinate fitting is then used to align the measurement coordinate system with the coordinate system of the large-scale spatial detector 5. The tracking collimator 4, in conjunction with the ground position and attitude measurement unit, is used to perform spatial positioning measurements of the tracking collimator 4 mounted on the omnidirectional mobile spatial positioning platform 2, thereby providing the omnidirectional mobile spatial positioning platform 2 with ground and altitude guidance data. The tracking collimator 4, in conjunction with the ground position and attitude measurement unit, is used to perform spatial positioning measurements of the tracking collimator 4 mounted on the omnidirectional mobile spatial positioning platform 2, thereby providing the omnidirectional mobile spatial positioning platform 2 with ground and altitude guidance data. The omnidirectional mobile space positioning platform 2 plans a path based on the payload attitude measurement points and pointing data, and realizes initial positioning on the ground and in space in combination with the guidance data. The tracking and alignment measuring instrument 4 calculates its own position by means of alignment measurement and the positional relationship between the payload of the large-scale space detector 5 being measured. The precise positioning platform 3 and the vertical back frame then precisely adjust the position and attitude based on the alignment measurement results of the tracking and alignment measuring instrument 4. The tracking and alignment measuring instrument 4 then performs alignment measurement with the payload of the large-scale space detector 5 being measured, and performs alignment measurement with the adaptive alignment target 101 of the ground position and attitude measurement unit. The attitude measurements of different payloads are performed in sequence. When the tracking and alignment measuring instrument 4 reaches a position where it cannot see the adaptive alignment target 101 of the ground position and attitude measurement unit, the tracking and alignment measuring instrument 4 uses the data of the established ground measurement network to automatically calculate the positional relationship between its own position and the adaptive alignment target 101 of the ground position and attitude measurement unit on the other side, realizes automatic aiming and tracking measurement, and completes the measurement reference conversion. The attitude measurements of the remaining different payloads are completed in sequence.

[0051] The above specific description further illustrates the purpose, technical solutions and beneficial effects of the invention in detail. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A system for automatic detection of payload attitude of large space probes, characterized by: It consists of four parts: ground measurement network components, omnidirectional mobile space positioning platform, precise positioning platform, and tracking collimation measuring instrument; The ground measurement network components are distributed on both sides of the large space probe to be measured, and are used to construct an overall measurement network on the ground, establish a measurement coordinate system, and cooperate with the tracking and collimating measuring instrument to provide real-time spatial coordinate data for the high-altitude carrying platform, thereby providing data support for the planning of the high-altitude carrying platform movement. At the same time, when the tracking and collimating measuring instrument reaches the stationary state of the measuring station, the alignment measurement is performed with the tracking and collimating measuring instrument to provide attitude data for the tracking and collimating measuring instrument, which serves as the attitude reference for the measurement of the large space probe payload; the omnidirectional mobile space positioning platform is used to install the precise positioning platform, which can realize the spatial carrying and stable support of the collimating tracking measuring instrument installed on the precise positioning platform; The precise positioning platform is mounted on a high-altitude carrying platform and is used to install a tracking collimation measuring instrument to achieve adaptive position adjustment based on the structure of the cubic mirror of the large space probe payload being measured by the tracking collimation measuring instrument, and then reach the collimation measurement station; the tracking collimation measuring instrument is used to provide measurement laser and collimation data for the adaptive collimation target, thereby establishing a ground measurement network, and at the same time, establish an aiming angle through collimation measurement with the cubic mirror of the large space probe payload being measured, and then achieve automatic measurement of the large space probe payload through collimation measurement with an adaptive target in the ground measurement network component; The ground measurement network assembly is composed of a ground position and attitude measurement unit consisting of multiple adaptive collimation targets and a leveling support frame; the adaptive collimation target can sense the direction of the emission of the tracking collimator and perform two-dimensional horizontal and pitch rotation adjustments, so that the reference plane conic plane mirror installed thereon can return the incident laser to its original path, while simultaneously measuring the horizontal and pitch rotation angles with high precision, thereby providing a reference for the attitude angle of the tracking collimator; the support frame can have leveling and stable support functions, facilitating the arrangement of different positions of the ground position and attitude measurement unit; The omnidirectional mobile space positioning platform is composed of an omnidirectional mobile carrier, a vertical high-altitude carrier frame, and a stable support member; the omnidirectional mobile carrier is the basis of automated measurement, and adopts omnidirectional wheels with stable support, and is equipped with a control system based on measurement data to realize autonomous navigation positioning and stable support after initial positioning; the vertical high-altitude carrier frame is installed in the middle of the omnidirectional mobile carrier and is used to install a precise positioning platform, which realizes mobile positioning in the height direction of space based on the measurement data of the tracking and collimation measuring instrument installed on the precise positioning platform and the adaptive collimation target in the ground measurement network component; the stable support member is used to increase the lateral rigidity of the vertical high-altitude carrier frame, and improve the stability of the tracking and collimation measuring instrument installed on the precise positioning platform during measurement; The precise positioning platform is composed of a high-precision two-dimensional displacement stage, a lower connecting plate, a support rod, an upper connecting plate, and a lower connecting plate; the high-precision two-dimensional displacement stage is mounted on a vertical motion slide of a vertical high-altitude carrier frame, and is used to support a tracking and alignment measuring instrument through a support frame composed of the lower connecting plate, the support rod, and the lower and upper connecting plates, and to achieve two-dimensional precise movement in the horizontal direction based on the alignment measurement data of the tracking and alignment measuring instrument mounted on the precise positioning platform and the cubic mirror mounted on the payload of the large space probe; The tracking collimator is used to cooperate with the adaptive collimator target to achieve high-precision spatial position and attitude measurement between the tracking collimator measurement and the adaptive collimator target; when the adaptive collimator target is fixed on the ground, it can achieve real-time measurement of the spatial position of the tracking collimator, and then achieve large-area spatial positioning of the tracking collimator through a measurement network constructed by two or more ground position and attitude measurement units, thereby providing motion reference data of the spatial position for the omnidirectional mobile space positioning platform, and at the same time, by reasonably arranging the ground measurement network around the large detector, it can effectively avoid obstruction when the tracking collimator measures the load, thereby providing all-round automatic attitude measurement for the large detector load measurement; in addition, the spatial coordinate measurement of the measurement reference point is achieved by cooperating with the tracking collimator measurement and the spherical angle cone target mirror, thereby achieving alignment of the design coordinate system and the measurement coordinate system of the large space detector, thereby improving efficiency; the tracking collimator establishes a coordinate relationship with the adaptive collimator target constituting the ground position and attitude measurement unit, thereby constructing a ground measurement network; The adaptive collimation target is composed of four parts: an adaptive pitch adjustment component, a horizontal rotation adjustment component, a base component, and a control component; The adaptive pitch adjustment component is used to install the corner conic mirror with a hole, the reference plane mirror and the laser displacement sensing sensor PSD, so as to realize the position sensing of the laser in the light direction of the tracking collimation measuring instrument and the pitch adjustment after sensing, so as to realize the tracking collimation measurement and the collimation aiming of the reference plane mirror; the horizontal rotation adjustment component is used to install the adaptive pitch adjustment component, ensure the accuracy of the pitch rotation, provide the power of the pitch rotation and realize the high-precision measurement of the pitch angle; the base component is used to install the horizontal rotation adjustment component, ensure the accuracy of the horizontal rotation, provide the power of the horizontal rotation and realize the high-precision measurement of the horizontal angle; the control component is used to realize the collection and calculation of PSD data, adaptive motion control and the measurement and calculation of the pitch angle and the horizontal angle.

2. The system for automatic detection of payload attitude of a large space probe according to claim 1, characterized in that: The vertical high-altitude carrying back frame in the omnidirectional mobile space positioning platform adopts a back stand, with a guide rail laid on the front, a brake motor driving the lead screw to drive the slide to move, and an additional back counterweight to achieve the goal of a low starting position of the instrument, smooth movement and protection of the tracking and alignment measuring instrument.

3. The system for automatic detection of payload attitude of a large space probe according to claim 1, characterized in that: The slide position of the vertical high-altitude carrying carrier in the omnidirectional mobile space positioning platform adopts an absolute positioning grating ruler as measurement feedback.

4. The system for automatic detection of payload attitude of a large space probe according to claim 1, characterized in that: The high-precision two-dimensional translation stage used in the precise positioning platform adopts an absolute positioning grating ruler as measurement feedback.

5. The system for automatic detection of payload attitude of a large space probe according to claim 1, characterized in that: The tracking and collimation measuring instrument adopts two sets of tracking and collimation measuring instruments arranged upper and lower. The inverted tracking and collimation measuring instrument is used to cooperate with the measurement network constructed by the ground position and attitude measurement unit to realize the real-time measurement of the spatial position of the tracking and collimation measuring instrument itself as the navigation data of the omnidirectional mobile space positioning platform. At the same time, after arriving at the measurement station, the high-precision attitude measurement of the tracking and collimation measuring instrument itself is realized by the tracking and collimation measuring instrument and the adaptive tracking and collimation sight constituting the ground position and attitude measurement unit; the upper tracking and collimation measuring instrument is used to perform position and collimation measurement with the cubic mirror installed on the payload of the large space probe.

6. A system for automatic detection of the attitude of a large space probe payload according to claim 1, 2, 3, 4 or 5, characterized in that: The large-scale space detector to be measured is fixedly installed; the spatial coordinate values ​​of the adaptive collimation target measured by the tracking collimator are recorded, and the collimation measurement is carried out at the same time to record the angle values ​​of the tracking collimator and the adaptive target, thereby establishing a unified position relationship between the two sets of ground position and attitude measurement units and the tracking collimator, that is, forming a ground measurement network; the coordinate measurement function of the tracking collimator is used in conjunction with the spherical angle cone target mirror to measure the reference point of the large-scale space detector to be measured, and the alignment of the measurement coordinate system and the large-scale space detector coordinate system is achieved through coordinate fitting solution; the tracking collimator is used in conjunction with the ground position and attitude measurement unit to achieve the spatial positioning measurement of the tracking collimator installed on the omnidirectional mobile space positioning platform, thereby providing the omnidirectional mobile space positioning platform with ground and height direction guidance data; the omnidirectional mobile space positioning platform plans the path according to the payload attitude measurement point and pointing data, and realizes the ground positioning in combination with the guidance data Initial positioning of the surface and space; the tracking and collimating measuring instrument calculates its own position through collimation measurement of the positional relationship with the large space probe payload being measured; the precise positioning platform and the vertical back frame then accurately adjust the position and attitude according to the collimation measurement results of the tracking and collimating measuring instrument; the tracking and collimating measuring instrument then performs collimation measurement with the large space probe payload being measured, and performs collimation measurement with the adaptive collimation target of the ground position and attitude measurement unit; the attitude measurements of different payloads are performed in turn, and when the tracking and collimating measuring instrument reaches a position where it cannot see the adaptive collimation target of the ground position and attitude measurement unit, the tracking and collimating measuring instrument uses the data of the established ground measurement network to calculate the positional relationship between its own position and the adaptive collimation target of the ground position and attitude measurement unit on the other side, realizes automatic aiming and tracking measurement, and completes the measurement reference conversion; the attitude measurements of the remaining different payloads are completed in turn, and then the automatic detection of the attitude of the large space probe payload is realized.

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