An on-board device installation precision automatic measurement system and method

Abstract

The application discloses a kind of on-orbit equipment installation precision automatic measurement system, including vertical lifting device, one-dimensional precision rotary table, automatic focusing digital photoelectric theodolite, global control point, total control measuring device, it also includes liftable transfer sliding table, the liftable transfer sliding table is composed of horizontal movement module and lifting module.In the present application, the structure of the measurement system is stable through structure optimization, reducing system calibration and satellite transfer workload, greatly improving the efficiency of field measurement, meeting the satellite production line production pulse period requirements;Optimize the system calibration method and measurement method, only one automatic focusing theodolite can complete calibration and measurement;Designed target rapid automatic search method, for the equipment with large installation attitude deviation, the system can also be measured, increase the adaptability of the system to different measurement satellites;Increase the interconnection function of system and production line management and control system data, solve the system information island problem.

Description

Technical Field

[0001] This invention relates to the field of satellite assembly and testing technology, and in particular to an automatic measurement system and method for the installation accuracy of onboard equipment. Background Technology

[0002] In the modern large-scale precision system integration manufacturing process, exemplified by satellite assembly, precision measurement equipment is required to obtain installation attitude information. Since the coordinate axes of onboard equipment are represented by the normals of cubic mirrors, theodolite collimation measurement technology is the primary means of on-site measurement during spacecraft assembly. To automate measurement and improve testing efficiency, the PLA Information Engineering University and Aerospace Dongfanghong Co., Ltd. have proposed an automatic measurement method and developed an automatic measurement system, detailed in "An Automated Precision Testing Method for Satellites".

[0003] (CN109631826B), "A High-Precision Measurement System and Method for On-Site Equipment of a Small Satellite"

[0004] (CN110285816A), "Research on Key Technologies and Applications of Automatic Attitude Measurement in Spacecraft Assembly". This method utilizes a motion mechanism to drive the theodolite to rise and fall and the satellite to rotate, enabling full-circumferential automatic measurement of the attitude information of all equipment installed on the satellite.

[0005] For the efficient and automated development model of my country's mass-production satellite production lines, the aforementioned automated measurement concepts and methods can be used to construct automated measurement units. However, these methods and systems have some shortcomings, making it difficult for the systems to adapt to the satellite production line development model. Specific shortcomings are as follows:

[0006] 1) The system structure design adopts a lightweight and mobile concept, which is suitable for the measurement mode of a single satellite in a non-fixed work position on site. The system needs to be calibrated before each use. In addition, the satellite is fixed to the turntable by hoisting, which results in a large amount of on-site measurement preparation work and long working time, which seriously affects the system measurement efficiency and cannot meet the pulse production cycle requirements of the mass production satellite production line.

[0007] 2) The system uses a dual theodolite (measuring theodolite and reference theodolite) measuring point method to calibrate the relative position and posture relationship between the measuring theodolite and the precision turntable. The low accuracy of the dual theodolite measuring points leads to low system calibration accuracy, which in turn affects the system measurement accuracy.

[0008] 3) The system measurement principle requires no torsion during the theodolite's lifting and lowering process. This places extremely high demands on the accuracy and stability of the vertical lifting guide rail. The equipment development and on-site calibration and maintenance work are very difficult. If there is any change in torsion, it will directly introduce system measurement error and seriously affect the final measurement accuracy.

[0009] 4) Due to the limitations of the collimation field of view of the theodolite, when the installation position of the equipment deviates greatly from the theoretical value of the model, the theodolite cannot obtain the collimation return light image, which makes the system unable to achieve automatic collimation and measurement. Manual intervention is required to complete the measurement, which seriously affects the automation level and measurement efficiency of the system.

[0010] 5) Existing measurement systems are information silos. Prior information and technical requirements of the measured objects need to be manually configured, and measurement results require manual processing to generate reports and provide feedback to the design department. This affects the system's digitization and automation level and cannot meet the requirements of full-process digital control in satellite production lines. Therefore, this invention proposes an automatic measurement system and method for the installation accuracy of onboard equipment. Summary of the Invention

[0011] The purpose of this invention is to provide an automatic measurement system and method for the installation accuracy of on-board equipment in order to solve the above-mentioned problems.

[0012] To achieve the above objectives, the present invention adopts the following technical solution:

[0013] An automatic measurement system for the installation accuracy of on-board equipment includes a vertical lifting device, a one-dimensional precision turntable, an autofocus digital photoelectric theodolite, a global control point, and a central control measurement device. The vertical lifting device carries the autofocus digital photoelectric theodolite for lifting and lowering; the one-dimensional precision turntable carries the satellite for horizontal rotation; the autofocus digital photoelectric theodolite is used to collimate the cubic mirror of the equipment on the satellite and to aim at the global control point, acquiring horizontal and azimuth information (α, β) in its own coordinate system; the global control point serves as a measurement reference for transmitting and unifying the measurement results of the theodolite for different equipment; the central control measurement device is used for measurement task planning, system movement and measurement implementation, measurement data calculation and report generation, and data interaction with the production line control system; it also includes a liftable transfer slide, which consists of a horizontal movement module and a lifting module, used to transfer and fix the satellite from the AGV vehicle to the one-dimensional precision turntable.

[0014] Preferably, the vertical lifting device, the one-dimensional precision turntable, and the liftable transfer slide are all fixed to the ground by expansion bolts.

[0015] Preferably, the chassis of the vertical lifting device adopts a square steel structure design.

[0016] A method for automatically measuring the installation accuracy of on-board equipment includes the following steps:

[0017] S1. Calibrate the relative pose relationship between the autofocus digital photoelectric theodolite and the one-dimensional precision turntable coordinate system, and the change in torsional angle during the rise and fall of the autofocus digital photoelectric theodolite;

[0018] S2. Determine the change in torsion angle of the autofocus digital photoelectric theodolite at each measurement position and perform compensation correction;

[0019] S3. Automatic collimation measurement is achieved by utilizing automatic target search;

[0020] S4. Combining calibration data and the theoretical design value of the cubic mirror of the device under test, calculate the relative positional relationship between the center of the cubic mirror and the center of the autofocus digital photoelectric theodolite, thereby controlling the telescope of the autofocus digital photoelectric theodolite to always point towards the center of the cubic mirror of the target device under test.

[0021] Preferably, step S1, which involves calibrating the relative pose relationship between the autofocus digital photoelectric theodolite and the one-dimensional precision turntable coordinate system, as well as the change in torsion angle during the raising and lowering of the autofocus digital photoelectric theodolite, specifically includes the following steps:

[0022] S11. Fix a target point on the surface of the one-dimensional precision turntable, rotate the one-dimensional precision turntable to 0°, and use a laser tracker to measure the three-dimensional coordinates of the target point on the one-dimensional precision turntable.

[0023] S12. The one-dimensional precision turntable rotates 20° sequentially, and the laser tracker measures the three-dimensional coordinate system of the target point after rotation. The measurement is completed after rotating 360°.

[0024] S13. Through coordinate system fitting, create a turntable coordinate system O with the rotation center of the one-dimensional precision turntable as the origin, the rotation axis as the +Z axis, and the line connecting the origin and the target point at 0° of the turntable as the +X axis. R -X R Y R Z R Establish the coordinate system O of the laser tracker L -X L Y L Z L Relative pose relationship with the one-dimensional precision rotary table coordinate system (R) L R T L R );

[0025] S14. Set up at least 4 common target points P on site. i Using a laser tracker and an autofocus digital photoelectric theodolite, the common target point P was observed. i Measurements were performed to obtain the common target point P. i In the coordinate system O of the laser tracker L -X L Y L Z L The three-dimensional coordinates (X) L pi ,YL pi Z L pi In the coordinate system O of the autofocus digital photoelectric theodolite T -X T Y T Z T The azimuth angle below (α) T pi ,β T pi );

[0026] S15. Using the measurement information from step S14, a calibration model can be constructed based on the resection measurement principle to determine the coordinate system O of the autofocus digital photoelectric theodolite. T -X T Y T Z T With the coordinate system O of the laser tracker L -X L Y L Z L Relative pose relationship between (R) L T T L T );

[0027] S16. Using the coordinate system transfer matrix obtained in steps S13 and S15, the coordinate system O of the autofocus digital photoelectric theodolite can be calculated and determined. T -X T Y T Z T Coordinate system O of a one-dimensional precision rotary table R -X R Y R Z R Relative pose relationship (R) R T T R T This completes the system calibration.

[0028] Preferably, the method for determining and compensating for the change in torsion angle of the autofocus digital photoelectric theodolite at each measurement position in step S2 specifically includes the following steps:

[0029] S21. Based on the design theoretical values ​​of the coordinate system of the measured equipment in the satellite coordinate system, and combined with the system calibration data, the measurement system can drive the autofocus digital photoelectric theodolite and the one-dimensional precision turntable to move, thereby achieving the collimation of the autofocus digital photoelectric theodolite with the measured target and determining the vector information r of the cubic mirror normal in the coordinate system of the autofocus digital photoelectric theodolite. i ;

[0030] S22. Using the autofocus function of the autofocus digital photoelectric theodolite, the global control points are aimed at sequentially to obtain the horizontal and vertical angle information of the global target points. Using the resection principle, the coordinate system O of the autofocus digital photoelectric theodolite at the measurement position can be determined. T -X T Y T Z T With global control point coordinate system O G -X G Y G Z G Relative orientation relationship (R) G T T G T );

[0031] S23. Utilize the pre-defined global control point coordinate system O G -X G Y G Z G relative to the initial coordinate system O of the turntable R0 -X R0 Y R0 Z R0 By considering the relative pose relationship and combining it with the current rotation angle value of the one-dimensional precision turntable, the coordinate system of the global control point and the current coordinate system O of the one-dimensional precision turntable can be determined. Ri -X Ri Y Ri Z Ri Relative pose relationship (R Ri G T Ri G );

[0032] S24. Using the results of steps S21, S22, and S23, the collimation vector information of the autofocus digital photoelectric theodolite at this position can be transmitted to the current one-dimensional precision turntable coordinate system;

[0033] S25. Repeat the process of S21-S24 to perform collimation measurements on the devices under test in sequence. This will determine the vector information of the cubic mirror normal of all devices under test in a unified coordinate system, thereby realizing the measurement of the device installation attitude information.

[0034] Preferably, the method for automatic collimation measurement using automatic target search in step S3 specifically includes the following steps:

[0035] S31. When the deviation between the installation posture of the equipment and the design value is >0.3°, the automatic search and final collimation of the collimating light is achieved by the coordinated movement of the one-dimensional precision turntable and the vertical lifting device. The one-dimensional precision turntable drives the satellite to rotate to solve the problem of large horizontal attitude deviation of the actual installation posture of the cubic mirror. The automatic focusing digital photoelectric theodolite is raised and lowered to solve the problem of large pitch attitude deviation of the cubic mirror.

[0036] Preferably, the method for implementing step S4 includes the following steps:

[0037] S41. Based on the theoretical design value of the target to be measured, drive the autofocus digital photoelectric theodolite and the one-dimensional precision turntable to rotate to the target position. If the autofocus digital photoelectric theodolite cannot obtain a collimated image, use this position as the search starting point to search.

[0038] S42. Set the horizontal and pitch search steps to 0.3°, and the number of searches to n and m respectively;

[0039] S43. Keep the height of the autofocus digital photoelectric theodolite constant, rotate the turntable clockwise according to the search step size, and at the same time control the line of sight of the autofocus digital photoelectric theodolite to aim at the center of the target cubic mirror. If the search is unsuccessful, continue to control the one-dimensional precision turntable to rotate clockwise according to the search step size until the search is successful or the maximum number of searches n is reached.

[0040] S44. If the search is unsuccessful, the one-dimensional precision turntable returns to the initial position, and the one-dimensional precision turntable is controlled to rotate counterclockwise according to the search step size. At the same time, the line of sight of the autofocus digital photoelectric theodolite is controlled to aim at the center of the target cubic mirror. If the search is unsuccessful, the one-dimensional precision turntable is controlled to rotate counterclockwise according to the search step size until the search is successful or the maximum number of search times n is reached.

[0041] S45. If the search is unsuccessful, the one-dimensional precision turntable returns to the initial position, and the autofocus digital photoelectric theodolite is controlled to rise one step according to the search step size. Repeat steps S43 and S44. If the search is unsuccessful, continue to control the autofocus digital photoelectric theodolite to rise one step according to the search step size. Repeat steps S43 and S44 until the search is successful or the maximum number of search times m is reached.

[0042] S46. If the search is unsuccessful, the one-dimensional precision turntable and the autofocus digital photoelectric theodolite return to the initial position, and the autofocus digital photoelectric theodolite is controlled to descend one step according to the search step size. Repeat steps S43 and S44. If the search is unsuccessful, continue to control the autofocus digital photoelectric theodolite to descend one step according to the search step size, repeating steps S43 and S44, until the search is successful or the maximum number of searches m is reached.

[0043] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0044] 1. In this application, the measurement system structure is stabilized through structural optimization, reducing the workload of system calibration and satellite transfer, greatly improving the efficiency of on-site measurement, and shortening the entire measurement time from 3 days to 0.5 days, which meets the production cycle requirements of the satellite production line.

[0045] 2. In this application, the system calibration method and measurement method have been optimized. Only one autofocus theodolite is needed to complete the calibration and measurement. The system calibration accuracy has been improved from 8″ to 3″, and the system measurement accuracy has been improved from 15″ to 5″.

[0046] 3. In this application, a rapid automatic target search method is designed. The system can also perform measurements on equipment with large installation attitude deviations, which increases the system's adaptability to different measurement satellites.

[0047] 4. In this application, the interconnection and interoperability function between the system and the production line control system has been added, which solves the problem of information silos in the system and makes the system more suitable for production line development mode. Attached Figure Description

[0048] Figure 1 A schematic diagram of the automatic measurement system for a production line provided according to an embodiment of the present invention is shown;

[0049] Figure 2 A system calibration schematic diagram according to an embodiment of the present invention is shown;

[0050] Figure 3 A schematic diagram of the automatic scanning process for the horizontal angle deviation during cubic mirror installation according to an embodiment of the present invention is shown.

[0051] Figure 4 A schematic diagram of the automatic scanning process for the pitch angle deviation of a cubic mirror installation according to an embodiment of the present invention is shown.

[0052] Figure 5 A schematic diagram of a liftable transfer slide structure provided according to an embodiment of the present invention is shown.

[0053] Legend:

[0054] 1. Vertical lifting device; 2. One-dimensional precision turntable; 3. Automatic focusing digital photoelectric theodolite; 4. Global control point; 5. Liftable transfer slide; 51. Horizontal movement module; 52. Lifting module; 6. Central control measuring device. Detailed Implementation

[0055] 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.

[0056] Please see Figure 1-5 The present invention provides a technical solution:

[0057] An automatic measurement system for the installation accuracy of on-board equipment includes a vertical lifting device 1, a one-dimensional precision turntable 2, an autofocus digital photoelectric theodolite 3, a global control point 4, and a central control measurement device 6. The vertical lifting device 1 carries the autofocus digital photoelectric theodolite 3 for lifting and lowering; the one-dimensional precision turntable 2 carries the satellite for horizontal rotation; the autofocus digital photoelectric theodolite 3 is used to collimate the cubic mirror of the equipment on the satellite and to aim and measure the global control point 4, obtaining horizontal and azimuth information (α, β) in its own coordinate system. The global control point 4 replaces the reference theodolite, allowing the system to complete calibration and measurement with only one theodolite; the global control point 4... The system serves as a measurement benchmark to unify and transmit measurement results from different devices using the autofocus digital photoelectric theodolite 3; the central control measurement device 6 is used for measurement task planning, system movement and measurement implementation, measurement data calculation and report generation, and data interaction interface and functions with the production line control system. It can obtain prior information about the satellite and equipment under test from the production line control system via network transmission. The central control measurement system can feed back system operation and measurement status, measurement data and results to the production line control system, thereby achieving interconnection between this system and the larger production line system; it also includes a liftable transfer slide 5 to accommodate satellite transfer on the production line without hoisting requirements. The system includes a liftable transfer slide 5, as shown in the attached figure. Figure 5 As shown, during satellite transfer, the AGV transfer vehicle transports the satellite to the transfer area of ​​the lifting transfer platform 5. The lifting transfer platform 5 can quickly transfer the satellite from the AGV vehicle to the one-dimensional precision turntable 2 and fix it through lifting and translation movements, replacing the traditional manual hoisting method. This can greatly improve the efficiency and automation level of satellite on-site transfer. The lifting transfer platform 5 consists of a horizontal moving module 51 and a lifting module 52. The horizontal moving module 51 adopts a screw drive translation structure. The lifting module 52 consists of a motor, a lifting mechanism, a commutator, a coupling, and a connecting shaft. The lifting mechanism of the lifting module 52 is fixedly connected to the frame of the lifting module 52 and is used to carry the lifting platform. The lifting mechanism adopts a "one-to-two" arrangement, which facilitates the maintenance of the automatic transfer platform. The lifting mechanism can achieve self-locking to prevent the danger of falling due to motor accidents.

[0058] Specifically, such as Figure 1As shown, the vertical lifting device 1, the one-dimensional precision turntable 2, and the liftable transfer slide 5 are all fixed to the ground with expansion bolts to ensure the long-term stability of the relative positional relationship between the devices. After the system is calibrated once, there is no need to repeat the calibration work before each measurement, which greatly reduces the amount of preparation work before the system measurement, improves the efficiency of the system on-site measurement, and meets the requirements of the production line pulse cycle.

[0059] Specifically, such as Figure 1 As shown, the chassis of the vertical lifting device 1 adopts a square steel structure design, replacing the traditional pulley easy-rotating structure, thereby improving the stability of the vertical lifting device 1.

[0060] A method for automatically measuring the installation accuracy of on-board equipment includes the following steps:

[0061] S1. Calibrate the relative pose relationship between the autofocus digital photoelectric theodolite 3 and the one-dimensional precision turntable 2 coordinate system and the change in torsion angle during the lifting and lowering of the autofocus digital photoelectric theodolite 3;

[0062] Specifically, the following steps are included:

[0063] S11. Fix a target point on the surface of the one-dimensional precision turntable 2, rotate the one-dimensional precision turntable 2 to 0°, and use a laser tracker to measure the three-dimensional coordinates of the target point on the one-dimensional precision turntable 2.

[0064] S12. The one-dimensional precision turntable 2 rotates 20° sequentially, and the laser tracker measures the three-dimensional coordinate system of the target point after rotation. The measurement is completed after rotating 360°.

[0065] S13. Through coordinate system fitting, create a turntable coordinate system O with the rotation center of the one-dimensional precision turntable 2 as the origin, the rotation axis as the +Z axis, and the line connecting the origin and the target point when the turntable is at 0° as the +X axis. R -X R Y R Z R Establish the coordinate system O of the laser tracker L -X L Y L Z L Relative pose relationship with the 2-coordinate system of the one-dimensional precision rotary table (R) L R ,T L R );

[0066] S14. Set up at least 4 common target points P on site. i Using a laser tracker and an autofocus digital photoelectric theodolite 3, the common target point P was respectively... i Measurements were performed to obtain the common target point P. i In the coordinate system O of the laser tracker L-X L Y L Z L The three-dimensional coordinates (X) L pi ,Y L pi Z L pi In the 3-coordinate system O of the autofocus digital photoelectric theodolite T -X T Y T Z T The azimuth angle below (α) T pi ,β T pi );

[0067] S15. Using the measurement information from step S14, a calibration model can be constructed based on the resection measurement principle to determine the 3-coordinate system O of the autofocus digital photoelectric theodolite. T -X T Y T Z T With the coordinate system O of the laser tracker L -X L Y L Z L Relative pose relationship between (R) L T T L T );

[0068] S16. Using the coordinate system transfer matrix obtained in steps S13 and S15, the coordinate system O of the autofocus digital photoelectric theodolite 3 can be calculated and determined. T -X T Y T Z T Coordinate system O of the one-dimensional precision rotary table 2 R -X R Y R Z R Relative pose relationship (R) R T T R T This completes the system calibration.

[0069] S2. Determine the change in torsion angle of the autofocus digital photoelectric theodolite 3 at each measurement position and perform compensation correction;

[0070] Specifically, the following steps are included:

[0071] S21. Based on the design theoretical values ​​of the coordinate system of the measured equipment in the satellite coordinate system, and combined with the system calibration data, the measurement system can drive the autofocus digital photoelectric theodolite 3 and the one-dimensional precision turntable 2 to move, thereby achieving the collimation of the autofocus digital photoelectric theodolite 3 with the measured target and determining the vector information r of the cubic mirror normal in the coordinate system of the autofocus digital photoelectric theodolite 3. i ;

[0072] S22. Using the autofocus function of the autofocus digital photoelectric theodolite 3, the global control point 4 is aimed at sequentially to obtain the horizontal and vertical angle information of the global target point. Using the resection principle, the coordinate system O of the autofocus digital photoelectric theodolite 3 at the measurement position can be determined. T -X T Y T Z T With global control point coordinate system O G -X G Y G Z G Relative orientation relationship (R) G T T G T );

[0073] S23. Utilize the pre-defined global control point coordinate system O G -X G Y G Z G relative to the initial coordinate system O of the turntable R0 -X R0 Y R0 Z R0 Based on the relative pose relationship and the current rotation angle value of the one-dimensional precision turntable 2, the coordinate system of global control point 4 and the current coordinate system O of the one-dimensional precision turntable 2 can be determined. Ri -X Ri Y Ri Z Ri Relative pose relationship (R Ri G T Ri G );

[0074] S24. Using the results of steps S21, S22, and S23, the collimation vector information of the autofocus digital photoelectric theodolite 3 at this position can be transmitted to the current coordinate system of the one-dimensional precision turntable 2.

[0075] S25. Repeat the process of S21-S24 to perform collimation measurements on the devices under test in sequence. This will determine the vector information of the cubic mirror normal of all devices under test in a unified coordinate system, thereby realizing the measurement of the device installation attitude information.

[0076] S3. Automatic collimation measurement is achieved by utilizing automatic target search;

[0077] The system is based on the theoretical design values ​​of the device under test to drive the theodolite to collimate the cubic mirror of the device under test. However, the field of view of the theodolite telescope is less than 0.6°. If the actual installation attitude of the device deviates from the theoretical design by more than 0.3°, the theodolite will not be able to obtain the collimated light return image, thus failing to achieve automatic collimation. Analysis shows that the actual installation attitude deviation of the satellite can exceed 2°. In order to enable the system to achieve automatic collimation measurement, it is necessary to design an automatic target search method to reduce the system's requirements for satellite equipment installation accuracy, improve the system's automation level and adaptability to different targets.

[0078] The system requires the coordinated operation of four dimensions: the elevation of the autofocus digital photoelectric theodolite 3, the rotation of the one-dimensional precision turntable 2, and the horizontal and vertical rotations of the autofocus digital photoelectric theodolite 3. If each dimension is traversed sequentially, the number of traversals would be numerous and the traversal time would be very long, severely impacting measurement efficiency. For example, traversing each dimension 10 times would require 10 steps to complete the traversal of all four dimensions sequentially. 4 = 10,000 searches, each search taking 10 seconds, would take a total of 100,000 seconds, approximately 28 hours. Therefore, this search strategy takes too long and cannot meet the timeliness requirements for measurement.

[0079] According to the collimation principle, the prerequisite for the autofocus digital photoelectric theodolite 3 to achieve collimation is that the autofocus digital photoelectric theodolite 3 needs to point to the target to be measured. Therefore, after the one-dimensional precision turntable 2 drives the satellite to rotate or the autofocus digital photoelectric theodolite 3 to rise and fall, the autofocus digital photoelectric theodolite 3 still needs to point to the cubic mirror of the device to be measured in order to achieve collimation. In this way, the horizontal and pitch rotation of the autofocus digital photoelectric theodolite 3 can be coupled with the rising and falling of the autofocus digital photoelectric theodolite 3 and the rotation of the one-dimensional precision turntable 2 during the search process. The search dimension is reduced from four dimensions to two dimensions, thereby greatly reducing the number of search traversals and search time.

[0080] Specifically, the following steps are included:

[0081] S31. When the installation posture of the equipment deviates significantly from the design value (>0.3°), the one-dimensional precision turntable 2 and the vertical lifting device 1 work together to achieve automatic search and final collimation of the collimating light. The one-dimensional precision turntable 2 drives the satellite to rotate to solve the problem of large horizontal attitude deviation in the actual installation posture of the cubic mirror. The automatic focusing digital photoelectric theodolite 3 moves up and down to solve the problem of large pitch attitude deviation in the cubic mirror.

[0082] S4. Combining calibration data and the theoretical design value of the cubic mirror of the device under test, calculate the relative positional relationship between the center of the cubic mirror and the center of the autofocus digital photoelectric theodolite 3, thereby controlling the telescope of the autofocus digital photoelectric theodolite 3 to always point towards the center of the cubic mirror of the target device under test.

[0083] The implementation method of step S4 includes the following steps:

[0084] S41. Based on the theoretical design value of the target to be measured, drive the autofocus digital photoelectric theodolite 3 and the one-dimensional precision turntable 2 to rotate to the target position. If the autofocus digital photoelectric theodolite 3 cannot obtain the collimated image, then use this position as the search starting point to search.

[0085] S42. Set the horizontal and pitch search steps to 0.3°, and the number of searches to n and m respectively;

[0086] S43. Keep the height of the autofocus digital photoelectric theodolite 3 constant, rotate the turntable clockwise according to the search step size, and at the same time control the line of sight of the autofocus digital photoelectric theodolite 3 to aim at the center of the target cubic mirror. If the search is unsuccessful, continue to control the one-dimensional precision turntable 2 to rotate clockwise according to the search step size until the search is successful or the maximum number of searches n is reached.

[0087] S44. If the search is unsuccessful, the one-dimensional precision turntable 2 returns to the initial position, and the one-dimensional precision turntable 2 is controlled to rotate counterclockwise according to the search step size. At the same time, the line of sight of the autofocus digital photoelectric theodolite 3 is controlled to aim at the center of the target cubic mirror. If the search is unsuccessful, the one-dimensional precision turntable 2 is controlled to rotate counterclockwise according to the search step size until the search is successful or the maximum number of search times n is reached.

[0088] S45. If the search is unsuccessful, the one-dimensional precision turntable 2 returns to the initial position, and the autofocus digital photoelectric theodolite 3 is controlled to rise one step according to the search step size. Repeat steps S43 and S44. If the search is unsuccessful, continue to control the autofocus digital photoelectric theodolite 3 to rise one step according to the search step size. Repeat steps S43 and S44 until the search is successful or the maximum number of search times m is reached.

[0089] S46. If the search is unsuccessful, the one-dimensional precision turntable 2 and the autofocus digital photoelectric theodolite 3 return to their initial positions. Control the autofocus digital photoelectric theodolite 3 to descend one step according to the search step size. Repeat steps S43 and S44. If the search is unsuccessful, continue to control the autofocus digital photoelectric theodolite 3 to descend one step according to the search step size. Repeat steps S43 and S44 until the search is successful or the maximum number of searches m is reached.

[0090] The specific implementation of the automatic measurement system of the present invention in a production line is described below:

[0091] 1) Develop each device according to the above measurement system, and complete the on-site installation, leveling and fixing of the system;

[0092] 2) Complete the system calibration according to the method in step S1, and save the calibration results to the overall control measurement system configuration file;

[0093] 3) System startup and initialization;

[0094] 4) The production line control system regulates the production line logistics AGV vehicle to transfer the satellite to the lifting transfer slide 5 docking area;

[0095] 5) Use the liftable transfer slide 5 to transfer the satellite to the one-dimensional precision turntable 2 and fix it in place;

[0096] 6) The production line control system issues test tasks and preliminary data, which are received and parsed by the central control measurement system;

[0097] 7) Based on the measurement task and prior data, plan the measurement path for all targets to be measured, and determine the lifting height of the autofocus digital photoelectric theodolite 3, the rotation angle of the one-dimensional precision turntable 2, and the horizontal and pitch angles of the autofocus digital photoelectric theodolite 3 for each target to be measured.

[0098] 8) Based on the measurement method in step S2 and the automatic search method in step S3, the collimation measurement of all targets to be measured is completed in sequence, and the measurement data is saved to the database.

[0099] 9) Process all measurement data to generate measurement results for the installation posture information of each device, and feed the test results back to the production line control system;

[0100] 10) After the production line control system determines that the result is qualified, the slide will unload the satellite from the turntable and transfer it to the slide docking area;

[0101] 11) The production line control system regulates the production line logistics AGV vehicle to transfer the satellite to the next workstation to complete the satellite measurement;

[0102] 12) For the next satellite measurement mission, repeat steps 4)-11) to complete the measurement, satisfying the production line's pulsed generation mode.

[0103] In summary, the automatic measurement system and method for on-board equipment installation accuracy provided in this embodiment are designed for the automated and efficient production mode of satellite internet system production lines. Through optimization and upgrading of structural design, calibration methods, measurement modes and methods, the system meets the requirements of automatic, flexible, rapid and high-precision measurement of various types of batch-produced satellites in satellite production lines.

[0104] 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 automatically measuring the installation accuracy of on-board equipment, characterized in that, Includes the following steps: S1. Calibrate the relative pose relationship between the coordinate system of the autofocus digital photoelectric theodolite (3) and the one-dimensional precision turntable (2) and the change in the torsion angle during the lifting and lowering process of the autofocus digital photoelectric theodolite (3); S2. Determine the change in torsion angle of the autofocus digital photoelectric theodolite (3) at each measurement position and make compensation corrections; S3. Automatic collimation measurement is achieved by utilizing automatic target search; The method in step S3 includes the following steps: S31. When the installation posture of the equipment deviates from the design value by more than 0.3°, the collimation light is automatically searched and finally collimated by the coordinated movement of the one-dimensional precision turntable (2) and the vertical lifting device (1). The satellite is rotated by the one-dimensional precision turntable (2) to solve the problem of large horizontal attitude deviation of the actual installation posture of the cubic mirror. The automatic focusing digital photoelectric theodolite (3) is raised and lowered to solve the problem of large pitch attitude deviation of the cubic mirror. S4. Combining calibration data and the theoretical design value of the cubic mirror of the device under test, calculate the relative positional relationship between the center of the cubic mirror and the center of the autofocus digital photoelectric theodolite (3), thereby controlling the telescope of the autofocus digital photoelectric theodolite (3) to always point to the center of the cubic mirror of the target under test; The implementation method of step S4 includes the following steps: S41. Based on the theoretical design value of the target to be measured, drive the autofocus digital photoelectric theodolite (3) and the one-dimensional precision turntable (2) to rotate to the target position. If the autofocus digital photoelectric theodolite (3) cannot obtain the collimated image, then use this position as the search starting point to search. S42. Set the horizontal and pitch search steps to 0.3°, and the number of searches to n and m respectively; S43. Keep the height of the autofocus digital photoelectric theodolite (3) unchanged, rotate the turntable clockwise according to the search step, and at the same time control the line of sight of the autofocus digital photoelectric theodolite (3) to aim at the center of the target cubic mirror. If the search is unsuccessful, continue to control the one-dimensional precision turntable (2) to rotate clockwise according to the search step until the search is successful or the maximum number of searches n is reached. S44. If the search is unsuccessful, the one-dimensional precision turntable (2) returns to the initial position, controls the one-dimensional precision turntable (2) to rotate counterclockwise according to the search step, and controls the autofocus digital photoelectric theodolite (3) to aim the line of sight at the center of the target cubic mirror. If the search is unsuccessful, continue to control the one-dimensional precision turntable (2) to rotate counterclockwise according to the search step until the search is successful or the maximum number of searches n is reached. S45. If the search is unsuccessful, the one-dimensional precision turntable (2) returns to the initial position, and the autofocus digital photoelectric theodolite (3) is controlled to rise one step according to the search step size. Repeat steps S43 and S44. If the search is unsuccessful, continue to control the autofocus digital photoelectric theodolite (3) to rise one step according to the search step size. Repeat steps S43 and S44 until the search is successful or the maximum number of searches m is reached. S46. If the search is unsuccessful, the one-dimensional precision turntable (2) and the autofocus digital photoelectric theodolite (3) return to the initial position, control the autofocus digital photoelectric theodolite (3) to descend one step according to the search step size, and repeat steps S43 and S44. If the search is unsuccessful, continue to control the autofocus digital photoelectric theodolite (3) to descend one step according to the search step size, and repeat steps S43 and S44 until the search is successful or the maximum number of search times m is reached.

2. The method for automatically measuring the installation accuracy of on-board equipment according to claim 1, characterized in that, The step S1, which calibrates the relative pose relationship between the autofocus digital photoelectric theodolite (3) and the one-dimensional precision turntable (2) coordinate system and the change in torsion angle during the raising and lowering of the autofocus digital photoelectric theodolite (3), specifically includes the following steps: S11. Fix a target point on the table surface of the one-dimensional precision turntable (2), set the rotation angle of the one-dimensional precision turntable (2) to 0°, and use a laser tracker to measure the three-dimensional coordinates of the target point on the one-dimensional precision turntable (2); S12. The one-dimensional precision turntable (2) rotates 20° in sequence, and the laser tracker measures the three-dimensional coordinate system of the target point after rotation in sequence. The measurement is completed after rotating 360°. S13. By fitting the coordinate system, create a turntable coordinate system O with the rotation center of the one-dimensional precision turntable (2) as the origin, the rotation axis as the +Z axis, and the line connecting the origin and the target point when the turntable is at 0° as the +X axis. R -X R Y R Z R Establish the coordinate system O of the laser tracker L -X L Y L Z L Relative pose relationship with the coordinate system of the one-dimensional precision rotary table (2) (R) L R , T L R ); S14. Set up at least 4 common target points P on site. i Using a laser tracker and an autofocus digital photoelectric theodolite (3), the common target point P was respectively... i Measurements were performed to obtain the common target point P. i In the coordinate system O of the laser tracker L -X L Y L Z L The three-dimensional coordinates (X) L pi ,Y L pi Z L pi In the coordinate system O of the autofocus digital photoelectric theodolite (3) T -X T Y T Z T The azimuth angle below (α) T pi ,β T pi ); S15. Using the measurement information from step S14, a calibration model can be constructed based on the resection measurement principle to determine the coordinate system O of the autofocus digital photoelectric theodolite (3). T -X T Y T Z T With the coordinate system O of the laser tracker L -X L Y L Z L Relative pose relationship between (R) L T T L T ); S16. Using the coordinate system transfer matrix obtained in steps S13 and S15, the coordinate system O of the autofocus digital photoelectric theodolite (3) can be calculated and determined. T -X T Y T Z T The coordinate system O of the one-dimensional precision rotary table (2) R -X R Y R Z R Relative pose relationship (R) R T T R T This completes the system calibration.

3. The method for automatically measuring the installation accuracy of on-board equipment according to claim 1, characterized in that, The method for determining and compensating for the change in torsion angle of the autofocus digital photoelectric theodolite (3) at each measurement position in step S2 specifically includes the following steps: S21. Based on the design theoretical value of the coordinate system of the measured equipment in the satellite coordinate system, and combined with the system calibration data, the measurement system can drive the automatic focusing digital photoelectric theodolite (3) and the one-dimensional precision turntable (2) to move, realize the collimation of the automatic focusing digital photoelectric theodolite (3) on the measured target, and determine the vector information r of the cubic mirror normal in the coordinate system of the automatic focusing digital photoelectric theodolite (3). i ; S22. Using the autofocus function of the autofocus digital photoelectric theodolite (3), aim at the global control points (4) sequentially to obtain the horizontal and vertical angle information of the global target points. Using the resection principle, the coordinate system O of the autofocus digital photoelectric theodolite (3) at the measurement position can be determined. T -X T Y T Z T With global control point coordinate system O G -X G Y G Z G Relative orientation relationship (R) G T T G T ); S23. Utilize the pre-defined global control point coordinate system O G -X G Y G Z G relative to the initial coordinate system O of the turntable R0 -X R0 Y R0 Z R0 Based on the relative pose relationship and the current rotation angle value of the one-dimensional precision turntable (2), the coordinate system of the global control point (4) and the coordinate system O of the current one-dimensional precision turntable (2) can be determined. Ri -X Ri Y Ri Z Ri Relative pose relationship (R Ri G T Ri G ); S24. Using the results of steps S21, S22, and S23, the collimation vector information of the autofocus digital photoelectric theodolite (3) at this position can be transmitted to the current coordinate system of the one-dimensional precision turntable (2). S25. Repeat the process of S21-S24 to perform collimation measurements on the devices under test in sequence. This will determine the vector information of the cubic mirror normal of all devices under test in a unified coordinate system, thereby realizing the measurement of the device installation attitude information.

4. An automatic measurement system for the installation accuracy of on-board equipment, used to implement the method for automatic measurement of the installation accuracy of on-board equipment according to any one of claims 1-3, wherein: The system includes a vertical lifting device (1), a one-dimensional precision turntable (2), an automatic focusing digital photoelectric theodolite (3), a global control point (4), and a total control measuring device (6). The system is characterized by further including a liftable transfer slide (5), which is composed of a horizontal movement module (51) and a lifting module (52). The liftable transfer slide is used to transfer the satellite from the AGV vehicle to the one-dimensional precision turntable and fix it.

5. The automatic measurement system for the installation accuracy of on-board equipment according to claim 4, characterized in that, The vertical lifting device (1), the one-dimensional precision turntable (2), and the liftable transfer slide (5) are all fixed to the ground by expansion bolts.

6. The automatic measurement system for installation accuracy of on-board equipment according to claim 4, characterized in that, The chassis of the vertical lifting device (1) adopts a square steel structure design.

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