Satellite payload alignment method based on photogrammetry for flexible support

Abstract

The application discloses a satellite load installation and adjustment method based on photogrammetry and facing flexible support, and belongs to the technical field of spaceflight assembly. The method comprises the following steps: S1, flexible support pre-compression simulation; S2, installing flexible support; S3, photogrammetry preparation; S4, performing photogrammetry; S5, generating measurement results; S6, post-processing of the measurement results; and S7, targeted installation and adjustment. The method has the advantages that the measured object is not contacted in the measurement process, and the flexible support is not deformed; the measurement speed is high, the precision is high, the operation is convenient, the relative distance of each measurement point relative to the reference plane can be obtained, the flexible support can be adjusted according to the measurement results, and the surface precision of the optical load connected with the flexible support is effectively improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of aerospace assembly, and in particular to a satellite load assembly method based on photogrammetry for flexible support. BACKGROUND

[0002] With the continuous improvement of the resolution of optical remote sensing satellites, the requirements for the surface accuracy of satellite optical loads are increasing, and the support structure of the optical load is particularly important to ensure the imaging quality. The support structure of the optical mirror generally plays a role in adjusting the position of the optical load while maintaining the surface accuracy and stability of the optical load. In order to weaken the influence of vibration on the surface accuracy of the optical load, multi-point flexible support is usually used as the support structure of the optical load; the flexible support is usually composed of two main parts, flexible structure and rigid bushing, which provides a certain connection stiffness while resisting assembly errors, gravity deformation and vibration reduction.

[0003] In the process of satellite load assembly, when the load is installed on the flexible support, the load will cause the flexible support to deform due to its own gravity; since the projection position of the load center of gravity in the installation plane and the flexible center of the support structure are usually not coincident, the deformation of the flexible support near the load center of gravity is larger than that of other flexible supports, resulting in eccentric tilt angle of the load after installation, affecting the surface accuracy of the load. And in the process of assembly and adjustment, the traditional contact measurement method has the problems of difficult accurate measurement of the surface accuracy of the flexible support installation surface, low measurement efficiency and small measurement range. The traditional assembly and adjustment measurement method is mainly contact measurement, including joint arm measurement and three-coordinate measurement; in the measurement process, the probe needs to contact the installation surface of the flexible support to calibrate the measurement point position; and when the probe contacts the installation surface of the flexible support, the flexible support will inevitably be forced to elastically deform, affecting the measurement result.

[0004] At present, the existing patents about flexible support are mostly concentrated in the aspect of structure design; from the aspect of invention form, the existing patents are mostly concentrated in the structure design of flexible support of steel material, and less involved in the measurement and assembly method of flexible support; from the aspect of invention content, the existing patents are mostly concentrated in the stiffness and temperature load adaptability of flexible support, and less concerned about the surface accuracy of the installation surface of flexible support.

[0005] For example, the invention patent with publication number CN117741903A, entitled "Detection Device for Assembly Spacing Surface of Reflector Primary Mirror and Method for Assembly Adjustment of Reflector Primary Mirror," relates to a detection device for the assembly spacing surface of a reflector primary mirror and a method for assembly adjustment of the reflector primary mirror. The detection mechanism involved in this patent includes: a primary mirror barrel fixture and a primary mirror flexible joint fixture, used for installing and fixing the primary mirror barrel and the primary mirror flexible joint, respectively; and a displacement sensor and an adjustment mechanism for measuring the reflector installation spacing. The specific implementation method is as follows: the reflector primary mirror is installed on the primary mirror flexible joint; the displacement sensor is installed and fixed on the primary mirror flexible joint fixture to measure the distance between the assembly spacing surface between the primary mirror barrel and the primary mirror flexible joint; the adjustment mechanism is used to adjust the primary mirror to the optimal imaging position by mounting the primary mirror fixture on an adjustment platform. Its advantage is that it simplifies the assembly and adjustment steps and saves assembly and adjustment time compared to traditional methods. Its disadvantages are that high-precision tooling is required for assembly and adjustment; the assembly and adjustment effect needs to be judged based on the imaging clarity of the primary mirror, and the surface accuracy of the assembly and adjustment is difficult to quantify; the assembly and adjustment process requires mirror imaging, which places high demands on the assembly and adjustment environment. Based on the above technical problems, those skilled in the art urgently need a convenient, high-precision, non-contact method for assembling and adjusting satellite payloads for flexible supports. Summary of the Invention

[0006] The purpose of this invention is to solve the problems existing in the prior art by providing a convenient, high-precision, non-contact satellite payload assembly and adjustment method for flexible support.

[0007] To achieve the above objectives, this invention provides a satellite payload assembly and adjustment method based on photogrammetry for flexible support. The photogrammetric instruments used in this method include: a high-resolution camera, a wireless image transmission module, an image data processing computer, a payload installation fixture, and a photogrammetric fixture. The payload installation fixture includes:

[0008] A substrate, which is square in shape, has a load mounted on it, and has multiple mounting holes on the substrate. The load is mounted on the substrate by multiple flexible supports.

[0009] Each of the flexible supports comprises: a pair of rigid bushings arranged oppositely from top to bottom, each of the rigid bushings is composed of two annular structures with decreasing diameters and is hollow inside; the two rigid bushings are arranged on both sides of the mounting hole on the substrate respectively, a flexible rubber pad with the same shape as each of the rigid bushings is mounted on the side of each of the rigid bushings away from each other, and the smaller end of the flexible rubber pad is sleeved inside the rigid bushing, a mounting surface gasket is arranged on the top of the upper flexible rubber pad, a high-precision nut tool is arranged above the mounting surface gasket, a screw is arranged at the bottom of the lower flexible rubber pad, a shaft sleeve gasket is sleeved outside the screw, the screw penetrates through the rigid bushing, the flexible rubber pad and the mounting surface gasket through the mounting hole, and the high-precision nut tool is fixed with the substrate;

[0010] The photogrammetry tool comprises a space coordinate system reference cross, a space length reference long rod and four space angle reference hemispheres, the two arms of the space coordinate system reference cross are parallel to the two edges of the substrate respectively, and the space coordinate system reference cross is placed obliquely above the substrate; the space length reference long rod is arranged on one side of the substrate to be parallel to one edge of the substrate; the four space angle reference hemispheres are uniformly arranged around the substrate with the substrate as the center;

[0011] The satellite load assembly and adjustment method comprises the following steps:

[0012] S1: Flexible support pre-compression simulation

[0013] The load and the three-dimensional model of the flexible support are assembled in the simulation software according to the actual assembly relationship, the load and the flexible support model are given corresponding material parameters, and simulation is performed under the boundary condition of the gravitational field; the relative height of each flexible support mounting surface is obtained in the balanced state after the load is installed, taking the substrate as the reference; the relative height difference of each flexible support mounting surface in the balanced state is taken as a reference, and the height of the mounting surface gasket is adjusted to make each flexible support mounting surface in the load installation state be equal in height, so as to ensure good total flatness of each flexible support mounting surface;

[0014] S2: Install flexible support

[0015] The flexible support is installed on the substrate, the screw is passed through the center through hole from one side of the shaft sleeve gasket, and then passed through each component of the flexible support in sequence, after the mounting surface gasket is installed, the same torque is applied to the high-precision nut tool using a torque wrench to simulate the installation state when the flexible support is connected with the load, and after completion, the substrate-the tested piece with the installed flexible support is placed on the test table;

[0016] S3: Preparation before photogrammetry

[0017] Paste the target point stickers on the flexible support mounting surface to be measured; place the photogrammetry tool around the periphery of the substrate; open the photogrammetry image processing software and create a new measurement example; connect the high-resolution camera to the wireless image transmission module and the image data processing computer in sequence, turn on the power of the high-resolution camera and the wireless image transmission module, and enter the image transmission state;

[0018] S4: Photogrammetry

[0019] First, calibrate the global coordinate system, and then hold the camera to take pictures around the test piece; after taking a picture, move the camera position about 10 cm around the test piece, adjust the angle, and continue to take pictures until the test piece is taken around a circle;

[0020] S5: Generate measurement results

[0021] After shooting, wait for the image processing software to read all the images of this shooting, perform gray-scale binary processing to identify the target points, and determine the position of the target points in the global coordinate system in the three-dimensional space generated by the software, and generate point cloud coordinates of the measurement target points;

[0022] S6: Post-processing of measurement results

[0023] In the image processing software, the target points recognized by photogrammetry are created by the best fitting method to create a virtual plane, and the surface type accuracy control is added to the best fitting plane, so that the surface type accuracy of the multi-point flexible support mounting surface is obtained; by the curve comparison point function, the offset vector of each measurement point relative to the best fitting plane is generated;

[0024] S7: Targeted adjustment

[0025] Based on the relative height and target total flatness of each flexible support mounting surface in the model obtained by simulation in step S1, and the actual relative height and total flatness of each flexible support mounting surface obtained by photogrammetry in step S6, if the actual measurement result and the simulation expected result error is within the preset range, the adjustment is completed;

[0026] If the actual measurement result and the simulation expected result differ greatly, further targeted adjustment of the mounting surface gasket height is performed;

[0027] The mounting and adjusting measures include: replacing the mounting surface gasket with poor surface type precision; adjusting the mounting surface height of the flexible support surface with large overall deviation by grinding the gasket or adding the gasket; reassembling the flexible support with large deviation to eliminate the influence of the nonlinear deformation of the flexible rubber gasket caused by uneven stress during the assembly process; and repeating the steps S2-S7 until the surface type precision and the relative positions of the mounting surfaces meet the simulation expectation and the assembly requirements.

[0028] Further, the high-precision nut tool is a customized nut with high surface type precision, one side end face is chamfered, the other side end face is a reference surface in contact with the flexible support mounting surface, which is a nut mounting surface, and the flatness of the nut mounting surface is less than 0.01; the perpendicularity between the inner wall of the threaded hole of the high-precision nut tool and the nut mounting surface is less than 0.01.

[0029] Further, the gravity field boundary condition in S1 is 1g gravity acceleration.

[0030] Advantages of the present application

[0031] Compared with the prior art, the present application predicts the deformation of each flexible support during the assembly and adjustment through simulation before the assembly and adjustment, and adjusts the relative height of each flexible support according to the simulation results, so that each flexible support mounting surface can maintain the same height after the load is installed, so that the load can still maintain good surface type precision after installation. During the assembly and adjustment process, the surface type precision and the relative height difference of the flexible support are measured by the photogrammetry method, and the simulation and measurement results are combined for further adjustment. The advantages of this method are that the measured object is not contacted during the measurement, and the deformation of the flexible support is not caused; moreover, the measurement speed is fast, the precision is high, the operation is convenient, and the relative distance of each measurement point relative to the reference plane can be obtained, so that the flexible support can be adjusted according to the measurement results, thereby effectively improving the surface type precision of the optical load connected with the flexible support. BRIEF DESCRIPTION OF DRAWINGS

[0032] Figure 1 The photogrammetry method scene arrangement schematic diagram provided by the present application;

[0033] Figure 2 The flexible support composition schematic diagram provided by the present application;

[0034] Figure 3 The target point pasted on the flexible support mounting surface provided by the present application is shown in the schematic diagram;

[0035] Figure 4 The connection structure schematic diagram of the load and the flexible support provided by the present application;

[0036] Figure 5 The flexible support position arrangement schematic diagram provided by the present application;

[0037] Figure 6 The relative height diagram of each flexible support provided by the present application after the load is installed, wherein x1, x2, x3, x4 are the relative heights of the four different flexible support installation surfaces 131 to the +Z direction surface of the substrate 2 as the reference;

[0038] Figure 7 The high-precision nut tool structure provided by the present application is shown in the diagram;

[0039] Figure 8 The structure diagram of the flexible support after installation provided by the present application is shown in the diagram;

[0040] Figure 9 The top view of the flexible support provided by the present application is shown in the diagram;

[0041] Figure 10 The flowchart of the installation and adjustment method provided by the present application is shown in the diagram.

[0042] In the diagram,

[0043] 1, flexible support; 2, substrate; 3, load; 4, high-resolution camera; 5, space angle reference hemisphere; 6, space coordinate system reference cross; 7, space length reference long rod;

[0044] 11, rigid bushing; 12, flexible rubber pad; 13, installation surface gasket; 14, high-precision nut tool; 15, screw; 16, shaft sleeve gasket;

[0045] 131, flexible support installation surface; 132, target point;

[0046] 141, nut installation surface; 142, inner wall of threaded hole. DETAILED DESCRIPTION

[0047] In order for those skilled in the art to better understand the technical solutions of the present application, the present application will be further described in detail below in conjunction with the accompanying drawings.

[0048] It should be noted that the terms "upper", "one side", "the other side" and the like used herein indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description. Similar expressions are only for the purpose of illustration and cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the application.

[0049] Referring to Figures 1-10 ;

[0050] A satellite payload installation method based on photogrammetry for flexible support, the satellite payload installation method uses a photogrammetry instrument, which comprises a high-resolution camera 4, a wireless image transmission module, an image data processing computer, a payload installation tool and a photogrammetry tool, the payload installation tool comprises:

[0051] A substrate 2 in a square shape, a load 3 mounted above the substrate 2, a plurality of mounting holes opened on the substrate 2, and the load 3 mounted on the substrate 2 through a plurality of flexible supports 1;

[0052] Each of the flexible supports 1 comprises a pair of rigid bushings 11 arranged oppositely from top to bottom, each of the rigid bushings 11 is composed of two ring structures with decreasing diameters and is hollow inside; the two rigid bushings 11 are arranged on both sides of the mounting hole on the substrate 2 respectively, a flexible rubber pad 12 with the same shape as each of the rigid bushings 11 is mounted on the side of each of the rigid bushings 11 away from each other, and the flexible rubber pad 12 is sleeved inside the rigid bushing 11 at the smaller end of the diameter; an installation surface gasket 13 is arranged on the top of the flexible rubber pad 12 above, a high-precision nut tool 14 is arranged above the installation surface gasket 13, a screw 15 is arranged at the bottom of the flexible rubber pad 12 below, a shaft sleeve gasket 16 is sleeved outside the screw 15, the screw 15 penetrates through the rigid bushing 11, the flexible rubber pad 12 and the installation surface gasket 13 through the mounting hole, and is fixed with the substrate 2 through the high-precision nut tool 14; the upper surface of the installation surface gasket 13 is a flexible support installation surface 131 for mounting and fixing the load 3; further, the high-precision nut tool 14 is a customized nut with high surface precision, one side end face is chamfered, the other side end face is a reference surface in contact with the flexible support installation surface 131, which is a nut installation surface 141, the flatness of the nut installation surface 141 is less than 0.01; the perpendicularity between the thread hole inner wall 142 of the high-precision nut tool 14 and the nut installation surface 141 is less than 0.01.

[0053] The photogrammetry tool comprises a space coordinate system reference cross 6, a space length reference long rod 7 and four space angle reference hemispheres 5, the two arms of the space coordinate system reference cross 6 are parallel to both sides of the substrate respectively and are placed obliquely above the substrate; the space length reference long rod 7 is arranged on one side of the substrate 2 so as to be parallel to one side of the substrate 2; the four space angle reference hemispheres 5 are uniformly arranged around the substrate 2 with the substrate 2 as the center respectively;

[0054] The satellite payload installation method comprises the following steps:

[0055] S1: Flexible support pre-compression amount simulation

[0056] In order to keep the flexible support installation surface 1-1-1 in good surface accuracy after the load 3 is installed, the pre-compression amount of each flexible support 1 after the load 3 is installed is simulated and analyzed. The load 3 and the three-dimensional model of the flexible support 1 are assembled according to the actual assembly relationship in the simulation software, the assembly relationship is shown in Figure 4 , the corresponding material parameters of the load 3 and the flexible support 1 model are given, the simulation is carried out under the boundary condition of 1g gravity acceleration, and the substrate 2 is fixed to the ground; in the simulation, the installation surface 131 of the flexible support 1 is initially level, due to the influence of the gravity center of the load 3, the deformation amount of the flexible support near the gravity center of the load is larger than that of other flexible supports; the relative height of each flexible support installation surface 131 after the load is installed and balanced is obtained, the normal direction of the substrate 2 towards the load 3 is defined as +Z direction, and the +Z direction surface of the substrate 2 is taken as the reference, the relative height of each flexible support installation surface 131 is obtained.

[0057] The relative height of each flexible support surface 131 obtained after the simulation of the gravitational field is shown in Figure 6 , the relative height marked in the figure is only for illustrating the use of the installation method, and is irrelevant to the actual installation data, the x1=6.6mm, x2=6.5mm, x3=6.55mm, x4=6.4mm four height data marked in the figure are the relative heights of the four different flexible support installation surfaces 131 with the +Z direction surface of the substrate 2 as the reference; the relative height difference of each flexible support installation surface 131 in the balanced state is taken as a reference, the thickness of the installation surface gasket 13 is changed to make each flexible support installation surface 131 in the balanced state be level, so that the total flatness of each flexible support installation surface 131 is kept within a good range.

[0058] S2: install flexible support

[0059] The state of the load 3 installed on the substrate 2 is shown in Figure 4As shown, the normal direction of the substrate 2 towards the load 3 is defined as the +Z direction, the flexible support 1 is installed into the mounting hole reserved on the substrate 2 in the direction of the +Z side of the substrate 2 towards the mounting surface gasket 13, the thickness of the mounting surface gasket 13 matched with each flexible support 1 is determined according to the simulation result in the arrangement S1; taking the mounting and adjustment process of the optical load and the flexible support structure of a certain type of satellite as an example, the heights of the four different flexible support mounting surface gaskets 13 corresponding to x1, x2, x3, x4 marked in step S1 for illustrating the mounting and adjustment method should be respectively modified to y1=1mm, y2=1.1mm, y3=1.05mm, y4=1.2mm to keep the flexible support mounting surface 131 level; the installation position of the flexible support 1 is as shown in Figure 5 As shown; the flexible support 1 is fixed on the substrate 2 through the screw 15 and the high-precision nut tool 14, the rigid bushing 11 is in direct contact with the mounting hole, the flexible rubber pad 12 is loaded in the rigid bushing 11, the mounting surface gasket 13 and the shaft sleeve gasket 16 are respectively installed on both sides of the flexible rubber pad 12, and the installation position is as shown in Figure 2 As shown. The same torque is applied to each high-precision nut tool 14 using a torque wrench. After the installation is completed, the substrate 2 with the installed flexible support 1 is placed on the measurement table.

[0060] S3: Preparation before photogrammetry

[0061] Target point 132 stickers are pasted on the flexible support mounting surface 131 to be measured; three target point stickers are evenly pasted on each flexible support mounting surface 131 at intervals of about 120°; the photogrammetry tool is placed around the substrate 2, as shown in Figure 1 As shown; the photogrammetry image processing software is opened, the measurement parameters are defined, and a new measurement example is created; the high-resolution camera 4 is connected with the wireless image transmission module and the image data processing computer in sequence, the power of the high-resolution camera 4 and the wireless image transmission module is turned on, and the image transmission state is entered;

[0062] S4: Photogrammetry is performed

[0063] First, four photos are taken by aligning the normal direction of the space coordinate system reference cross 6, serving as the reference of the global coordinate system of the generated point cloud space, and the global coordinate system is calibrated. The high-resolution camera 4 is held to take photos around the tested object, each photo needs to completely contain the code points at both ends of the space length reference long rod 7, and as many space angle reference hemispheres 5 as possible; after each photo is taken, the camera 4 is moved about 10cm around the tested object, the angle is adjusted, and then the photo is taken, until the tested object is taken around a circle, and the camera shooting position is as shown in Figure 1Each image is taken to cover a certain number of target points, so that the image processing software can determine the three-dimensional coordinates of the target points in the global coordinate system according to the spatial angle reference hemispherical position in the global coordinate system in different photos when post-processing.

[0064] S5: generating measurement results

[0065] After the shooting is completed, the image processing software reads all the images of this shooting, performs gray binary processing to identify the target points 132, determines the spatial coordinates of the identified target points in the global coordinate system through the spatial point distribution function, and determines the position of the target points 132 in the global coordinate system in the three-dimensional space generated by the software, and generates the point cloud coordinates of the measured target points;

[0066] S6: post-processing of measurement results

[0067] In the image processing software, the target points 132 identified by photogrammetry create a virtual plane by the best fitting method, and add a surface type accuracy control to the best fitting plane, so as to obtain the surface type accuracy of the multi-point flexible support mounting surface 131; through the curved surface comparison point function, the offset vector of each measurement point relative to the best fitting plane is generated based on the best fitting plane;

[0068] S7: targeted adjustment

[0069] Based on the relative height and target total flatness of each flexible support mounting surface 131 in the model obtained by simulation in step S1, and the actual relative height and total flatness of each flexible support mounting surface 131 obtained by photogrammetry in step S6, if the actual measurement result and the simulation expected result are within the preset range, the adjustment is completed;

[0070] If the actual measurement result and the simulation expected result differ greatly, further targeted repair and adjustment of the mounting surface gasket 13 height is performed;

[0071] The repair and adjustment measures include: replacing the mounting surface gasket 13 with poor surface type accuracy; for the flexible support surface 131 with large overall offset, adjusting the height of the mounting surface 131 by grinding the gasket or adding a gasket; for the flexible support 1 with large offset, reassembling to eliminate the influence of non-linear deformation of the flexible rubber gasket 12 caused by uneven stress during assembly; repeating the above steps S2-S7 until the surface type accuracy and the relative position of each mounting surface meet the simulation expectations and assembly requirements.

[0072] The foregoing merely illustrates some exemplary embodiments of the application, and it will be appreciated that those skilled in the art will be able to devise various modifications without departing from the spirit and scope of the application. The appended drawings and description are illustrative only, and are not intended to be limiting.

Claims

1. A photogrammetry-based flexible support-oriented satellite payload alignment method, characterized in that, The photogrammetric instrument used in the satellite payload assembly method comprises a high-resolution camera (4), a wireless image transmission module, an image data processing computer, a payload mounting tool and a photogrammetric tool, and the payload mounting tool comprises: A square substrate (2) on which a payload (3) is mounted, a plurality of mounting holes are formed on the substrate (2), and the payload (3) is mounted on the substrate (2) through a plurality of flexible supports (1); Each flexible support (1) comprises: a pair of rigid bushings (11) arranged oppositely from top to bottom, each rigid bushing (11) is composed of two ring structures with decreasing diameters and is hollow inside; the two rigid bushings (11) are arranged on both sides of the mounting hole of the substrate (2) respectively, a flexible rubber pad (12) with the same shape as each rigid bushing (11) is mounted on the side of each rigid bushing (11) away from each other, and the smaller end of the flexible rubber pad (12) is sleeved in the rigid bushing (11); a mounting surface gasket (13) is arranged on the top of the upper flexible rubber pad (12), a high-precision nut tool (14) is arranged above the mounting surface gasket (13), a screw (15) is arranged at the bottom of the lower flexible rubber pad (12), a shaft sleeve gasket (16) is sleeved outside the screw (15), the screw (15) penetrates through the rigid bushing (11), the flexible rubber pad (12) and the mounting surface gasket (13) through the mounting hole, and is fixed with the substrate (2) through the high-precision nut tool (14); the upper surface of the mounting surface gasket (13) is a flexible support mounting surface (131) for mounting and fixing the payload (3); The photogrammetric tool comprises: a space coordinate system reference cross (6), a space length reference long rod (7) and four space angle reference hemispheres (5), the two arms of the space coordinate system reference cross (6) are parallel to the two sides of the substrate (2) and are placed obliquely above the substrate (2); the space length reference long rod (7) is arranged on one side of the substrate (2) to be parallel to one side of the substrate (2); the four space angle reference hemispheres (5) are uniformly arranged around the substrate (2) with the substrate (2) as the center; The satellite payload assembly method comprises the following steps: S1: Flexible support pre-compression simulation In the simulation software, the three-dimensional models of the payload (3) and the flexible support (1) are assembled according to the actual assembly relationship, the corresponding material parameters of the payload (3) and the flexible support (1) model are given, and the simulation is carried out under the boundary conditions of the gravitational field; the relative heights of each flexible support mounting surface (131) are obtained based on the substrate (2) as the reference in the balanced state after the installation of the payload (3); the relative height difference of each flexible support mounting surface (131) in this balanced state is taken as a reference, and the height of the mounting surface gasket (13) is adjusted to make each flexible support mounting surface (131) in the installed state of the payload (3) be equal in height, so as to ensure good total flatness of each flexible support mounting surface (131); S2: Mounting flexible support Install the flexible support (1) to the substrate (2), pass the screw (15) through the center hole from the side of the bushing gasket (16), through the components of the flexible support (1) in turn, install the mounting surface gasket, and then apply the same torque to the high-precision nut tool (14) using a torque wrench to simulate the installation state when the flexible support (1) is connected to the load (3), and then place the substrate (2) with the installed flexible support (1) on the test bench surface; S3: Photogrammetry preparation Paste the target point (132) sticker on the flexible support mounting surface (131) to be measured; Place the photogrammetry tool around the substrate (2); Open the photogrammetry image processing software and create a new measurement example; Connect the high-resolution camera (4) to the wireless image transmission module and image data processing computer in turn, turn on the power of the high-resolution camera (4) and the wireless image transmission module, and enter the image transmission state; S4: Perform photogrammetry First, calibrate the global coordinate system, and then take a photo of the test object around the camera after calibrating the global coordinate system; After taking a photo, move the camera 10 cm away from the test object and adjust the angle before taking another photo, and continue this process until the test object is photographed around a circle; S5: Generate measurement results After shooting, read all the images of this shooting by the image processing software, perform gray-scale binary processing to identify the photographed target points (132), and determine the position of the target points (132) in the global coordinate system in the three-dimensional space generated by the software to generate the point cloud coordinates of the measurement target points; S6: Post-processing of measurement results In the image processing software, create a virtual plane by the best fitting method based on the target points (132) identified by photogrammetry, add surface type precision control to the best fitting plane, and then the surface type precision of the flexible support mounting surface (131) can be obtained; By comparing the points of the curved surface, the offset vector of each measurement point relative to the best fitting plane is generated based on the best fitting plane as the reference; S7: Targeted adjustment Based on the relative height and target total flatness of each flexible support mounting surface (131) in the model obtained by simulation in step S1, compare the actual relative height and total flatness of each flexible support mounting surface (131) obtained by photogrammetry, if the actual measurement result and the simulation expected result are within the preset range, the adjustment is completed; If the actual measurement result and the simulation expected result differ greatly, further targeted adjustment of the height of the mounting surface gasket (13) is performed; The adjustment measures include: replacing the mounting surface gasket (13) with low surface type precision; For flexible support mounting surfaces (131) with large overall offset, adjusting the height of the mounting surface (131) by grinding the gasket or adding a gasket; Reassembling the flexible support (1) with large offset to eliminate the influence of non-linear deformation of the flexible rubber pad (12) caused by uneven stress during assembly; Repeat the above steps S2-S7 until the surface type precision and the relative position of each mounting surface meet the simulation expectations and assembly requirements.

2. The photogrammetry-based flexible support-oriented satellite payload alignment method according to claim 1, characterized in that, The high-precision nut tooling (14) is a kind of high surface precision customized nut, one side end face is chamfered, the other side end face is reference surface in contact with flexible support mounting surface (131), is nut mounting surface (141), the flatness of the nut mounting surface (141) is less than 0.01;The perpendicularity of the thread hole inner wall (142) of the high-precision nut tooling (14) and the nut mounting surface (141) is less than 0.

01.

3. The photogrammetry-based flexible support-oriented satellite payload alignment method according to claim 1, wherein, The gravity field boundary condition in S1 is 1g gravitational acceleration.

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