Portable calibration device and calibration method for stand-alone equipment

Abstract

This application discloses a portable calibration device and a calibration method for a single-machine device, generally relating to the field of engineering machinery technology, and particularly to a portable calibration device and a calibration method for a single-machine device. The device includes a single-machine device mounting frame, a bogie, and a tripod. The single-machine device mounting frame is detachably connected to the mounting components of the single-machine device. The single-machine device mounting frame is used to fix the single-machine device on the portable calibration device, and attitude calibration is performed using a first mirror and a second mirror of the single-machine device. The single-machine device mounting frame is detachably mounted on the tripod. The bogie is fixedly connected to both sides of the single-machine device mounting frame, and the bogie is used to adjust the angle of the single-machine device mounting frame along a longitudinal arc direction. The rotation range of the bogie is a preset first steering angle range.

Description

Technical Field

[0001] This disclosure generally relates to the field of engineering machinery technology, and more particularly to a portable calibration device and a calibration method for a single machine. Background Technology

[0002] Currently, spacecraft technology is constantly developing. Spacecraft generally include multiple individual devices (such as momentum wheels, gyroscopes, star sensors, etc.). Each individual device has a specific attitude in the spacecraft (including the position and angle of the individual device). In order to ensure the normal use of individual devices, it is usually necessary to set precise installation attitude information for each individual device.

[0003] In related technologies, optical methods are usually used for calibration measurements. Specifically, the coordinate system orientation of a single device can be represented by the normal of a cubic mirror or a plane mirror. Measurements are carried out by using multiple theodolites to jointly establish a station, and the installation attitude information of the single device can be measured in the spacecraft.

[0004] However, since the space of spacecraft is often limited and not open, the use of optical methods can lead to the measurement process not being able to be completed within the accuracy requirements of a single device, ultimately resulting in a large measurement deviation. Summary of the Invention

[0005] In view of the above-mentioned defects or deficiencies in the prior art, it is desirable to provide a portable calibration device and a calibration method for single-machine equipment, which can solve the problem that the entire measurement process cannot be completed within the accuracy requirements of the single-machine equipment when using optical methods, resulting in a large measurement deviation. This can improve the calibration accuracy and efficiency of single-machine equipment.

[0006] In a first aspect, a portable calibration device for a stand-alone device is provided, the device including a stand-alone device mounting frame, a bogie, and a tripod;

[0007] The single-unit equipment mounting frame is detachably connected to the mounting components of the single-unit equipment. The single-unit equipment mounting frame is used to fix the single-unit equipment on the single-unit equipment calibration portable device, and to perform attitude calibration through the first mirror and the second mirror of the single-unit equipment. The single-unit equipment mounting frame is detachably mounted on the tripod.

[0008] The bogie is fixedly connected to both sides of the single-machine equipment mounting frame. The bogie is used to adjust the angle of the single-machine equipment mounting frame along the longitudinal arc direction. The rotation range of the bogie is a preset first steering angle range.

[0009] In this application, the portable calibration device for a single-unit device includes a single-unit device mounting frame, a bogie, and a tripod. The single-unit device mounting frame is detachably connected to the mounting components of the single-unit device for fixing it to the portable calibration device. Attitude calibration is performed using a first mirror and a second mirror. The single-unit device mounting frame is detachably mounted on the tripod. The bogie, with a rotation range within a preset first steering angle range, is fixedly connected to both sides of the single-unit device mounting frame. The bogie is used to adjust the angle of the single-unit device mounting frame along a longitudinal arc direction. Thus, by using the single-unit device mounting frame capable of fixing the single-unit device and the guide frame capable of adjusting the longitudinal arc angle of the single-unit device mounting frame, combined with the first and second mirrors, stable and accurate attitude calibration of the single-unit device can be performed. Furthermore, because the portable calibration device is compact and portable, it can be easily and flexibly set up for calibrating single-unit devices.

[0010] Secondly, a calibration method for a stand-alone device is provided, the method comprising:

[0011] The stand-alone device is detachably mounted on a stand-alone device mounting frame, which is used to fix the stand-alone device on the stand-alone device calibration portable device. The stand-alone device mounting frame is detachably mounted on a tripod.

[0012] According to a preset angle, the bogie is used to adjust the single-machine equipment calibration portable device so that the angle of the single-machine equipment is within the calibration angle range of the calibration device. The bogie is fixedly connected to both sides of the single-machine equipment mounting frame. The bogie is used to adjust the angle of the single-machine equipment mounting frame along the longitudinal arc direction.

[0013] A measurement system is established using calibration equipment, the first mirror of the single-machine device, and the second mirror of the single-machine device to perform attitude calibration of the single-machine device.

[0014] In this application, the stand-alone device is detachably mounted on a stand-alone device mounting frame (which is detachably mounted on a tripod) used to fix the stand-alone device to the stand-alone device calibration portable device. Then, according to a preset angle, the stand-alone device calibration portable device is adjusted using a bogie (the bogie is fixedly connected to both sides of the stand-alone device mounting frame and is used to adjust the angle of the stand-alone device mounting frame along a longitudinal arc direction). Finally, a measurement system is established using the calibration device, the first mirror of the stand-alone device, and the device cube mirror of the stand-alone device to perform attitude calibration of the stand-alone device. Thus, by using a stand-alone device mounting frame that can fix the stand-alone device and a guide frame that can adjust the longitudinal arc angle of the stand-alone device mounting frame, combined with the first and second mirrors, stable and accurate attitude calibration of the stand-alone device can be performed.

[0015] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0016] Other features, objects, and advantages of this application will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0017] Figure 1 One of the schematic diagrams of a portable calibration device for a standalone device provided in the embodiments of this application;

[0018] Figure 2 A second schematic diagram of a portable calibration device for a standalone device provided in an embodiment of this application;

[0019] Figure 3 A third schematic diagram of a portable calibration device for a standalone device provided in this application embodiment;

[0020] Figure 4 This is a flowchart illustrating the calibration method for a single device provided in an embodiment of this application. Detailed Implementation

[0021] The present application will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, only the parts relevant to the invention are shown in the accompanying drawings.

[0022] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0023] Every spacecraft contains many individual devices. Since the space inside a spacecraft is limited and not open, and each individual device has a specific function, it is necessary to accurately measure the installation attitude information of each individual device.

[0024] In related technologies, the calibration process of a single device can be completed using optical methods. Specifically, a single device typically carries its own cube mirror or plane mirror. Therefore, the normal of the cube mirror or plane mirror can be used to represent the coordinate system of the single device. Then, measuring equipment (such as multiple theodolites) is used to establish a measurement system in the spacecraft to determine the attitude of the single device.

[0025] In the methods described above, due to the limited space within the spacecraft, the measurement optical path of a single device may be obstructed during the measurement process (e.g., spacecraft deck panels can easily cause optical path obstruction), making measurement impossible. Therefore, directly using the device's own cube mirror or plane mirror may not be sufficient to measure the device's attitude (attitude relationship measurement). To address this, a transition cube mirror (whose optical path in the normal direction of adjacent surfaces is not obstructed) can be placed at a specific location on the device. This transition cube mirror helps determine the approximate location of the device within the spacecraft. Then, precise attitude calibration is performed. Specifically, the device is placed on a platform, and measuring equipment (e.g., multiple electronic theodolites) is used to collide and align the cube mirror and the transition cube mirror, thus completing the calibration.

[0026] However, due to the limited space within the spacecraft, the entire measurement process may not be able to meet the accuracy requirements, and the measurement accuracy may ultimately fail to meet the spacecraft's requirements.

[0027] Based on this, this application proposes a portable calibration device and a calibration method for single-machine equipment, which can solve the problem that when using optical methods, the measurement is not stable enough, which makes it impossible for the single-machine equipment to complete the measurement within the accuracy requirements of the single-machine equipment, resulting in a large measurement deviation. This can improve the calibration accuracy and efficiency of single-machine equipment.

[0028] Figure 1 This application provides a portable calibration device for a standalone device. The device includes a standalone device mounting frame, a bogie, and a tripod. The standalone device mounting frame is detachably connected to the mounting components of the standalone device. The bogie is fixedly connected to both sides of the standalone device mounting frame.

[0029] In this embodiment, the aforementioned stand-alone device mounting bracket is used to fix the aforementioned stand-alone device onto the aforementioned stand-alone device calibration portable device, and to perform attitude calibration through the first mirror and the second mirror of the stand-alone device. The aforementioned stand-alone device (calibration portable device) mounting bracket is detachably mounted on the aforementioned tripod.

[0030] It is understood that the attitude calibration of the single device mentioned above in the embodiments of this application refers to calibrating both the position and angle of the single device. Position calibration includes determining the distance parameters of the single device within the spacecraft; attitude calibration includes determining the angle parameters of the single device within the spacecraft.

[0031] In one example, the calibration process for a standalone device in this application embodiment takes place outside the spacecraft.

[0032] In the embodiments of this application, the stand-alone device typically has a mounting surface with mounting components that can be detachably mounted to the spacecraft. Furthermore, to facilitate fixing the stand-alone device and ensure its stability during attitude calibration, a first component that mates with the mounting components of the stand-alone device is provided on the stand-alone device mounting frame, allowing the stand-alone device to be fixed to the stand-alone device mounting frame.

[0033] It is understandable that the mounting components of different stand-alone devices can be different or the same. Correspondingly, the first component on the stand-alone device mounting bracket matches the stand-alone device, and the first component of different stand-alone devices may be different or the same.

[0034] In the embodiments of this application, the first component may be fixed to the single-machine equipment mounting frame and not removable, or it may be detachably fixed to the single-machine equipment mounting frame. The embodiments of this application do not limit this.

[0035] It should be noted that the mounting frame and the mounting components of the single-unit equipment are detachably connected. The single-unit equipment is fixed on the mounting frame, and the stability and fit of the single-unit equipment must meet the accuracy requirements of the calibration process when calibrating the attitude of the single-unit equipment.

[0036] like Figure 1 As shown, a first component 11 is located at the rear of the stand-alone equipment mounting bracket 10. The first component 11 cooperates with the mounting component of the stand-alone equipment 20, which is located on the back of the stand-alone equipment 20 and is not shown in the figure.

[0037] In this embodiment of the application, the detachable connection between the above-mentioned single-unit equipment mounting frame and the above-mentioned single-unit equipment mounting component means that the single-unit equipment mounting frame and the single-unit equipment mounting component can be fixedly connected, but the two are detachable, and the stability of the single-unit equipment can be guaranteed during the disassembly process.

[0038] In this embodiment, the first mirror is a lens integrated into the standalone device and used for attitude calibration. For example, the first mirror can be a cubic mirror or a plane mirror of the standalone device.

[0039] In this embodiment, the second mirror is not part of the standalone device but is installed on it later. For example, it is a transition cubic mirror of the standalone device.

[0040] Understandably, as mentioned above, although a single-unit device is equipped with a first mirror, the limited space within the spacecraft can easily cause obstruction, making it impossible to use the first mirror alone to complete the attitude measurement of the single-unit device within the spacecraft. Therefore, a second mirror can be installed in a specific area on the single-unit device. Generally, the installation method is to attach the second mirror to the single-unit device.

[0041] Furthermore, the aforementioned second mirror is installed in a specific area of ​​the stand-alone device. This specific area is defined as follows: after the stand-alone device is installed on the spacecraft, the light paths of adjacent surfaces of the second mirror in the normal direction are not obstructed, and the normal direction of the mirror surface is within a predetermined angle range. This predetermined angle range is user-defined. For example, the predetermined angle range should be within the elevation angle range of 144° to 42° of the corresponding calibration equipment.

[0042] like Figure 2 As shown, Figure 2 This is a side view of a standalone device 20. The first mirror is the standalone device cubic mirror 21 of the standalone device 20, and the second mirror is the transition cubic mirror 22 of the standalone device 20. Among them, the standalone device cubic mirror 21 is built into the standalone device, and the transition cubic mirror 22 is installed on the standalone device later.

[0043] In this embodiment, the tripod is used to fix the single-unit equipment mounting bracket, ensuring the stability of the bracket. Figure 1 As shown, a single-unit equipment mounting bracket 10 is mounted on the tripod 30.

[0044] In this embodiment of the application, the bogie is used to adjust the angle of the single-machine mounting frame along the longitudinal arc direction, and the rotation range of the bogie is a preset first steering angle range.

[0045] In one example, the bogie may include a steering guide rail, which assists the bogie in rotating along a longitudinal arc direction, that is, rotating along a preset adjustment trajectory. Figure 1 As shown, the steering guide rail 41 on the bogie 40 can assist the bogie in rotating along the longitudinal arc direction when it rotates.

[0046] In this embodiment, the bogie is used to adjust the angle of the single-machine equipment mounting frame of the single-machine equipment calibration device.

[0047] In this embodiment, the bogie fixedly connected to both sides of the single-unit equipment mounting frame can include both detachable and non-detachable connections. For example, the bogie is fixedly welded to both sides of the single-unit equipment.

[0048] In this embodiment of the application, the aforementioned preset first rotation angle range is determined based on the structure of the bogie.

[0049] like Figure 1 As shown, the bogie 40 is composed of two steering subframes located on the left and right sides of the single-machine mounting frame 10. The bogie 40 can rotate in the longitudinal arc direction and its angle can be adjusted within the range of 0 to 90°.

[0050] In this embodiment of the application, during the process of rotating the bogie within the preset first rotation angle range, a portion or all of the angle range within the preset first rotation angle range causes the angle of the single device to be within the calibration angle range of the calibration device.

[0051] Understandably, during attitude calibration using both the first and second mirrors of a single-unit instrument, calibration is not always possible for any angle of the instrument within a preset first rotation angle range. If some angles within the preset first rotation angle range exceed the calibrable angle range of the calibration equipment and fall within its blind zone (or dead zone), calibration cannot be performed. For example, assuming the calibration equipment is a theodolite, if the attitude of the single-unit instrument corresponding to some angles within the preset first rotation angle range exceeds the corresponding elevation angle range of 144° to 42° of the calibration equipment, attitude calibration for the single-unit instrument cannot be performed.

[0052] In this embodiment of the application, the calibration device can be multiple theodolites. For example, four theodolites.

[0053] like Figure 3 As shown, Figure 3 In the center, the single-unit device 20 is fixedly mounted on the portable calibration device for the single-unit device. There are four calibration devices, namely four theodolites: theodolite 61, theodolite 62, theodolite 63, and theodolite 64. This ensures that the calibration accuracy of the single-unit device's calibration environment meets the calibration requirements; for example, the angle measurement accuracy is better than 15″.

[0054] The portable calibration device for stand-alone equipment provided in this application includes a stand-alone equipment mounting frame, a bogie, and a tripod. The stand-alone equipment mounting frame is detachably connected to the mounting components of the stand-alone equipment, and attitude calibration is performed using a first mirror and a second mirror. The stand-alone equipment mounting frame is detachably mounted on the tripod. The bogie, with a rotation range within a preset first steering angle range, is fixedly connected to both sides of the stand-alone equipment mounting frame. The bogie is used to adjust the angle of the stand-alone equipment mounting frame along a longitudinal arc direction. Thus, by using the stand-alone equipment mounting frame to fix the stand-alone equipment and the guide frame to adjust the longitudinal arc angle of the stand-alone equipment mounting frame, combined with the first and second mirrors, stable and accurate attitude calibration of the stand-alone equipment can be achieved. Furthermore, because the portable calibration device is compact and portable, it can be easily and flexibly set up for calibrating stand-alone equipment.

[0055] Optionally, in the calibration portable device for stand-alone equipment provided in the embodiments of this application, the stand-alone equipment mounting bracket includes a guide rail for fixing the stand-alone equipment.

[0056] For example, the distance parameters of the guide rail are matched with the size parameters of the stand-alone device.

[0057] As can be understood from the foregoing, the stand-alone device is connected to the first component on the stand-alone device mounting frame via its own mounting components, thus fixing the stand-alone device to the mounting frame. Furthermore, the stand-alone device mounting frame also includes guide rails for fixing the stand-alone device.

[0058] For example, the guide rails mentioned above can be two, three, or four. This application embodiment does not limit the number of guide rails.

[0059] For example, the guide rails are movable and adjustable on the mounting frame of the single device, that is, the distance parameters between the guide rails are adjustable, as detailed in the following description.

[0060] For example, matching the distance parameters of the guide rail with the size parameters of the stand-alone device means that the guide rail at the current distance parameter can securely fix the stand-alone device.

[0061] Optionally, in the calibration portable device for stand-alone equipment provided in the embodiments of this application, the stand-alone equipment mounting frame includes mounting frame adjustment wheels.

[0062] For example, the mounting bracket adjustment wheel is used to adjust the distance parameter of the guide rail.

[0063] For example, the mounting bracket adjusting wheel is connected to the threaded rod, which includes a left-hand thread and a right-hand thread; the distance parameter between the guide rails is changed by adjusting the mounting bracket adjusting wheel.

[0064] For example, the threaded rod described above is a threaded rod used to adjust the opening or closing of the guide rail. For instance, the threaded rod described above can be a fine-pitch threaded rod.

[0065] Furthermore, since the aforementioned threaded rod includes both left-hand and right-hand threads, when the threaded rod is left-handed, the distance parameter between the guide rails of the single-machine equipment mounting bracket can be increased, and when the threaded rod is right-handed, the distance parameter between the guide rails of the single-machine equipment mounting bracket can be decreased.

[0066] Furthermore, as the distance parameters between the guide rails of a single-unit equipment mounting rack increase, the distance parameters between multiple guide rails also increase; correspondingly, as the distance parameters between the guide rails of a single-unit equipment mounting rack decrease, the distance parameters between multiple guide rails also decrease.

[0067] For example, the aforementioned single-unit equipment mounting bracket has a threaded hole through which a threaded rod can be installed. The threaded rod is connected to the mounting bracket adjustment wheel. Finally, by controlling the mounting bracket adjustment wheel, the threaded rod can be controlled to rotate left or right, thereby controlling the change of distance parameters between multiple guide rails.

[0068] like Figure 1 As shown, two guide rails 13 and a threaded rod 14 are provided on the single-machine equipment mounting frame 10. The threaded rod 14 is connected to the single-machine equipment mounting frame 10 through the threaded hole on the single-machine equipment mounting frame 10. The threaded rod 14 has left-hand thread and right-hand thread. The threaded rod 14 is connected to the mounting frame adjustment wheel 15. By turning the mounting frame adjustment wheel 15 left or right, the distance parameter between the two guide rails 13 can be controlled to decrease or increase.

[0069] It should be noted that during the process of controlling the distance parameter between the two guide rails 13 to decrease or increase, the single machine changes stably, and the change angle meets the calibration accuracy requirements.

[0070] In this way, by setting the mounting bracket adjustment wheel and the threaded rod with both left-hand and right-hand threads, the distance parameters can be changed smoothly, thereby making the single-machine mounting bracket where the guide rail is located more compatible with the single-machine setup and fixing the single-machine equipment more firmly.

[0071] Optionally, in the calibration portable device for stand-alone equipment provided in the embodiments of this application, the stand-alone equipment mounting frame includes a first locking device.

[0072] For example, the first locking member is used to fix and lock the stand-alone device to the stand-alone device mounting bracket on the stand-alone device mounting bracket.

[0073] Understandably, once the horizontal orientation of the stand-alone device on the stand-alone device mounting frame has been adjusted (for example, the distance parameters of the guide rail have been adjusted, and the stand-alone device has been placed in a suitable horizontal orientation), the stand-alone device can be fixed and locked on the stand-alone device mounting frame by the first locking component.

[0074] For example, the first locking member described above can be a screw member. Accordingly, the aforementioned stand-alone equipment mounting bracket may include a plurality of threaded holes for fixing the stand-alone equipment by screws passing through the threaded holes on the stand-alone equipment mounting bracket when the horizontal orientation of the stand-alone equipment is adjusted to the correct position.

[0075] For example, on the aforementioned single-unit equipment mounting bracket, threaded holes for M8 screws are provided every 10mm. These M8 screws are used to fix the single-unit equipment in place when the horizontal posture of the single-unit equipment mounting bracket is adjusted, thereby adapting to the installation needs of single-unit equipment with different size parameters.

[0076] Optionally, in the calibration portable device for a stand-alone device provided in the embodiments of this application, the bogie includes the second locking member.

[0077] For example, the second locking member is used to lock and fix the attitude of the single-unit equipment mounting frame when the bogie rotates the single-unit equipment mounting frame to a target angle, wherein the target angle is an angle with calibration conditions below the satellite.

[0078] For example, the target angle mentioned above can be customized by the user.

[0079] like Figure 1 As shown, when the bogie 40 is rotated upward by 45° (target angle), the bogie 20 is fixed at that 45° by the locking button 50.

[0080] Optionally, the aforementioned mounting bracket adjusting wheel includes a third locking member.

[0081] For example, the third locking member locks the guide rail adjusted by the mounting bracket adjustment wheel on the single-machine mounting frame when the distance parameter of the guide rail reaches the target parameter.

[0082] For example, the target parameter mentioned above can be a distance parameter that matches the size parameters of the stand-alone device, or further, a distance parameter that enables the stand-alone device to be stable and fixed on the guide rail.

[0083] For example, the third locking member described above may be a member used to lock the adjusting wheel of the mounting bracket.

[0084] In one example, the aforementioned third locking member may be a locking button used to lock the adjusting wheel of the mounting bracket.

[0085] Optionally, in the portable calibration device for stand-alone equipment provided in the embodiments of this application, the table size parameters of the stand-alone equipment mounting bracket are set according to the size parameters of the stand-alone equipment.

[0086] It is understandable that, since the size of individual devices varies, the table size of the aforementioned individual device mounting rack can be set differently according to the different parameters of different individual devices, or a larger table size can be preset in advance to accommodate individual devices of various sizes and types.

[0087] like Figure 1 As shown, the platform size of the single-unit equipment mounting rack is 350×240mm, which can accommodate single-unit equipment of different specifications and sizes for installation.

[0088] Figure 4 This is a flowchart illustrating a calibration method for a stand-alone device provided in an embodiment of this application. Figure 4 As shown, the method includes the following steps:

[0089] 301. The above-mentioned stand-alone equipment is detachably mounted on the stand-alone equipment mounting frame.

[0090] In this embodiment, the aforementioned stand-alone device mounting bracket is used to fix the aforementioned stand-alone device onto the aforementioned stand-alone device calibration portable device, and the aforementioned stand-alone device mounting bracket is detachably mounted on a tripod.

[0091] In the embodiments of this application, the descriptions of the above-mentioned stand-alone device, stand-alone device mounting bracket, tripod, and the arrangement of the stand-alone device on the stand-alone device mounting bracket can refer to the foregoing content, and will not be repeated here.

[0092] 302. Adjust the portable calibration device of the above-mentioned single-machine equipment according to the preset angle using the bogie, so that the angle of the above-mentioned single-machine equipment is within the calibration angle range of the calibration device.

[0093] In this embodiment of the application, the bogie is fixedly connected to both sides of the single-machine equipment mounting frame, and the bogie is used to adjust the angle of the single-machine equipment mounting frame along the longitudinal arc direction.

[0094] In this embodiment, the preset angle can be user-defined or preset for a standalone device calibration portable device; this embodiment does not limit this.

[0095] In this embodiment of the application, the calibration angle range of the calibration device refers to the angle range that allows the calibration device to complete the calibration without being in the blind zone (or dead zone) of the calibration device.

[0096] In the embodiments of this application, the specific description of the bogie described above can be referred to the foregoing content and will not be described here.

[0097] 303. Establish a measurement system using calibration equipment, the first mirror of the aforementioned single-machine device, and the second mirror of the aforementioned single-machine device, and perform attitude calibration of the aforementioned single-machine device.

[0098] In this embodiment of the application, the first mirror and the second mirror are used to calibrate the attitude of the stand-alone device.

[0099] In this embodiment, the posture of the aforementioned stand-alone device can be referred to the foregoing description, and will not be repeated here.

[0100] In this embodiment, the first lens and the second lens of the aforementioned stand-alone device can be referred to the foregoing description and will not be repeated here.

[0101] In the method provided in this application embodiment, the stand-alone device is detachably mounted on a stand-alone device mounting frame (which is detachably mounted on a tripod) used to fix the stand-alone device to the stand-alone device calibration portable device. Then, according to a preset angle, the stand-alone device calibration portable device is adjusted using a bogie (the bogie is fixedly connected to both sides of the stand-alone device mounting frame and is used to adjust the angle of the stand-alone device mounting frame along a longitudinal arc direction). Finally, a measurement system is established using the calibration device, the first mirror of the stand-alone device, and the device cube mirror of the stand-alone device to perform attitude calibration of the stand-alone device. Thus, by using a stand-alone device mounting frame that can fix the stand-alone device and a guide frame that can adjust the longitudinal arc angle of the stand-alone device mounting frame, combined with the first and second mirrors, stable and accurate attitude calibration of the stand-alone device can be achieved.

[0102] Optionally, in this embodiment of the application, in step 301 above, the calibration method for a single device provided in this embodiment of the application includes the following step A1:

[0103] Step A1: According to the size parameters of the above-mentioned stand-alone device, adjust the guide rail on the stand-alone device mounting bracket so that the stand-alone device is fixed on the stand-alone device calibration portable device.

[0104] For example, the mounting bracket adjustment wheel is used to adjust the distance parameter of the guide rail.

[0105] For example, the guide rails of the aforementioned single-unit equipment mounting bracket can be adjusted in the manner described above, and will not be repeated here.

[0106] Optionally, in this embodiment of the application, in step 302 above, the calibration method for a single device provided in this embodiment of the application includes the following step A2:

[0107] Step A2: Adjust the bogie of the single-machine calibration portable device along the longitudinal arc direction of the bogie of the single-machine calibration portable device according to the preset angle, so that the angle of the single-machine device is within the calibration angle range of the calibration device.

[0108] For example, the aforementioned preset angle can be referred to the foregoing description, and will not be repeated here.

[0109] For example, as can be seen from the foregoing, the rotation direction of the bogie is a longitudinal arc direction. In one example, a steering guide rail can be provided on the bogie to assist the bogie in rotating along the longitudinal direction.

[0110] Optionally, in this embodiment of the application, before step 301 above, the calibration method for a single device provided in this embodiment of the application includes the following step A3:

[0111] Step A3: Install the second mirror in the first area of ​​the stand-alone device.

[0112] For example, the first region is located in the area on the single device where the normal direction of the two sides adjacent to the spacecraft is not blocked, and the normal direction of the second mirror is within the range of the first preset angle.

[0113] For example, the second mirror described above can be referred to the foregoing description, and will not be repeated here.

[0114] Optionally, in this embodiment of the application, the above-mentioned single-unit equipment mounting bracket further includes a first locking device, and in step 301, the calibration method of the above-mentioned single-unit equipment may include the following step A4:

[0115] Step A4: Detachably mount the stand-alone device on the stand-alone device mounting frame and adjust the first locking device to fix and lock the stand-alone device to the stand-alone device mounting frame.

[0116] For example, the specific description of the first locking member can be referred to the foregoing description, and will not be repeated here.

[0117] Optionally, in this embodiment, the bogie further includes a second locking device.

[0118] In step 302, the calibration method for the above-mentioned stand-alone equipment may include the following step A5:

[0119] Step A5: Adjust the single-machine equipment calibration portable device using the bogie according to the preset angle so that the angle of the single-machine equipment is within the calibration angle range of the calibration device, and adjust the second locking device to keep the bogie at the preset angle.

[0120] For example, the specific description of the second locking member can be referred to the foregoing description, and will not be repeated here.

[0121] It should be understood that the units described in the portable calibration device for a standalone device correspond to the steps in the method described in the accompanying drawings. Therefore, the operations and features described above for the method also apply to the portable calibration device for a standalone device and the modules and units contained therein, and will not be repeated here.

[0122] The division of modules or units mentioned in the detailed description above is not mandatory. In fact, according to the embodiments of this disclosure, the features and functions of two or more modules or units described above can be embodied in one module or unit. Conversely, the features and functions of one module or unit described above can be further divided and embodied by multiple modules or units.

[0123] It should be noted that for details not disclosed in the credential request device and resource access device in the embodiments of this application, please refer to the details disclosed in the above embodiments of this application, which will not be repeated here.

[0124] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operational instructions of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two connected blocks may actually be executed substantially in parallel, or they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified functions or operational instructions, or using a combination of dedicated hardware and computer instructions.

[0125] The units or modules described in the embodiments of this application can be implemented in software or hardware. The described units or modules can also be housed in a processor; for example, a processor can be described as including a first receiving module, a second receiving module, and a transmitting module. The names of these units or modules do not, in certain circumstances, constitute a limitation on the unit or module itself.

[0126] The above description is merely a preferred embodiment of this application and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of disclosure in this application is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the foregoing disclosed concept. For example, technical solutions formed by substituting the above features with (but not limited to) technical features with similar functions disclosed in this application.

Claims

1. A portable calibration device for single-unit equipment in spacecraft, characterized in that, The device includes a single-unit equipment mounting frame, a bogie, and a tripod; The single-unit equipment mounting frame is detachably connected to the mounting components of the single-unit equipment. The single-unit equipment mounting frame is used to fix the single-unit equipment on the single-unit equipment calibration portable device. Attitude calibration is performed through the first mirror and the second mirror of the single-unit equipment. The single-unit equipment mounting frame is detachably mounted on the tripod. The bogie is fixedly connected to both sides of the single-machine equipment mounting frame. The bogie is used to adjust the angle of the single-machine equipment mounting frame within the range of 0 to 90° along the longitudinal arc direction. The rotation range of the bogie is a preset first steering angle range. The single-unit equipment mounting frame includes guide rails for fixing the single-unit equipment, and the distance parameters of the guide rails are matched with the size parameters of the single-unit equipment; The single-unit equipment mounting frame includes mounting frame adjustment wheels and threaded rods. The mounting frame adjustment wheels are used to adjust the distance parameters of the guide rail. The mounting bracket adjusting wheel is connected to the threaded rod, which includes a left-hand thread and a right-hand thread; the distance parameter between the guide rails is changed by adjusting the mounting bracket adjusting wheel. The single-unit equipment mounting frame includes a first locking member, which is used to fix and lock the single-unit equipment to the guide rail. The bogie includes a second locking member, which is used to lock the single-unit equipment mounting frame to a target angle when the bogie rotates the single-unit equipment mounting frame to a target angle, wherein the target angle is an angle that allows for calibration below the satellite.

2. The apparatus according to claim 1, characterized in that, The tabletop dimensions of the mounting rack for the stand-alone equipment are set according to the dimensions of the stand-alone equipment.

3. A calibration method for a single unit of a spacecraft used in the apparatus according to any one of claims 1-2, comprising: The stand-alone device is detachably mounted on a stand-alone device mounting frame, which is used to fix the stand-alone device on the stand-alone device calibration portable device. The stand-alone device mounting frame is detachably mounted on a tripod. According to a preset angle, the bogie is used to adjust the single-machine equipment calibration portable device so that the angle of the single-machine equipment is within the calibration angle range of 42°~144° of the calibration equipment. The bogie is fixedly connected to both sides of the single-machine equipment mounting frame. The bogie is used to adjust the angle of the single-machine equipment mounting frame in the range of 0~90° along the longitudinal arc direction. A measurement system is established using calibration equipment, the first mirror of the single-machine device, and the second mirror of the single-machine device to perform attitude calibration of the single-machine device.

4. The method according to claim 3, characterized in that, The step of detachably mounting the stand-alone device on the stand-alone device mounting frame includes: According to the size parameters of the single device, adjust the guide rail on the single device mounting frame to fix the single device on the single device calibration portable device; the mounting frame adjustment wheel is used to adjust the distance parameters of the guide rail.

5. The method according to claim 3, characterized in that, The step of adjusting the portable calibration device of the stand-alone device according to a preset angle, so that the angle of the stand-alone device is within the calibration angle range of the calibration device, includes: According to a preset angle, along the longitudinal arc direction of the bogie of the single-machine calibration portable device, adjust the bogie of the single-machine calibration portable device so that the angle of the single-machine device is within the calibration angle range of the calibration device.

6. The method according to claim 3, characterized in that, Before detachably mounting the stand-alone device on the stand-alone device mounting bracket, the method further includes: A first mirror is installed in a first region of a single device. The first region is located in the area on the single device where the normal direction of the two sides adjacent to the spacecraft is not obstructed, and the normal direction of the first mirror is within a first preset angle range.

Images