A fitting method for the optimal position and attitude of large aircraft components

Abstract

The present invention discloses a method for fitting the optimal position and attitude of large aircraft components, and relates to the technical field of digital assembly of aircraft. In actual situations, there may be a situation where the feature points do not always meet the allowable tolerance range, which leads to the actual result of attitude adjustment not meeting the requirements, so the tolerance range is relaxed to ensure that the feature points of large aircraft components are within the allowable tolerance range. This situation not only sacrifices the accuracy of certain core key feature points, but also is affected by other feature points with poor accuracy, resulting in the quality of the position and attitude adjustment of large aircraft components is not high, which may lead to a reduction in the level of overall assembly of the aircraft. When encountering the above situation, the present invention assigns grades to the feature points of large aircraft components and makes reasonable choices to ensure that the core key feature points can meet the allowable tolerance range, and can make the position and attitude of large aircraft components reach the optimal level in the actual engineering sense.

Description

Technical Field

[0001] The invention relates to the technical field of digital assembly of aircraft, and in particular to a method for fitting the optimal position and posture of large aircraft components. Background Art

[0002] In the process of adjusting the position and attitude of large aircraft components, a position and attitude fitting algorithm is needed to solve the position and attitude transformation parameters of the large aircraft components from the current position and attitude to the target position and attitude. Feature points for position and attitude fitting are arranged on the large aircraft components. However, since errors are bound to exist during the manufacturing of large aircraft components, an allowable tolerance range is set for each feature point. The purpose of the position and attitude fitting algorithm is to adjust each feature point to within the allowable tolerance range. Of course, the large aircraft components are regarded as ideal rigid bodies in the algorithm solving process.

[0003] However, in actual application scenarios, when adjusting the position and attitude of large aircraft components, it is found that after solving the algorithm, it is not necessarily possible to adjust each feature point to within the allowable tolerance range. In other words, there is no position and attitude that can make every feature point on the large aircraft components meet the allowable tolerance range, because this is caused by large manufacturing errors of some feature points.

[0004] Therefore, in actual situations, there are sometimes cases where feature points never meet the allowable tolerance range, which results in the actual attitude adjustment results not meeting the requirements. Therefore, the allowable tolerance range is usually set wider to ensure that all feature points of large aircraft components are within the allowable tolerance range. However, this situation may not only sacrifice the accuracy of some core key feature points, but also be affected by other feature points with poor accuracy, making the overall position and attitude of large aircraft components not optimal in the actual engineering sense, resulting in the quality of the position and attitude adjustment of large aircraft components is not high, which may lead to a reduction in the overall assembly level of the aircraft. Summary of the invention

[0005] The purpose of the present invention is to solve the problem that when adjusting the position and attitude of large aircraft components, there are characteristic points that always fail to meet the allowable tolerance range, which leads to the actual adjustment result not meeting the requirements. This situation may not only sacrifice the accuracy of some core key characteristic points, but also be affected by other characteristic points with poor accuracy, so that the overall position and attitude of the large aircraft components are not optimal in the actual engineering sense, resulting in the quality of the position and attitude adjustment of the large aircraft components is not high, which may lead to the problem of reducing the level of the overall assembly of the aircraft. A fitting method for the optimal position and attitude of large aircraft components is provided.

[0006] To achieve the above purpose, the technical solution adopted by the present invention is as follows:

[0007] A method for fitting the optimal position and posture of a large aircraft component, characterized in that it comprises the following steps:

[0008] Step s1: According to the relevant requirements of the design and manufacturing of large aircraft components, the importance of the feature points of the large aircraft components in the position and attitude adjustment process is classified, and the feature points are sorted according to the classification;

[0009] Step s2: Set the allowable deviation range of the feature points to Tol, The corresponding allowable tolerance range is set in the three directions of the coordinate system O-xyz of each feature point Tol , and sort the feature points according to their importance levels;

[0010] Step s3 sets the influence factor of the feature point to W , at each feature point, an influence factor is set in the three directions of the coordinate system O-xyz W , and according to the impact factor W Sort the importance of feature points;

[0011] Step s4: In the coordinate system O-xyz, the manufacturing and assembly errors existing in the actual situation are set as e , determine the error e and position and attitude transformation parameters R Directly related, and the position and attitude transformation parameters R Set as the main variable in the algorithm iteration process;

[0012] Step s5: Using the error in step s4 e and position and attitude transformation parameters R , combined with the allowable tolerance range of the feature points is Tol , the influencing factors of feature points W Establish a mathematical model for solving the optimal position and attitude fitting algorithm of large aircraft components;

[0013] Step s6: Influencing factors of all feature points W The importance levels are set to be the same;

[0014] Step s7: Solve the position and posture transformation parameters of the mathematical model established in the above steps R ;

[0015] Step s8: Determine whether all points can be obtained through the algorithm to meet the allowable tolerance range Tol Position and posture transformation parameters R If the optimal solution is found, continue to solve it. After the execution is completed, jump to step s13 from this step; if not, jump to step s9;

[0016] Step s9: Check the feature point out-of-tolerance type in the order of core, key, important, and general, and determine whether the feature point out-of-tolerance type is only one type. If so, continue to execute this step, and jump from this step to step s13 after execution; if the out-of-tolerance feature point is more than one type, jump to step s10;

[0017] Step s10: Determine whether the feature point deviation types are only two types. If yes, continue to execute this step. After the execution is completed, jump from this step to step s13; if no, jump to step s11;

[0018] Step s11: determine whether the feature point deviation type is only three types. If yes, continue to execute this step. After the execution is completed, jump from this step to step s13; if no, jump to step s12;

[0019] Step s12: If all four types of feature points are out of tolerance, execute this step. After the execution is completed, jump from this step to step s13;

[0020] Step s13: Transform the obtained position and posture parameters R Provided to the aircraft large parts attitude adjustment equipment system, the equipment system changes the position and attitude parameters R Decompose the relevant motion to obtain the coordinates of the feature points of the aircraft's large components at the optimal position and attitude , to achieve the adjustment of the actual position and attitude of major aircraft components.

[0021] The relevant importance levels in step s1 are divided into: core C P The key is K P , the important I P , generally G P .

[0022] In step s1, the feature points are sorted according to the classification as follows:

[0023] ;

[0024] C N , K N , I N , G N is the number of feature points corresponding to each category, C N+ K N+ K N+ GN=N , C Represents the core, K Represents the key, I Represents important, G Represents the general; C P 1 The first characteristic point representing the core level, Represents the core level C N feature points; K P 1 The first characteristic point representing the key level, Represents the key level K N feature points; I P 1 The first feature point representing the importance level, Represents the level of importance I N feature points; G P 1 The first feature point represents the general level. Represents the general level G N feature points; C x 1 Indicates the x-coordinate value of the first core feature point. C y 1 Indicates the y coordinate value of the first core feature point, C z1 represents the z coordinate value of the first core feature point; Indicates C N The x-coordinate value of the core feature point, Indicates C N The y coordinate value of the core feature point, Indicates C N The z coordinate value of the core feature point, and the rest are similar.

[0025] The importance ranking of the feature points in step s2 is:

[0026] ;

[0027] C Tol Represents the range set of permissible deviations of core feature points. K TolRepresents the set of permissible deviation ranges of key feature points. I Tol Represents the set of allowable deviation ranges of important feature points. G Tol Represents the range set of permissible deviations of general feature points; C Tol 1 Represents the allowable deviation range of the first core feature point. Representative C N The allowable deviation range of the core feature points, and so on for the rest.

[0028] The importance ranking of the feature points in step s3 is:

[0029] ;

[0030] C W is the set of influencing factors of core feature points, K W is the set of key feature point influencing factors, I W is the set of influencing factors of important feature points, G W is a set of influencing factors of general feature points; C W 1 is The first core feature point impact factor, For the C N The influencing factors of the core feature points, and the rest are similar; Represents the influence factor of the first core feature point in the x direction, Representative C N The influence factor of the core feature points in the x direction; Represents the influence factor of the first core feature point in the y direction, Representative C N The influence factor of the core feature points in the y direction; Represents the influence factor of the first core feature point in the z direction, Representative C N The influence factor of the core feature points in the z direction; Represents the influence factor of the first key feature point in the x direction, Representative K N The influence factor of the key feature points in the x direction; Represents the influence factor of the first key feature point in the y direction, Representative K N The influence factor of the key feature points in the y direction; Represents the influence factor of the first key feature point in the z direction, Representative K N The influence factor of the key feature points in the z direction; Represents the influence factor of the first important feature point in the x direction, Representative I N The influence factor of the important feature points in the x direction; Represents the influence factor of the first important feature point in the y direction, Representative I N The influence factor of an important feature point in the y direction; Represents the influence factor of the first important feature point in the z direction, Representative I N The influence factor of the important feature points in the z direction; Represents the influence factor of the first general feature point in the x direction, Representative G N The influence factor of a general feature point in the x direction; Represents the influence factor of the first general feature point in the y direction, Representative G N The influence factor of a general feature point in the y direction; Represents the influence factor of the first general feature point in the z direction, Representative G N The influence factor of a general feature point in the z direction; and the rest are similar.

[0031] In step s4, the error is set e for:

[0032] ;

[0033] The actual coordinate points of the feature points in the current posture are measured in the coordinate system O-xyz; is the coordinate of the theoretical target position in the coordinate system O-xyz; R are the position and attitude transformation parameters.

[0034] The error in step s4 e Sort by:

[0035] ;

[0036] C e is the core feature point error set, K e is the error set of key feature points, I e is the error set of important feature points, G e is the general feature point error set; C e 1 is the error of the first core feature point, For the C N The error of the core feature points, and the rest are similar;

[0037] is the error of the first core feature point in the x direction, For the C N The error of the core feature points in the x direction; is the error of the first core feature point in the y direction, For the C N The error of the core feature points in the y direction; is the error of the first core feature point in the z direction, For the C N The error of the core feature points in the z direction;

[0038] is the error of the first key feature point in the x direction, For the K N The error of the key feature points in the x direction; is the error of the first key feature point in the y direction, For the K N The error of the key feature points in the y direction; is the error of the first key feature point in the z direction, For the K N The error of the key feature points in the z direction;

[0039] is the error of the first important feature point in the x direction, For the I N The error of important feature points in the x direction; is the error of the first important feature point in the y direction, For the I N The error of important feature points in the y direction; is the error of the first important feature point in the z direction, For the I N The error of an important feature point in the z direction.

[0040] The mathematical model for solving the optimal position and attitude fitting algorithm of large aircraft components in step s5 is:

[0041] ;

[0042] f(R) is the objective function of the algorithm optimization, st is the symbol representing the constraint condition, e ≤ Tol is a constraint condition.

[0043] The influencing factors of all feature points in step s6 W Set to be the same and all set to 1, the order is:

[0044] ;

[0045] C W is the set of influencing factors of core feature points, K W is the set of key feature point influencing factors, I W is the set of influencing factors of important feature points, G W is a set of influencing factors of general feature points; C W 1 is The first core feature point impact factor, For the C N The influencing factors of the core feature points are as follows, and the rest are similar.

[0046] The algorithm solving process in step s7 is performed in an iterative manner, and the algorithm exits the iteration when the number of iterations reaches the set maximum number of iterations; the maximum number of iterations is a fixed positive integer set according to the actual application situation, and it does not change during the algorithm iteration.

[0047] If only the general feature points are out of tolerance in step s9, the out-of-tolerance points are discarded, and the algorithm is used to continue solving to find a range that makes all points meet the allowable tolerance. Tol Position and posture transformation parameters R The optimal solution of .

[0048] If only important feature points are out of tolerance in step s9, modify the influencing factors of the feature points W , the influencing factors of core, key and important feature points are set as a , and guarantee a >1, sorting is:

[0049] ;

[0050] C W is the set of influencing factors of core feature points, K W is the set of key feature point influencing factors, I W is the set of influencing factors of important feature points, G W is a set of influencing factors of general feature points; C W 1 is The first core feature point impact factor, For the C N The influencing factors of the core feature points, and the rest are similar;

[0051] Then use the algorithm to solve, focusing on ensuring the core, key and important feature points. If the results show that the core, key and important feature points meet the allowable tolerance range, Tol At this time, we further obtain the position and posture transformation parameters for the core, key and important feature points R The optimal solution is obtained and the general feature points with excessive deviation are discarded.

[0052] If only the key feature point is out of tolerance in step s9, modify the influencing factor of the feature point W , the influencing factors of the core and key feature points are set to a , the influence factor of important feature points is set to b ,ensure a > b >1, sorting is:

[0053] ;

[0054] C W is the set of influencing factors of core feature points, K W is the set of key feature point influencing factors, I W is the set of influencing factors of important feature points, G W is a set of influencing factors of general feature points; CW 1 is The first core feature point impact factor, For the C N The influencing factors of the core feature points, and the rest are similar;

[0055] Then use the algorithm to solve it. At this time, the general feature points are only observed, and the focus is on ensuring the core, key, and important feature points. If the results show that the core, key, and important feature points meet the allowable tolerance range, Tol At this time, we further obtain the position and posture transformation parameters for the core, key and important feature points R The optimal solution is to discard the general feature points that exceed the tolerance. If the result shows that only the core and key feature points meet the allowable tolerance range, Tol At this time, we further obtain the position and posture transformation parameters for the core and key feature points R The optimal solution is to discard important and general feature points with excessive deviation.

[0056] If only the core feature point is out of tolerance in step s9, modify the influencing factor of the feature point W , the influencing factors of the core feature points are set to a , the influence factor of the key feature point is set to b , the influence factor of important feature points is set to c ,ensure a > b > c >1, sorting is:

[0057] ;

[0058] C W is the set of influencing factors of core feature points, K W is the set of key feature point influencing factors, I W is the set of influencing factors of important feature points, G W is a set of influencing factors of general feature points; C W 1 is The first core feature point impact factor, For the C N The influencing factors of the core feature points, and the rest are similar;

[0059] Then use the algorithm to solve it. If the result shows that only the core feature points meet the allowable tolerance range, TolAt this time, we further seek the optimal solution for the position and posture transformation parameter R of the core feature points, and discard the key, important and general feature points that exceed the tolerance. If the results show that only the core and key feature points meet the allowable tolerance range, Tol At this time, we further seek the optimal solution for the position and posture transformation parameter R of the core and key feature points, and discard the important and general feature points that exceed the tolerance. If the results show that the core, key and important feature points meet the allowable tolerance range Tol At this time, the optimal solution of the position and posture transformation parameter R for the core, key and important feature points is further obtained, and the general feature points with excessive errors are discarded.

[0060] In step s10, if the out-of-tolerance feature point is general or important, modify the influencing factor of the feature point. W , set the core, key and important influencing factors as a , and guarantee a >1, sorting is:

[0061] ;

[0062] C W is the set of influencing factors of core feature points, K W is the set of key feature point influencing factors, I W is the set of influencing factors of important feature points, G W is a set of influencing factors of general feature points; C W 1 is The first core feature point impact factor, For the C N The influencing factors of the core feature points, and the rest are similar;

[0063] Then use the algorithm to solve it. At this time, the general feature points are only observed, and the focus is on ensuring the core, key, and important feature points. If the results show that the core, key, and important feature points meet the allowable tolerance range, Tol At this time, the optimal solution of the position and posture transformation parameter R for the core, key and important feature points is further obtained, and the general feature points with excessive errors are discarded; if there are still excessive error points in the important feature points, they are discarded.

[0064] In step s10, if the out-of-tolerance feature point is general or critical, modify the influencing factor of the feature point. W , the influencing factors of the core and key feature points are set to a , the influence factor of important feature points is set to b ,ensure a> b >1, sorting is:

[0065] ;

[0066] C W is the set of influencing factors of core feature points, K W is the set of key feature point influencing factors, I W is the set of influencing factors of important feature points, G W is a set of influencing factors of general feature points; C W 1 is The first core feature point impact factor, For the C N The influencing factors of the core feature points, and the rest are similar;

[0067] Then use the algorithm to solve it. At this time, the general feature points are only observed, and the core and key feature points are focused on. If the results show that the core, key and important feature points meet the allowable tolerance range, Tol At this time, we further seek the optimal solution of the position and posture transformation parameter R for the core, key and important feature points, and discard the general feature points that exceed the tolerance; if the results show that the core and key feature points meet the allowable tolerance range Tol At this time, the optimal solution for the position and posture transformation parameter R of the core and key feature points is further obtained, and the important and general feature points with excessive deviation are discarded.

[0068] In step s10, if the out-of-tolerance feature point is general or core, modify the influencing factor of the feature point. W , the influencing factors of the core feature points are set to a , the influence factor of the key feature point is set to b , the influence factor of important feature points is set to c ,ensure a > b > c >1, sorting is:

[0069] ;

[0070] C W is the set of influencing factors of core feature points, K W is the set of key feature point influencing factors, I W is the set of influencing factors of important feature points, GW is a set of influencing factors of general feature points; C W 1 is The first core feature point impact factor, For the C N The influencing factors of the core feature points, and the rest are similar;

[0071] Then use the algorithm to solve it. If the result shows that only the core feature points meet the allowable tolerance range, Tol At this time, we further seek the optimal solution for the position and posture transformation parameter R of the core feature points, and discard the key, important and general feature points that exceed the tolerance. If the results show that only the core and key feature points meet the allowable tolerance range, Tol At this time, we further seek the optimal solution for the position and posture transformation parameter R of the core and key feature points, and discard the important and general feature points that exceed the tolerance. If the results show that the core, key and important feature points meet the allowable tolerance range Tol At this time, the optimal solution of the position and posture transformation parameter R for the core, key and important feature points is further obtained, and the general feature points with excessive errors are discarded.

[0072] In step s10, if the out-of-tolerance feature point is important and critical, modify the influencing factor of the feature point W , the influencing factors of the core feature points are set to a , the impact factor of key and important feature points is set as b ,ensure a > b >1, sorting is:

[0073] ;

[0074] C W is the set of influencing factors of core feature points, K W is the set of key feature point influencing factors, I W is the set of influencing factors of important feature points, G W is a set of influencing factors of general feature points; C W 1 is The first core feature point impact factor, For the C N The influencing factors of the core feature points, and the rest are similar;

[0075] Then use the algorithm to solve it. If the result shows that only the core feature points meet the allowable tolerance range, Tol At this time, we further obtain the position and posture transformation parameters for the core feature points R The optimal solution is to discard the key, important and general feature points that exceed the tolerance. If the result shows that only the core and key feature points meet the allowable tolerance range, Tol At this time, we further obtain the position and posture transformation parameters for the core and key feature points R The optimal solution is to discard the important and general feature points that exceed the tolerance. If the result shows that the core, key and important feature points meet the range of allowable tolerance, Tol At this time, we further obtain the position and posture transformation parameters for the core, key and important feature points R The optimal solution is obtained and the general feature points with excessive deviation are discarded.

[0076] In step s10, if the out-of-tolerance feature point is important and core, or critical and core, modify the influencing factor of the feature point W , the influencing factors of the core feature points are set to a , the influence factor of the key feature point is set to b , the influence factor of important feature points is set to c ,ensure a > b > c >1, sorting is:

[0077] ;

[0078] C W is the set of influencing factors of core feature points, K W is the set of key feature point influencing factors, I W is the set of influencing factors of important feature points, G W is a set of influencing factors of general feature points; C W 1 is The first core feature point impact factor, For the C N The influencing factors of the core feature points, and the rest are similar;

[0079] Then use the algorithm to solve it, focusing on ensuring that the core feature points do not exceed the tolerance. If the result shows that only the core feature points meet the allowable tolerance range, Tol At this time, we further obtain the position and posture transformation parameters for the core feature points RThe optimal solution is to discard the key, important and general feature points that exceed the tolerance. If the result shows that only the core and key feature points meet the allowable tolerance range, Tol At this time, we further obtain the position and posture transformation parameters for the core and key feature points R The optimal solution is to discard the important and general feature points that exceed the tolerance. If the result shows that the core, key and important feature points meet the range of allowable tolerance, Tol At this time, we further obtain the position and posture transformation parameters for the core, key and important feature points R The optimal solution is obtained and the general feature points with excessive deviation are discarded.

[0080] In step s11, if the out-of-tolerance feature point is general, important, or critical, modify the influencing factor of the feature point W , the influencing factors of the core feature points are set to a , the impact factor of key and important feature points is set as b ,ensure a > b >1, sorting is:

[0081] ;

[0082] C W is the set of influencing factors of core feature points, K W is the set of key feature point influencing factors, I W is the set of influencing factors of important feature points, G W is a set of influencing factors of general feature points; C W 1 is The first core feature point impact factor, For the C N The influencing factors of the core feature points, and the rest are similar;

[0083] Then use the algorithm to solve it. If the result shows that only the core feature points meet the allowable tolerance range, Tol At this time, we further obtain the position and posture transformation parameters for the core feature points R The optimal solution is to discard the key, important and general feature points that exceed the tolerance. If the result shows that only the core and key feature points meet the allowable tolerance range, Tol At this time, we further obtain the position and posture transformation parameters for the core and key feature points R The optimal solution is to discard the important and general feature points that exceed the tolerance. If the result shows that the core, key and important feature points meet the range of allowable tolerance, TolAt this time, we further obtain the position and posture transformation parameters for the core, key and important feature points R The optimal solution is obtained and the general feature points with excessive deviation are discarded.

[0084] In step s11, if the out-of-tolerance feature point is general, important, core, or important, critical, core, or general, critical, core, modify the influencing factor of the feature point W , the influencing factors of the core feature points are set to a , the influence factor of the key feature point is set to b , the influence factor of important feature points is set to c ,ensure a > b > c >1, sorting is:

[0085] ;

[0086] C W is the set of influencing factors of core feature points, K W is the set of key feature point influencing factors, I W is the set of influencing factors of important feature points, G W is a set of influencing factors of general feature points; C W 1 is The first core feature point impact factor, For the C N The influencing factors of the core feature points, and the rest are similar;

[0087] Then use the algorithm to solve it, focusing on ensuring that the core feature points do not exceed the tolerance. If the result shows that only the core feature points meet the allowable tolerance range, Tol At this time, we further obtain the position and posture transformation parameters for the core feature points R The optimal solution is to discard the key, important and general feature points that exceed the tolerance. If the result shows that only the core and key feature points meet the allowable tolerance range, Tol At this time, we further obtain the position and posture transformation parameters for the core and key feature points R The optimal solution is to discard the important and general feature points that exceed the tolerance. If the result shows that the core, key and important feature points meet the range of allowable tolerance, Tol At this time, we further obtain the position and posture transformation parameters for the core, key and important feature points R The optimal solution is obtained and the general feature points with excessive deviation are discarded.

[0088] In step s12, all four types of feature points are out of tolerance, and the influencing factors of the feature points are modified. W , the influencing factors of the core feature points are set to a , the influence factor of the key feature point is set to b , the influence factor of important feature points is set to c ,ensure a > b > c >1, sorting is:

[0089] ;

[0090] C W is the set of influencing factors of core feature points, K W is the set of key feature point influencing factors, I W is the set of influencing factors of important feature points, G W is a set of influencing factors of general feature points; C W 1 is The first core feature point impact factor, For the C N The influencing factors of the core feature points, and the rest are similar;

[0091] Then use the algorithm to solve it to ensure that the core feature points do not exceed the tolerance. If the result shows that only the core feature points meet the allowable tolerance range, Tol , find the position and posture transformation parameters for the core feature points R The optimal solution is to discard the key, important and general feature points that exceed the tolerance. If the result shows that only the core and key feature points meet the allowable tolerance range, Tol , to obtain the position and posture transformation parameters for the core and key feature points R The optimal solution is to discard the important and general feature points that exceed the tolerance. If the result shows that the core, key and important feature points meet the range of allowable tolerance, Tol At this time, we further obtain the position and posture transformation parameters for the core, key and important feature points R The optimal solution is obtained and the general feature points with excessive deviation are discarded.

[0092] In step s13, the coordinates of the characteristic points of the large aircraft components at the optimal position and posture are obtained by calculation. for

[0093] ;

[0094] mP c is the actual coordinate of the feature point in the current posture.

[0095] The advantages of adopting the present invention are:

[0096] 1. The method of the present invention proposes to classify the feature points of large aircraft components according to their importance levels. The more important the feature points are, the higher the accuracy requirements are, which provides direction and basis for setting the influencing factors in the subsequent algorithm solution process.

[0097] 2. The present invention incorporates the influencing factors and errors of the feature points into the mathematical model corresponding to the optimal position and attitude fitting of large aircraft components, so that the continuous changes of the influencing factors and errors directly determine the direction of algorithm optimization, allowing the optimization goal to move in the desired direction.

[0098] 3. The present invention proposes a method in which, during the algorithm solution process for the optimal position and attitude fitting of large aircraft components, the feature point influence factors are updated according to the corresponding rules based on the tolerance situation. At the same time, reasonable choices are made based on the importance level of the feature points and the tolerance situation, so that the goals of algorithm optimization and solution are clearer and more efficient, and the attitude adjustment accuracy of large aircraft components can be more easily met.

[0099] 4. After the algorithm performs a preliminary solution, if it is determined that there is an out-of-tolerance situation, the method of the present invention will make targeted modifications to the influencing factors of feature points of different importance levels according to different out-of-tolerance situations, rather than blindly relaxing the allowable out-of-tolerance range or setting adaptive influencing factors. This solves the problem that the position and attitude of large aircraft components may be optimal in a mathematical sense, but not optimal in a practical engineering sense.

[0100] 5. The method provided by the present invention focuses on ensuring the accuracy of the core key feature points of large aircraft components, and allows sacrificing the accuracy of other non-core key feature points. If the accuracy of other feature points can meet the requirements, they will be included in the attitude adjustment process. If they cannot meet the requirements, they will be discarded to ensure the optimal position and attitude of large aircraft components.

[0101] 6. In the method of the present invention, it is proposed that in the iterative process of the position and attitude fitting algorithm of large aircraft components, not only the influencing factors can be updated, but also unwanted feature points (the number of feature points will change) can be eliminated in real time, instead of the feature points remaining unchanged. This not only enables the position and attitude of large aircraft components to meet relevant requirements, but also better improves the accuracy of the overall assembly of the aircraft.

[0102] 7. The method provided by the present invention provides a thought and strategy for adjusting the position and attitude of large aircraft components at the actual assembly site of large aircraft components, and has corresponding solutions when encountering different situations. BRIEF DESCRIPTION OF THE DRAWINGS

[0103] Figure 1 The figure is a flow chart of the method of the present invention. DETAILED DESCRIPTION

[0104] Example 1

[0105] A method for fitting the optimal position and attitude of a large aircraft component comprises the following steps:

[0106] Step s1: According to the relevant requirements of the design and manufacturing of large aircraft components, the importance of the feature points of the large aircraft components in the position and attitude adjustment process is classified, and the feature points are sorted according to the classification;

[0107] Step s2: Set the allowable deviation range of the feature points to Tol, The corresponding allowable tolerance range is set in the three directions of the coordinate system O-xyz of each feature point Tol , and sort the feature points according to their importance levels;

[0108] Step s3 sets the influence factor of the feature point to W , at each feature point, an influence factor is set in the three directions of the coordinate system O-xyz W , and according to the impact factor W Sort the importance of feature points;

[0109] Step s4: In the coordinate system O-xyz, the manufacturing and assembly errors existing in the actual situation are set as e , determine the error e and position and attitude transformation parameters R Directly related, and the position and attitude transformation parameters R Set as the main variable in the algorithm iteration process;

[0110] Step s5: Using the error in step s4 e and position and attitude transformation parameters R , combined with the allowable tolerance range of the feature points is Tol , the influencing factors of feature points W Establish a mathematical model for solving the optimal position and attitude fitting algorithm of large aircraft components;

[0111] Step s6: Influencing factors of all feature points W The importance levels are set to be the same;

[0112] Step s7: Solve the position and posture transformation parameters of the mathematical model established in the above steps R ;

[0113] Step s8: Determine whether all points can be obtained through the algorithm to meet the allowable tolerance range Tol Position and posture transformation parametersR If the optimal solution is found, continue to solve it. After the execution is completed, jump to step s13 from this step; if not, jump to step s9;

[0114] Step s9: Check the feature point out-of-tolerance type in the order of core, key, important, and general, and determine whether the feature point out-of-tolerance type is only one type. If so, continue to execute this step, and jump from this step to step s13 after execution; if the out-of-tolerance feature point is more than one type, jump to step s10;

[0115] Step s10: Determine whether the feature point deviation types are only two types. If yes, continue to execute this step. After the execution is completed, jump from this step to step s13; if no, jump to step s11;

[0116] Step s11: determine whether the feature point deviation type is only three types. If yes, continue to execute this step. After the execution is completed, jump from this step to step s13; if no, jump to step s12;

[0117] Step s12: If all four types of feature points are out of tolerance, execute this step. After the execution is completed, jump from this step to step s13;

[0118] Step s13: Transform the obtained position and posture parameters R Provided to the aircraft large parts attitude adjustment equipment system, the equipment system changes the position and attitude parameters R Decompose the relevant motion to obtain the coordinates of the feature points of the aircraft's large components at the optimal position and attitude , to achieve the adjustment of the actual position and attitude of major aircraft components.

[0119] The relevant importance levels in step s1 are divided into: core C P The key is K P , the important I P , generally G P .

[0120] In step s1, the feature points are sorted according to the classification as follows:

[0121] ;

[0122] C N , K N , I N , G N is the number of feature points corresponding to each category, CN+ K N+ K N+ G N=N , C Represents the core, K Represents the key, I Represents important, G Represents the general; C P 1 The first characteristic point representing the core level, Represents the core level C N feature points; K P 1 The first characteristic point representing the key level, Represents the key level K N feature points; I P 1 The first feature point representing the importance level, Represents the level of importance I N feature points; G P 1 The first feature point represents the general level. Represents the general level G N feature points; C x 1 Indicates the x-coordinate value of the first core feature point. C y 1 Indicates the y coordinate value of the first core feature point, C z1 represents the z coordinate value of the first core feature point; Indicates C N The x-coordinate value of the core feature point, Indicates C N The y coordinate value of the core feature point, Indicates C N The z coordinate value of the core feature point, and the rest are similar.

[0123] The importance ranking of the feature points in step s2 is:

[0124] ;

[0125] C Tol Represents the range set of permissible deviations of core feature points. K Tol Represents the set of permissible deviation ranges of key feature points. I Tol Represents the set of allowable deviation ranges of important feature points. G Tol Represents the range set of permissible deviations of general feature points; C Tol 1 Represents the allowable deviation range of the first core feature point. Representative C N The allowable deviation range of the core feature points, and so on for the rest.

[0126] The importance ranking of the feature points in step s3 is:

[0127] ;

[0128] C W is the set of influencing factors of core feature points, K W is the set of key feature point influencing factors, I W is the set of influencing factors of important feature points, G W is a set of influencing factors of general feature points; C W 1 is The first core feature point impact factor, For the C N The influencing factors of the core feature points, and the rest are similar; Represents the influence factor of the first core feature point in the x direction, Representative C N The influence factor of the core feature points in the x direction; Represents the influence factor of the first core feature point in the y direction, Representative C N The influence factor of the core feature points in the y direction; Represents the influence factor of the first core feature point in the z direction, Representative C N The influence factor of the core feature points in the z direction; Represents the influence factor of the first key feature point in the x direction, Representative K N The influence factor of the key feature points in the x direction; Represents the influence factor of the first key feature point in the y direction, Representative K N The influence factor of the key feature points in the y direction; Represents the influence factor of the first key feature point in the z direction, Representative K N The influence factor of the key feature points in the z direction; Represents the influence factor of the first important feature point in the x direction, Representative I N The influence factor of the important feature points in the x direction; Represents the influence factor of the first important feature point in the y direction, Representative I N The influence factor of an important feature point in the y direction; Represents the influence factor of the first important feature point in the z direction, Representative I N The influence factor of the important feature points in the z direction; Represents the influence factor of the first general feature point in the x direction, Representative G N The influence factor of a general feature point in the x direction; Represents the influence factor of the first general feature point in the y direction, Representative G N The influence factor of a general feature point in the y direction; Represents the influence factor of the first general feature point in the z direction, Representative G N The influence factor of a general feature point in the z direction; and the rest are similar.

[0129] In step s4, the error is set e for:

[0130] ;

[0131] The actual coordinate points of the feature points in the current posture are measured in the coordinate system O-xyz; is the coordinate of the theoretical target position in the coordinate system O-xyz; R are the position and attitude transformation parameters.

[0132] The error in step s4 e Sort by:

[0133] ;

[0134] C e is the core feature point error set, K e is the error set of key feature points, I e is the error set of important feature points, G e is the general feature point error set; C e 1 is the error of the first core feature point, For the C N The error of the core feature points, and the rest are similar;

[0135] is the error of the first core feature point in the x direction, For the C N The error of the core feature points in the x direction; is the error of the first core feature point in the y direction, For the C N The error of the core feature points in the y direction; is the error of the first core feature point in the z direction, For the C N The error of the core feature points in the z direction;

[0136] is the error of the first key feature point in the x direction, For the K N The error of the key feature points in the x direction; is the error of the first key feature point in the y direction, For the K N The error of the key feature points in the y direction; is the error of the first key feature point in the z direction, For the K N The error of the key feature points in the z direction;

[0137] is the error of the first important feature point in the x direction, For theI N The error of important feature points in the x direction; is the error of the first important feature point in the y direction, For the I N The error of important feature points in the y direction; is the error of the first important feature point in the z direction, For the I N The error of an important feature point in the z direction.

[0138] The mathematical model for solving the optimal position and attitude fitting algorithm of large aircraft components in step s5 is:

[0139] ;

[0140] f(R) is the objective function of the algorithm optimization, st is the symbol representing the constraint condition, e ≤ Tol is a constraint condition.

[0141] The influencing factors of all feature points in step s6 W Set to be the same and all set to 1, the order is:

[0142] ;

[0143] C W is the set of influencing factors of core feature points, K W is the set of key feature point influencing factors, I W is the set of influencing factors of important feature points, G W is a set of influencing factors of general feature points; C W 1 is The first core feature point impact factor, For the C N The influencing factors of the core feature points are as follows, and the rest are similar.

[0144] The algorithm solving process in step s7 is performed in an iterative manner, and the algorithm exits the iteration when the number of iterations reaches the set maximum number of iterations; the maximum number of iterations is a fixed positive integer set according to the actual application situation, and it does not change during the algorithm iteration.

[0145] If only the general feature points are out of tolerance in step s9, the out-of-tolerance points are discarded, and the algorithm is used to continue solving to find a range that makes all points meet the allowable tolerance. Tol Position and posture transformation parameters R The optimal solution of .

[0146] If only important feature points are out of tolerance in step s9, modify the influencing factors of the feature points W , the influencing factors of core, key and important feature points are set as a , and guarantee a >1, sorting is:

[0147] ;

[0148] C W is the set of influencing factors of core feature points, K W is the set of key feature point influencing factors, I W is the set of influencing factors of important feature points, G W is a set of influencing factors of general feature points; C W 1 is The first core feature point impact factor, For the C N The influencing factors of the core feature points, and the rest are similar;

[0149] Then use the algorithm to solve, focusing on ensuring the core, key and important feature points. If the results show that the core, key and important feature points meet the allowable tolerance range, Tol At this time, we further obtain the position and posture transformation parameters for the core, key and important feature points R The optimal solution is obtained and the general feature points with excessive deviation are discarded.

[0150] If only the key feature point is out of tolerance in step s9, modify the influencing factor of the feature point W , the influencing factors of the core and key feature points are set to a , the influence factor of important feature points is set to b ,ensure a > b >1, sorting is:

[0151] ;

[0152] C W is the set of influencing factors of core feature points, KW is the set of key feature point influencing factors, I W is the set of influencing factors of important feature points, G W is a set of influencing factors of general feature points; C W 1 is The first core feature point impact factor, For the C N The influencing factors of the core feature points, and the rest are similar;

[0153] Then use the algorithm to solve it. At this time, the general feature points are only observed, and the focus is on ensuring the core, key, and important feature points. If the results show that the core, key, and important feature points meet the allowable tolerance range, Tol At this time, we further obtain the position and posture transformation parameters for the core, key and important feature points R The optimal solution is to discard the general feature points that exceed the tolerance. If the result shows that only the core and key feature points meet the allowable tolerance range, Tol At this time, we further obtain the position and posture transformation parameters for the core and key feature points R The optimal solution is to discard important and general feature points with excessive deviation.

[0154] If only the core feature point is out of tolerance in step s9, modify the influencing factor of the feature point W , the influencing factors of the core feature points are set to a , the influence factor of the key feature point is set to b , the influence factor of important feature points is set to c ,ensure a > b > c >1, sorting is:

[0155] ;

[0156] C W is the set of influencing factors of core feature points, K W is the set of key feature point influencing factors, I W is the set of influencing factors of important feature points, G W is a set of influencing factors of general feature points; C W 1 is The first core feature point impact factor, For the CN The influencing factors of the core feature points, and the rest are similar;

[0157] Then use the algorithm to solve it. If the result shows that only the core feature points meet the allowable tolerance range, Tol At this time, we further seek the optimal solution for the position and posture transformation parameter R of the core feature points, and discard the key, important and general feature points that exceed the tolerance. If the results show that only the core and key feature points meet the allowable tolerance range, Tol At this time, we further seek the optimal solution for the position and posture transformation parameter R of the core and key feature points, and discard the important and general feature points that exceed the tolerance. If the results show that the core, key and important feature points meet the allowable tolerance range Tol At this time, the optimal solution of the position and posture transformation parameter R for the core, key and important feature points is further obtained, and the general feature points with excessive errors are discarded.

[0158] In step s10, if the out-of-tolerance feature point is general or important, modify the influencing factor of the feature point. W , set the core, key and important influencing factors as a , and guarantee a >1, sorting is:

[0159] ;

[0160] C W is the set of influencing factors of core feature points, K W is the set of key feature point influencing factors, I W is the set of influencing factors of important feature points, G W is a set of influencing factors of general feature points; C W 1 is The first core feature point impact factor, For the C N The influencing factors of the core feature points, and the rest are similar;

[0161] Then use the algorithm to solve it. At this time, the general feature points are only observed, and the focus is on ensuring the core, key, and important feature points. If the results show that the core, key, and important feature points meet the allowable tolerance range, Tol At this time, the optimal solution of the position and posture transformation parameter R for the core, key and important feature points is further obtained, and the general feature points with excessive errors are discarded; if there are still excessive error points in the important feature points, they are discarded.

[0162] In step s10, if the out-of-tolerance feature point is general or critical, modify the influencing factor of the feature point. W , the influencing factors of the core and key feature points are set to a , the influence factor of important feature points is set to b ,ensure a > b >1, sorting is:

[0163] ;

[0164] C W is the set of influencing factors of core feature points, K W is the set of key feature point influencing factors, I W is the set of influencing factors of important feature points, G W is a set of influencing factors of general feature points; C W 1 is The first core feature point impact factor, For the C N The influencing factors of the core feature points, and the rest are similar;

[0165] Then use the algorithm to solve it. At this time, the general feature points are only observed, and the focus is on ensuring the core and key feature points. If the results show that the core, key and important feature points meet the allowable tolerance range, Tol At this time, we further seek the optimal solution of the position and posture transformation parameter R for the core, key and important feature points, and discard the general feature points that exceed the tolerance; if the results show that the core and key feature points meet the allowable tolerance range Tol At this time, the optimal solution for the position and posture transformation parameter R of the core and key feature points is further obtained, and the important and general feature points with excessive deviation are discarded.

[0166] In step s10, if the out-of-tolerance feature point is general or core, modify the influencing factor of the feature point. W , the influencing factors of the core feature points are set to a , the influence factor of the key feature point is set to b , the influence factor of important feature points is set to c ,ensure a > b > c >1, sorting is:

[0167] ;

[0168] CW is the set of influencing factors of core feature points, K W is the set of key feature point influencing factors, I W is the set of influencing factors of important feature points, G W is a set of influencing factors of general feature points; C W 1 is The first core feature point impact factor, For the C N The influencing factors of the core feature points, and the rest are similar;

[0169] Then use the algorithm to solve it. If the result shows that only the core feature points meet the allowable tolerance range, Tol At this time, we further seek the optimal solution for the position and posture transformation parameter R of the core feature points, and discard the key, important and general feature points that exceed the tolerance. If the results show that only the core and key feature points meet the allowable tolerance range, Tol At this time, we further seek the optimal solution for the position and posture transformation parameter R of the core and key feature points, and discard the important and general feature points that exceed the tolerance. If the results show that the core, key and important feature points meet the allowable tolerance range Tol At this time, the optimal solution of the position and posture transformation parameter R for the core, key and important feature points is further obtained, and the general feature points with excessive errors are discarded.

[0170] In step s10, if the out-of-tolerance feature point is important and critical, modify the influencing factor of the feature point W , the influencing factors of the core feature points are set to a , the impact factor of key and important feature points is set as b ,ensure a > b >1, sorting is:

[0171] ;

[0172] C W is the set of influencing factors of core feature points, K W is the set of key feature point influencing factors, I W is the set of influencing factors of important feature points, G W is a set of influencing factors of general feature points; C W 1 isThe first core feature point impact factor, For the C N The influencing factors of the core feature points, and the rest are similar;

[0173] Then use the algorithm to solve it. If the result shows that only the core feature points meet the allowable tolerance range, Tol At this time, we further obtain the position and posture transformation parameters for the core feature points R The optimal solution is to discard the key, important and general feature points that exceed the tolerance. If the result shows that only the core and key feature points meet the allowable tolerance range, Tol At this time, we further obtain the position and posture transformation parameters for the core and key feature points R The optimal solution is to discard the important and general feature points that exceed the tolerance. If the result shows that the core, key and important feature points meet the range of allowable tolerance, Tol At this time, we further obtain the position and posture transformation parameters for the core, key and important feature points R The optimal solution is obtained and the general feature points with excessive deviation are discarded.

[0174] In step s10, if the out-of-tolerance feature point is important and core, or critical and core, modify the influencing factor of the feature point W , the influencing factors of the core feature points are set to a , the influence factor of the key feature point is set to b , the influence factor of important feature points is set to c ,ensure a > b > c >1, sorting is:

[0175] ;

[0176] C W is the set of influencing factors of core feature points, K W is the set of key feature point influencing factors, I W is the set of influencing factors of important feature points, G W is a set of influencing factors of general feature points; C W 1 is The first core feature point impact factor, For the C N The influencing factors of the core feature points, and the rest are similar;

[0177] Then use the algorithm to solve it, focusing on ensuring that the core feature points do not exceed the tolerance. If the result shows that only the core feature points meet the allowable tolerance range, Tol At this time, we further obtain the position and posture transformation parameters for the core feature points R The optimal solution is to discard the key, important and general feature points that exceed the tolerance. If the result shows that only the core and key feature points meet the allowable tolerance range, Tol At this time, we further obtain the position and posture transformation parameters for the core and key feature points R The optimal solution is to discard the important and general feature points that exceed the tolerance. If the result shows that the core, key and important feature points meet the range of allowable tolerance, Tol At this time, we further obtain the position and posture transformation parameters for the core, key and important feature points R The optimal solution is obtained and the general feature points with excessive deviation are discarded.

[0178] In step s11, if the out-of-tolerance feature point is general, important, or critical, modify the influencing factor of the feature point W , the influencing factors of the core feature points are set to a , the impact factor of key and important feature points is set as b ,ensure a > b >1, sorting is:

[0179] ;

[0180] C W is the set of influencing factors of core feature points, K W is the set of key feature point influencing factors, I W is the set of influencing factors of important feature points, G W is a set of influencing factors of general feature points; C W 1 is The first core feature point impact factor, For the C N The influencing factors of the core feature points, and the rest are similar;

[0181] Then use the algorithm to solve it. If the result shows that only the core feature points meet the allowable tolerance range, Tol At this time, we further obtain the position and posture transformation parameters for the core feature points R The optimal solution is to discard the key, important and general feature points that exceed the tolerance. If the result shows that only the core and key feature points meet the allowable tolerance range, TolAt this time, we further obtain the position and posture transformation parameters for the core and key feature points R The optimal solution is to discard the important and general feature points that exceed the tolerance. If the result shows that the core, key and important feature points meet the range of allowable tolerance, Tol At this time, we further obtain the position and posture transformation parameters for the core, key and important feature points R The optimal solution is obtained and the general feature points with excessive deviation are discarded.

[0182] In step s11, if the out-of-tolerance feature point is general, important, core, or important, critical, core, or general, critical, core, modify the influencing factor of the feature point W , the influencing factors of the core feature points are set to a , the influence factor of the key feature point is set to b , the influence factor of important feature points is set to c ,ensure a > b > c >1, sorting is:

[0183] ;

[0184] C W is the set of influencing factors of core feature points, K W is the set of key feature point influencing factors, I W is the set of influencing factors of important feature points, G W is a set of influencing factors of general feature points; C W 1 is The first core feature point impact factor, For the C N The influencing factors of the core feature points, and the rest are similar;

[0185] Then use the algorithm to solve it, focusing on ensuring that the core feature points do not exceed the tolerance. If the result shows that only the core feature points meet the allowable tolerance range, Tol At this time, we further obtain the position and posture transformation parameters for the core feature points R The optimal solution is to discard the key, important and general feature points that exceed the tolerance. If the result shows that only the core and key feature points meet the allowable tolerance range, Tol At this time, we further obtain the position and posture transformation parameters for the core and key feature points R The optimal solution is to discard the important and general feature points that exceed the tolerance. If the result shows that the core, key and important feature points meet the range of allowable tolerance,Tol At this time, we further obtain the position and posture transformation parameters for the core, key and important feature points R The optimal solution is obtained and the general feature points with excessive deviation are discarded.

[0186] In step s12, all four types of feature points are out of tolerance, and the influencing factors of the feature points are modified. W , the influencing factors of the core feature points are set to a , the influence factor of the key feature point is set to b , the influence factor of important feature points is set to c ,ensure a > b > c >1, sorting is:

[0187] ;

[0188] C W is the set of influencing factors of core feature points, K W is the set of key feature point influencing factors, I W is the set of influencing factors of important feature points, G W is a set of influencing factors of general feature points; C W 1 is The first core feature point impact factor, For the C N The influencing factors of the core feature points, and the rest are similar;

[0189] Then use the algorithm to solve it to ensure that the core feature points do not exceed the tolerance. If the result shows that only the core feature points meet the allowable tolerance range, Tol , find the position and posture transformation parameters for the core feature points R The optimal solution is to discard the key, important and general feature points that exceed the tolerance. If the result shows that only the core and key feature points meet the allowable tolerance range, Tol , to obtain the position and posture transformation parameters for the core and key feature points R The optimal solution is to discard the important and general feature points that exceed the tolerance. If the result shows that the core, key and important feature points meet the range of allowable tolerance, Tol At this time, we further obtain the position and posture transformation parameters for the core, key and important feature points R The optimal solution is obtained and the general feature points with excessive deviation are discarded.

[0190] In step s13, the coordinates of the characteristic points of the large aircraft components at the optimal position and posture are obtained by calculation. for

[0191] ;

[0192] m P c is the actual coordinate of the feature point in the current posture.

[0193] Example 2

[0194] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in combination with specific examples and with reference to the accompanying drawings.

[0195] Step s1: Set a total of N Feature points P According to the relevant requirements of aircraft large component design and manufacturing, the relevant importance levels of aircraft large component feature points in the process of position and attitude adjustment are divided into: core C P The key is K P , the important I P , generally G P The number of each level is defined according to the actual situation of large aircraft components, and the number of each type of feature points is defined according to the actual situation of large aircraft components and is set as C N , K N , I N , G N , and sort the points according to that rank.

[0196] ;

[0197] in, C N+ K N+ K N+ G N=N , C Represents the core, K Represents the key, I Represents important, G Represents general. C P 1 The first characteristic point representing the core level, Represents the core level C Nfeature points; K P 1 The first characteristic point representing the key level, Represents the key level K N feature points; I P 1 The first feature point representing the importance level, Represents the level of importance I N feature points; G P 1 The first feature point represents the general level. Represents the general level G N feature points; C x 1 surface shows The x-coordinate value of the first core feature point, C y 1 Indicates the y coordinate value of the first core feature point, C z 1 Indicates the z coordinate value of the first core feature point; Indicates C N The x-coordinate value of the core feature point, Indicates C N The y coordinate value of the core feature point, Indicates C N The z coordinate value of the core feature point. The rest are deduced in the same way.

[0198] Step s2: Since manufacturing and assembly errors are inevitable, the allowable tolerance range of the feature points needs to be set as Tol In order to more reasonably specify the accuracy requirements of large aircraft components, the allowable tolerance ranges in the three directions of O-xyz may be different. Therefore, each feature point is set with a corresponding allowable tolerance range in the three directions of O-xyz. Tol , and sort the feature points according to their importance levels.

[0199] ;

[0200] in, C Tol Represents the range set of permissible deviations of core feature points. K TolRepresents the set of permissible deviation ranges of key feature points. I Tol Represents the set of allowable deviation ranges of important feature points. G Tol Represents the range set of permissible deviations of general feature points; C Tol 1 represents the allowable deviation range of the first core feature point. Representative C N The permissible deviation range of the core feature points, and the rest are similar; among them, Represents the lower limit of the allowable tolerance range of the first core feature point in the x direction. Represents the upper limit of the allowable deviation range of the first core feature point in the x-direction, and the same applies to the rest. ;

[0201] in, Represents the set of allowable deviation ranges of the first core feature point in the x, y, and z directions; Represents the lower limit of the allowable tolerance range of the first core feature point in the x direction. Represents the upper limit of the allowable tolerance range of the first core feature point in the x direction; Represents the lower limit of the allowable tolerance range of the first core feature point in the y direction. Represents the upper limit of the allowable tolerance range of the first core feature point in the y direction; Represents the lower limit of the allowable tolerance range of the first core feature point in the z direction. Represents the upper limit of the allowable tolerance range of the first core feature point in the z direction;

[0202] Representative C N The set of permissible deviation ranges of the core feature points in the x, y, and z directions; Representative C N The lower limit of the permissible tolerance range of the core feature points in the x direction, Representative C N The upper limit of the permissible tolerance range of the core feature points in the x direction; Representative C N The lower limit of the permissible tolerance range of the core feature points in the y direction, Representative C N The upper limit of the permissible tolerance range of the core feature points in the y direction; Representative C NThe lower limit of the allowable tolerance range of the core feature points in the z direction, Representative C N The upper limit of the permissible tolerance range of the core feature points in the z direction;

[0203] And so on for the rest.

[0204] Step s3: Set the influence factor of the feature point to W ,Since the importance in the three directions of O-xyz may be different, each feature point is set with an impact factor in the three directions of O-xyz, and they are sorted according to the importance level of the feature point;

[0205] ;

[0206] in, C W is the set of influencing factors of core feature points, K W is the set of key feature point influencing factors, I W is the set of influencing factors of important feature points, G W is a set of influencing factors of general feature points; C W 1 is the influencing factor of the first core feature point, For the C N The influencing factors of the core feature points, and the rest are similar;

[0207] Represents the influence factor of the first core feature point in the x direction, Representative C N The influence factor of the core feature points in the x direction; Represents the influence factor of the first core feature point in the y direction, Representative C N The influence factor of the core feature points in the y direction; Represents the influence factor of the first core feature point in the z direction, Representative C N The influence factor of the core feature points in the z direction;

[0208] Represents the influence factor of the first key feature point in the x direction, Representative K N The influence factor of the key feature points in the x direction; Represents the influence factor of the first key feature point in the y direction, Representative K N The influence factor of the key feature points in the y direction; Represents the influence factor of the first key feature point in the z direction, Representative K N The influence factor of the key feature points in the z direction;

[0209] Represents the influence factor of the first important feature point in the x direction, Representative I N The influence factor of the important feature points in the x direction; Represents the influence factor of the first important feature point in the y direction, Representative I N The influence factor of an important feature point in the y direction; Represents the influence factor of the first important feature point in the z direction, Representative I N The influence factor of the important feature points in the z direction;

[0210] Represents the influence factor of the first general feature point in the x direction, Representative G N The influence factor of a general feature point in the x direction; Represents the influence factor of the first general feature point in the y direction, Representative G N The influence factor of a general feature point in the y direction; Represents the influence factor of the first general feature point in the z direction, Representative G N The influence factor of a general feature point in the z direction; and the rest are similar.

[0211] Step s4: In the coordinate system O-xyz, the actual coordinates of the feature points in the current posture are measured as , the coordinates of the feature points in the theoretical target pose are In an ideal situation, after adjusting the position and attitude of the large aircraft parts in the current posture, the large aircraft parts will coincide with the large aircraft parts in the theoretical target posture, that is, After calculating the position and attitude transformation parameters, are equal, that is:

[0212] ;

[0213] However, in actual situations, due to the existence of manufacturing and assembly errors, there will inevitably be errors. The error is set to e ,Right now

[0214] .

[0215] For all feature points, the error e have

[0216] ;

[0217] in, C e is the core feature point error set, K e is the error set of key feature points, I e is the error set of important feature points, G e is the general feature point error set; C e 1 is the error of the first core feature point, For the C N The error of the core feature points, and the rest are similar;

[0218] is the error of the first core feature point in the x direction, For the C N The error of the core feature points in the x direction; is the error of the first core feature point in the y direction, For the C N The error of the core feature points in the y direction; is the error of the first core feature point in the z direction, For the C N The error of the core feature points in the z direction;

[0219] is the error of the first key feature point in the x direction, For the K N The error of the key feature points in the x direction; is the error of the first key feature point in the y direction, For the K N The error of the key feature points in the y direction; is the error of the first key feature point in the z direction, For the K N The error of the key feature points in the z direction;

[0220] is the error of the first important feature point in the x direction, For the I N The error of important feature points in the x direction; is the error of the first important feature point in the y direction, For the I N The error of important feature points in the y direction; is the error of the first important feature point in the z direction, For the N The error of the first important feature point in the z direction; and the rest are similar.

[0221] From the above, we can see that the error e and position and attitude transformation parameters R Directly related, the algorithm solution process is actually to solve the position and attitude transformation parameters R process, so the position and attitude transformation parameters R Set as the main variable in the algorithm iteration process.

[0222] Step s5: Based on the above two data, the allowable tolerance range of the feature points is Tol , the influencing factors of feature points W ,error e , establish a mathematical model for solving the optimal position and attitude fitting algorithm of large aircraft components.

[0223] ;

[0224] in, f(R) is the objective function of the algorithm optimization, st is the symbol representing the constraint condition, e ≤ Tol is the constraint condition, and the influencing factor of the feature point is W and error e Changes will directly affect f(R) The size of the value determines the direction of algorithm optimization.

[0225] Step s6: Initial impact factors of all feature points W are all set to 1, that is

[0226] ;

[0227] C W is the set of influencing factors of core feature points,K W is the set of key feature point influencing factors, I W is the set of influencing factors of important feature points, G W is a set of influencing factors of general feature points; C W 1 is The first core feature point impact factor, For the C N The influencing factors of the core feature points are as follows, and the rest are similar.

[0228] Among them, the initial impact factors of all feature points are W The purpose of setting them all to 1 is to make the influence factors of feature points of all levels 1 at the beginning of the solution, that is, the importance levels of all points are the same.

[0229] Step s7: Use the relevant optimization algorithm to solve the mathematical model established in the above steps. The algorithm solving process is performed in an iterative manner. The condition for the algorithm to jump out of iteration is: the number of iterations reaches the set maximum number of iterations. The maximum number of iterations is a fixed positive integer set according to the actual application situation, which does not change during the algorithm iteration.

[0230] Step s8: Determine whether all points can be obtained through the algorithm to meet the allowable tolerance range Tol (i.e., constraints) solutions (i.e., position and attitude transformation parameters R ), if it is possible, then use the algorithm to continue solving and find a solution that makes all points meet the allowable tolerance range Tol Position and posture transformation parameters R If the optimal solution is found, jump to step s13 from this step; if not, go to the next step.

[0231] Step s9: Check which types of feature points are out of tolerance in the order of core, key, important, and general. If only one type of feature point is out of tolerance, continue to jump to this step. If there are more than one type of feature points out of tolerance, go to the next step.

[0232] ① If only general feature points are out of tolerance, then the out-of-tolerance points can be discarded, and the algorithm can be used to continue solving to make all points meet the allowable tolerance range. Tol Position and posture transformation parameters Position and posture transformation parameters R The optimal solution of

[0233] ② If only important feature points are out of tolerance, modify the influencing factors of the feature points W , the influencing factors of core, key and important feature points are set as a, and guarantee a >1, that is

[0234] ;

[0235] C W is the set of influencing factors of core feature points, K W is the set of key feature point influencing factors, I W is the set of influencing factors of important feature points, G W is a set of influencing factors of general feature points; C W 1 is The first core feature point impact factor, For the C N The influencing factors of the core feature points, and the rest are similar;

[0236] Then use the algorithm to solve, focusing on ensuring the core, key and important feature points. If the results show that the core, key and important feature points meet the allowable tolerance range, Tol At this time, we further obtain the position and posture transformation parameters for the core, key and important feature points R The optimal solution is obtained and the general feature points with excessive deviation are discarded.

[0237] ③If only the key feature point is out of tolerance, modify the influencing factor of the feature point W , the influencing factors of the core and key feature points are set to a , the influence factor of important feature points is set to b ,ensure a > b >1, that is

[0238] ;

[0239] C W is the set of influencing factors of core feature points, K W is the set of key feature point influencing factors, I W is the set of influencing factors of important feature points, G W is a set of influencing factors of general feature points; C W 1 is The first core feature point impact factor, For the C NThe influencing factors of the core feature points, and the rest are similar;

[0240] Then use the algorithm to solve it. At this time, the general feature points are only observed, and the focus is on ensuring the core, key, and important feature points. If the results show that the core, key, and important feature points meet the allowable tolerance range, Tol At this time, we further obtain the position and posture transformation parameters for the core, key and important feature points R The optimal solution is to discard the general feature points that exceed the tolerance. If the result shows that only the core and key feature points meet the allowable tolerance range, Tol At this time, we further obtain the position and posture transformation parameters for the core and key feature points R The optimal solution is to discard important and general feature points with excessive deviation.

[0241] ④If only the core feature points are out of tolerance, modify the influencing factors of the feature points W , the influencing factors of the core feature points are set to a , the influence factor of the key feature point is set to b , the influence factor of important feature points is set to c ,ensure a > b > c >1, that is

[0242] ;

[0243] C W is the set of influencing factors of core feature points, K W is the set of key feature point influencing factors, I W is the set of influencing factors of important feature points, G W is a set of influencing factors of general feature points; C W 1 is The first core feature point impact factor, For the C N The influencing factors of the core feature points, and the rest are similar;

[0244] Then use the algorithm to solve it. If the result shows that only the core feature points meet the allowable tolerance range, Tol At this time, we further obtain the position and posture transformation parameters for the core feature points R The optimal solution is to discard the key, important and general feature points that exceed the tolerance. If the result shows that only the core and key feature points meet the allowable tolerance range, TolAt this time, we further obtain the position and posture transformation parameters for the core and key feature points R The optimal solution is to discard the important and general feature points that exceed the tolerance. If the result shows that the core, key and important feature points meet the range of allowable tolerance, Tol At this time, we further obtain the position and posture transformation parameters for the core, key and important feature points R The optimal solution is obtained and the general feature points with excessive deviation are discarded.

[0245] Jump from this step to step s13.

[0246] Step s10: Determine whether there are only two types of out-of-tolerance types. If so, continue to jump to this step, otherwise jump to the next step.

[0247] ① If the out-of-tolerance feature point is general or important, modify the influencing factor of the feature point W , set the core, key and important influencing factors as a , and guarantee a >1, that is

[0248] ;

[0249] C W is the set of influencing factors of core feature points, K W is the set of key feature point influencing factors, I W is the set of influencing factors of important feature points, G W is a set of influencing factors of general feature points; C W 1 is The first core feature point impact factor, For the C N The influencing factors of the core feature points, and the rest are similar;

[0250] Then use the algorithm to solve it. At this time, the general feature points are only observed, and the focus is on ensuring the core, key, and important feature points. If the results show that the core, key, and important feature points meet the allowable tolerance range, Tol At this time, the optimal solution of the position and posture transformation parameter R for the core, key and important feature points is further obtained, and the general feature points with excessive errors are discarded. If there are still excessive error points in the important feature points, they will be discarded.

[0251] ② If the out-of-tolerance feature point is general or critical, modify the influencing factor of the feature point W , the influencing factors of the core and key feature points are set to a, the influence factor of important feature points is set to b ,ensure a > b >1, that is

[0252] ;

[0253] C W is the set of influencing factors of core feature points, K W is the set of key feature point influencing factors, I W is the set of influencing factors of important feature points, G W is a set of influencing factors of general feature points; C W 1 is The first core feature point impact factor, For the C N The influencing factors of the core feature points, and the rest are similar;

[0254] Then use the algorithm to solve it. At this time, the general feature points are only observed, and the focus is on ensuring the core and key feature points. If the results show that the core, key and important feature points meet the allowable tolerance range, Tol At this time, we further obtain the position and posture transformation parameters for the core, key and important feature points R The optimal solution is to discard the general feature points that exceed the tolerance. If the result shows that the core and key feature points meet the allowable tolerance range Tol At this time, we further obtain the position and posture transformation parameters for the core and key feature points R The optimal solution is to discard important and general feature points with excessive deviation.

[0255] ③ If the out-of-tolerance feature points are general and core, modify the influencing factors of the feature points W , the influencing factors of the core feature points are set to a , the influence factor of the key feature point is set to b , the influence factor of important feature points is set to c ,ensure a > b > c >1, that is

[0256] ;

[0257] C W is the set of influencing factors of core feature points, K W is the set of key feature point influencing factors,I W is the set of influencing factors of important feature points, G W is a set of influencing factors of general feature points; C W 1 is The first core feature point impact factor, For the C N The influencing factors of the core feature points, and the rest are similar;

[0258] Then use the algorithm to solve it. If the result shows that only the core feature points meet the allowable tolerance range, Tol At this time, we further obtain the position and posture transformation parameters for the core feature points R The optimal solution is to discard the key, important and general feature points that exceed the tolerance. If the result shows that only the core and key feature points meet the allowable tolerance range, Tol At this time, we further obtain the position and posture transformation parameters for the core and key feature points R The optimal solution is to discard the important and general feature points that exceed the tolerance. If the result shows that the core, key and important feature points meet the range of allowable tolerance, Tol At this time, we further obtain the position and posture transformation parameters for the core, key and important feature points R The optimal solution is obtained and the general feature points with excessive deviation are discarded.

[0259] ④ If the out-of-tolerance feature point is important and critical, modify the influencing factor of the feature point W , the influencing factors of the core feature points are set to a , the impact factor of key and important feature points is set as b ,ensure a > b >1, that is

[0260] ;

[0261] C W is the set of influencing factors of core feature points, K W is the set of key feature point influencing factors, I W is the set of influencing factors of important feature points, G W is a set of influencing factors of general feature points; C W 1 is The first core feature point impact factor, For the CN The influencing factors of the core feature points, and the rest are similar;

[0262] Then use the algorithm to solve it. If the result shows that only the core feature points meet the allowable tolerance range, Tol At this time, we further obtain the position and posture transformation parameters for the core feature points R The optimal solution is to discard the key, important and general feature points that exceed the tolerance. If the result shows that only the core and key feature points meet the allowable tolerance range, Tol At this time, we further obtain the position and posture transformation parameters for the core and key feature points R The optimal solution is to discard the important and general feature points that exceed the tolerance. If the result shows that the core, key and important feature points meet the range of allowable tolerance, Tol At this time, we further obtain the position and posture transformation parameters for the core, key and important feature points R The optimal solution is obtained and the general feature points with excessive deviation are discarded.

[0263] ⑤ If the out-of-tolerance feature point is important and core, or critical and core, modify the influencing factor of the feature point W , the influencing factors of the core feature points are set to a , the influence factor of the key feature point is set to b , the influence factor of important feature points is set to c ,ensure a > b > c >1, that is

[0264] ;

[0265] C W is the set of influencing factors of core feature points, K W is the set of key feature point influencing factors, I W is the set of influencing factors of important feature points, G W is a set of influencing factors of general feature points; C W 1 is The first core feature point impact factor, For the C N The influencing factors of the core feature points, and the rest are similar;

[0266] Then use the algorithm to solve it, focusing on ensuring that the core feature points do not exceed the tolerance. If the result shows that only the core feature points meet the allowable tolerance range, TolAt this time, we further obtain the position and posture transformation parameters for the core feature points R The optimal solution is to discard the key, important and general feature points that exceed the tolerance. If the result shows that only the core and key feature points meet the allowable tolerance range, Tol At this time, we further obtain the position and posture transformation parameters for the core and key feature points R The optimal solution is to discard the important and general feature points that exceed the tolerance. If the result shows that the core, key and important feature points meet the range of allowable tolerance, Tol At this time, we further obtain the position and posture transformation parameters for the core, key and important feature points R The optimal solution is obtained and the general feature points with excessive deviation are discarded.

[0267] Jump from this step to step s13.

[0268] Step s11: Determine whether there are only three categories of out-of-tolerance feature point categories. If so, continue to jump to this step, otherwise jump to the next step.

[0269] ① If the out-of-tolerance feature point is general, important, or critical, modify the influencing factor of the feature point W , the influencing factors of the core feature points are set to a , the impact factor of key and important feature points is set as b ,ensure a > b >1, that is

[0270] ;

[0271] C W is the set of influencing factors of core feature points, K W is the set of key feature point influencing factors, I W is the set of influencing factors of important feature points, G W is a set of influencing factors of general feature points; C W 1 is The first core feature point impact factor, For the C N The influencing factors of the core feature points, and the rest are similar;

[0272] Then use the algorithm to solve it. If the result shows that only the core feature points meet the allowable tolerance range, Tol At this time, we further obtain the position and posture transformation parameters for the core feature points RThe optimal solution is to discard the key, important and general feature points that exceed the tolerance. If the result shows that only the core and key feature points meet the allowable tolerance range, Tol At this time, we further obtain the position and posture transformation parameters for the core and key feature points R The optimal solution is to discard the important and general feature points that exceed the tolerance. If the result shows that the core, key and important feature points meet the range of allowable tolerance, Tol At this time, we further obtain the position and posture transformation parameters for the core, key and important feature points R The optimal solution is obtained and the general feature points with excessive deviation are discarded.

[0273] ② If the out-of-tolerance feature point is general, important, core, or important, critical, core, or general, critical, core, modify the influencing factor of the feature point W , the influencing factors of the core feature points are set to a , the influence factor of the key feature point is set to b , the influence factor of important feature points is set to c ,ensure a > b > c >1, that is

[0274] ;

[0275] C W is the set of influencing factors of core feature points, K W is the set of key feature point influencing factors, I W is the set of influencing factors of important feature points, G W is a set of influencing factors of general feature points; C W 1 is The first core feature point impact factor, For the C N The influencing factors of the core feature points, and the rest are similar;

[0276] Then use the algorithm to solve it, focusing on ensuring that the core feature points do not exceed the tolerance. If the result shows that only the core feature points meet the allowable tolerance range, Tol At this time, we further obtain the position and posture transformation parameters for the core feature points R The optimal solution is to discard the key, important and general feature points that exceed the tolerance. If the result shows that only the core and key feature points meet the allowable tolerance range, Tol At this time, we further obtain the position and posture transformation parameters for the core and key feature points RThe optimal solution is to discard the important and general feature points that exceed the tolerance. If the result shows that the core, key and important feature points meet the range of allowable tolerance, Tol At this time, we further obtain the position and posture transformation parameters for the core, key and important feature points R The optimal solution is obtained and the general feature points with excessive deviation are discarded.

[0277] Jump from this step to step s13.

[0278] Step s12: In this step, all four types of feature points are out of tolerance, and the influencing factors of the feature points are modified. W , the influencing factors of the core feature points are set to a , the influence factor of the key feature point is set to b , the influence factor of important feature points is set to c ,ensure a > b > c >1, that is

[0279] ;

[0280] C W is the set of influencing factors of core feature points, K W is the set of key feature point influencing factors, I W is the set of influencing factors of important feature points, G W is a set of influencing factors of general feature points; C W 1 is The first core feature point impact factor, For the C N The influencing factors of the core feature points, and the rest are similar;

[0281] Then use the algorithm to solve it, focusing on ensuring that the core feature points do not exceed the tolerance. If the result shows that only the core feature points meet the allowable tolerance range, Tol At this time, we further obtain the position and posture transformation parameters for the core feature points R The optimal solution is to discard the key, important and general feature points that exceed the tolerance. If the result shows that only the core and key feature points meet the allowable tolerance range, Tol At this time, we further obtain the position and posture transformation parameters for the core and key feature points R The optimal solution is to discard the important and general feature points that exceed the tolerance. If the result shows that the core, key and important feature points meet the range of allowable tolerance, TolAt this time, we further obtain the position and posture transformation parameters for the core, key and important feature points R The optimal solution is obtained and the general feature points with excessive deviation are discarded.

[0282] Step s13: The obtained optimal solution of the position and attitude transformation parameter R is used as the position and attitude transformation parameter of the optimal position and attitude fitting of the large aircraft component, and the coordinates of the feature points of the large aircraft component at the optimal position and attitude are obtained by calculation. for

[0283] ;

[0284] in, m P c is the actual coordinate of the feature point in the current posture.

[0285] Finally, the position and attitude transformation parameters obtained will be R The optimal solution is provided to the aircraft large component attitude adjustment equipment system, and the equipment system changes the position and attitude parameters R Decompose related motions to adjust the actual position and attitude of large aircraft components.

Claims

1. A method for fitting the optimal position and posture of large aircraft components, characterized by: The following steps are involved: Step s1: According to the relevant requirements of the design and manufacturing of large aircraft components, the importance of the feature points of the large aircraft components in the position and attitude adjustment process is classified, and the feature points are sorted according to the classification; Step s2: Set the allowable deviation range of the feature points to Tol, The corresponding allowable tolerance range is set in the three directions of the coordinate system O-xyz of each feature point Tol , and sort the feature points according to their importance levels; Step s3 sets the influence factor of the feature point to W , at each feature point, an influence factor is set in the three directions of the coordinate system O-xyz W , and according to the impact factor W Sort the importance of feature points; Step s4: In the coordinate system O-xyz, the manufacturing and assembly errors existing in the actual situation are set as e , determine the error e and position and attitude transformation parameters R Directly related, and the position and attitude transformation parameters R Set as the main variable in the algorithm iteration process; Step s5: Using the error in step s4 e and position and attitude transformation parameters R , combined with the allowable tolerance range of the feature points is Tol , the influencing factors of feature points W Establish a mathematical model for solving the optimal position and attitude fitting algorithm of large aircraft components; Step s6: Influencing factors of all feature points W The importance levels are set to be the same; Step s7: Solve the position and posture transformation parameters of the mathematical model established in the above steps R ; Step s8: Determine whether all points can be obtained through the algorithm to meet the allowable tolerance range Tol Position and posture transformation parameters R The optimal solution; if yes, continue to solve, and after completion, jump from this step to step s13; if no, jump to step s9; Step s9: Check the feature point out-of-tolerance type in the order of core, key, important, and general, and determine whether the feature point out-of-tolerance type is only one type. If so, continue to execute this step, and jump from this step to step s13 after execution; if the out-of-tolerance feature point is more than one type, jump to step s10; Step s10: Determine whether the feature point deviation types are only two types. If yes, continue to execute this step. After the execution is completed, jump from this step to step s13; if no, jump to step s11; Step s11: determine whether the feature point deviation type is only three types, if yes, continue to execute this step, after the execution is completed, jump from this step to step s13; if no, jump to step s12; Step s12: If all four types of feature points are out of tolerance, execute this step. After the execution is completed, jump from this step to step s13; Step s13: Transform the obtained position and posture parameters R Provided to the aircraft large parts attitude adjustment equipment system, the equipment system changes the position and attitude parameters R Decompose the relevant motion to obtain the coordinates of the characteristic points of the aircraft's large components at the optimal position and attitude , to achieve the adjustment of the actual position and attitude of major aircraft components.

2. The method for fitting the optimal position and posture of a large aircraft component according to claim 1, characterized in that: The relevant importance levels in step s1 are divided into: core C P The key is K P , the important I P , generally G P .

3. The method for fitting the optimal position and posture of a large aircraft component according to claim 2, characterized in that: In step s1, the feature points are sorted according to the classification as follows: ； C N , K N , I N , G N is the number of feature points corresponding to each category, C N+ K N+ K N+ G N=N , C Represents the core, K Represents the key, I Represents important, G Represents general; sup> C P 1 The first characteristic point representing the core level, Represents the core level C N feature points; K P 1 The first characteristic point representing the key level, Represents the key level K N feature points; I P 1 The first feature point representing the importance level, Represents the level of importance I N feature points; G P 1 The first feature point represents the general level. Represents the general level G N feature points; C x 1 Indicates the x-coordinate value of the first core feature point. C y 1 Indicates the y coordinate value of the first core feature point, C z1 represents the z coordinate value of the first core feature point; Indicates C N The x-coordinate value of the core feature point, Indicates C N The y coordinate value of the core feature point, Indicates C N The z coordinate value of the core feature point, and the rest are similar.

4. The method for fitting the optimal position and posture of a large aircraft component according to claim 1, characterized in that: The importance ranking of the feature points in step s2 is: ； C Tol Represents the range set of permissible deviations of core feature points. K Tol Represents the set of permissible deviation ranges of key feature points. I Tol Represents the set of allowable deviation ranges of important feature points. G Tol Represents the range set of permissible deviations of general feature points; C Tol 1 Represents the allowable deviation range of the first core feature point. Representative C N The allowable deviation range of the core feature points, and so on for the rest.

5. The method for fitting the optimal position and posture of a large aircraft component according to claim 1, characterized in that: The importance ranking of the feature points in step s3 is: ； C W is the set of influencing factors of core feature points, K W is the set of key feature point influencing factors, I W is the set of influencing factors of important feature points, G W is the set of influencing factors of general feature points; C W 1 for The first core feature point impact factor, For the C N The influencing factors of the core feature points, and the rest are similar; Represents the influence factor of the first core feature point in the x direction, Representative C N The influence factor of the core feature points in the x direction; Represents the influence factor of the first core feature point in the y direction, Representative C N The influence factor of the core feature points in the y direction; Represents the influence factor of the first core feature point in the z direction, Representative C N The influence factor of the core feature points in the z direction; Represents the influence factor of the first key feature point in the x direction, Representative K N The influence factor of the key feature points in the x direction; Represents the influence factor of the first key feature point in the y direction, Representative K N The influence factor of the key feature points in the y direction; Represents the influence factor of the first key feature point in the z direction, Representative K N The influence factor of the key feature points in the z direction; Represents the influence factor of the first important feature point in the x direction, Representative I N The influence factor of the important feature points in the x direction; Represents the influence factor of the first important feature point in the y direction, Representative I N The influence factor of an important feature point in the y direction; Represents the influence factor of the first important feature point in the z direction, Representative I N The influence factor of the important feature points in the z direction; Represents the influence factor of the first general feature point in the x direction, Representative G N The influence factor of a general feature point in the x direction; Represents the influence factor of the first general feature point in the y direction, Representative G N The influence factor of a general feature point in the y direction; Represents the influence factor of the first general feature point in the z direction, Representative G N The influence factor of a general feature point in the z direction; and the rest are similar.

6. The method for fitting the optimal position and posture of a large aircraft component according to claim 1, characterized in that: In step s4, the error is set e for: ； The actual coordinate points of the feature points in the current posture are measured in the coordinate system O-xyz; is the coordinate of the theoretical target position in the coordinate system O-xyz; R are the position and attitude transformation parameters.

7. A method for fitting the optimal position and posture of a large aircraft component according to claim 6, characterized in that: The error in step s4 e Sort by: ； C e is the core feature point error set, K e is the error set of key feature points, I e is the error set of important feature points, G e is the general feature point error set; C e 1 is the error of the first core feature point, For the C N The error of the core feature points, and the rest are similar; is the error of the first core feature point in the x direction, For the C N The error of the core feature points in the x direction; is the error of the first core feature point in the y direction, For the C N The error of the core feature points in the y direction; is the error of the first core feature point in the z direction, For the C N The error of the core feature points in the z direction; is the error of the first key feature point in the x direction, For the K N The error of the key feature points in the x direction; is the error of the first key feature point in the y direction, For the K N The error of the key feature points in the y direction; is the error of the first key feature point in the z direction, For the K N The error of the key feature points in the z direction; is the error of the first important feature point in the x direction, For the I N The error of important feature points in the x direction; is the error of the first important feature point in the y direction, For the I N The error of important feature points in the y direction; is the error of the first important feature point in the z direction, For the I N The error of an important feature point in the z direction.

8. The method for fitting the optimal position and posture of a large aircraft component according to claim 1, characterized in that: The mathematical model for solving the optimal position and attitude fitting algorithm of large aircraft components in step s5 is: ； f(R) is the objective function of the algorithm optimization, st is the symbol representing the constraint condition, e ≤ Tol is a constraint condition.

9. The method for fitting the optimal position and posture of a large aircraft component according to claim 1, characterized in that: The influencing factors of all feature points in step s6 W Set to be the same and all set to 1, the order is: ； C W is the set of influencing factors of core feature points, K W is the set of key feature point influencing factors, I W is the set of influencing factors of important feature points, G W is the set of influencing factors of general feature points; C W 1 for The first core feature point impact factor, For the C N The influencing factors of the core feature points are as follows, and the rest are similar.

10. The method for fitting the optimal position and posture of a large aircraft component according to claim 1, characterized in that: The algorithm solving process in step s7 is performed in an iterative manner, and the algorithm exits the iteration when the number of iterations reaches the set maximum number of iterations; the maximum number of iterations is a fixed positive integer set according to the actual application situation, and it does not change during the algorithm iteration.

11. The method for fitting the optimal position and posture of a large aircraft component according to claim 1, characterized in that: If only the general feature points are out of tolerance in step s9, the out-of-tolerance points are discarded, and the algorithm is used to continue solving to find a range that makes all points meet the allowable tolerance. Tol Position and posture transformation parameters R The optimal solution of .

12. A method for fitting the optimal position and posture of a large aircraft component according to claim 11, characterized in that: If only important feature points are out of tolerance in step s9, modify the influencing factors of the feature points W , the influencing factors of core, key and important feature points are set as a , and guarantee a >1, sorting is: ； C W is the set of influencing factors of core feature points, K W is the set of key feature point influencing factors, I W is the set of influencing factors of important feature points, G W is the set of influencing factors of general feature points; C W 1 for The first core feature point impact factor, For the C N The influencing factors of the core feature points, and the rest are similar; Then use the algorithm to solve, focusing on ensuring the core, key and important feature points. If the results show that the core, key and important feature points meet the allowable tolerance range, Tol At this time, we further obtain the position and posture transformation parameters for the core, key and important feature points R The optimal solution is obtained and the general feature points with excessive deviation are discarded.

13. The method for fitting the optimal position and posture of a large aircraft component according to claim 11, characterized in that: If only the key feature point is out of tolerance in step s9, modify the influencing factor of the feature point W , the influencing factors of the core and key feature points are set to a , the influence factor of important feature points is set to b ,ensure a > b >1, sorting is: ； C W is the set of influencing factors of core feature points, K W is the set of key feature point influencing factors, I W is the set of influencing factors of important feature points, G W is the set of influencing factors of general feature points; C W 1 for The first core feature point impact factor, For the C N The influencing factors of the core feature points, and the rest are similar; Then use the algorithm to solve it. At this time, the general feature points are only observed, and the focus is on ensuring the core, key, and important feature points. If the results show that the core, key, and important feature points meet the allowable tolerance range, Tol At this time, we further obtain the position and posture transformation parameters for the core, key and important feature points R The optimal solution is to discard the general feature points that exceed the tolerance. If the result shows that only the core and key feature points meet the allowable tolerance range, Tol At this time, we further obtain the position and posture transformation parameters for the core and key feature points R The optimal solution is to discard important and general feature points with excessive deviation.

14. The method for fitting the optimal position and posture of a large aircraft component according to claim 11, characterized in that: If only the core feature point is out of tolerance in step s9, modify the influencing factor of the feature point W , the influencing factors of the core feature points are set to a , the influence factor of the key feature point is set to b , the influence factor of important feature points is set to c ,ensure a > b > c >1, sorting is: ； C W is the set of influencing factors of core feature points, K W is the set of key feature point influencing factors, I W is the set of influencing factors of important feature points, G W is the set of influencing factors of general feature points; C W 1 for The first core feature point impact factor, For the C N The influencing factors of the core feature points, and the rest are similar; Then use the algorithm to solve it. If the result shows that only the core feature points meet the allowable tolerance range, Tol At this time, we further obtain the position and posture transformation parameters for the core feature points R The optimal solution is to discard the key, important and general feature points that exceed the tolerance. If the result shows that only the core and key feature points meet the allowable tolerance range, Tol At this time, we further obtain the position and posture transformation parameters for the core and key feature points R The optimal solution is to discard the important and general feature points that exceed the tolerance. If the result shows that the core, key and important feature points meet the range of allowable tolerance, Tol At this time, we further obtain the position and posture transformation parameters for the core, key and important feature points R The optimal solution is obtained and the general feature points with excessive deviation are discarded.

15. The method for fitting the optimal position and posture of a large aircraft component according to claim 1, characterized in that: In step s10, if the out-of-tolerance feature point is general or important, modify the influencing factor of the feature point. W , set the core, key and important influencing factors as a , and guarantee a >1, sorting is: ； C W is the set of influencing factors of core feature points, K W is the set of key feature point influencing factors, I W is the set of influencing factors of important feature points, G W is the set of influencing factors of general feature points; C W 1 for The first core feature point impact factor, For the C N The influencing factors of the core feature points, and the rest are similar; Then use the algorithm to solve it. At this time, the general feature points are only observed, and the focus is on ensuring the core, key, and important feature points. If the results show that the core, key, and important feature points meet the allowable tolerance range, Tol At this time, we further obtain the position and posture transformation parameters for the core, key and important feature points R The optimal solution is obtained, and the general feature points with out-of-error are discarded; if the important feature points still have out-of-error points, they are discarded.

16. The method for fitting the optimal position and posture of a large aircraft component according to claim 1, characterized in that: In step s10, if the out-of-tolerance feature point is general or critical, modify the influencing factor of the feature point. W , the influencing factors of the core and key feature points are set to a , the influence factor of important feature points is set to b ,ensure a > b >1, sorting is: ； C W is the set of influencing factors of core feature points, K W is the set of key feature point influencing factors, I W is the set of influencing factors of important feature points, G W is the set of influencing factors of general feature points; C W 1 for The first core feature point impact factor, For the C N The influencing factors of the core feature points, and the rest are similar; Then use the algorithm to solve it. At this time, the general feature points are only observed, and the core and key feature points are focused on. If the results show that the core, key and important feature points meet the allowable tolerance range, Tol At this time, we further obtain the position and posture transformation parameters for the core, key and important feature points R The optimal solution is to discard the general feature points that exceed the tolerance. If the result shows that the core and key feature points meet the allowable tolerance range, Tol At this time, we further obtain the position and posture transformation parameters for the core and key feature points R The optimal solution is to discard important and general feature points with excessive deviation.

17. The method for fitting the optimal position and posture of a large aircraft component according to claim 1, characterized in that: In step s10, if the out-of-tolerance feature point is general or core, modify the influencing factor of the feature point. W , the influencing factors of the core feature points are set to a , the influence factor of the key feature point is set to b , the influence factor of important feature points is set to c ,ensure a > b > c >1, sorting is: ； C W is the set of influencing factors of core feature points, K W is the set of key feature point influencing factors, I W is the set of influencing factors of important feature points, G W is the set of influencing factors of general feature points; C W 1 for The first core feature point impact factor, For the C N The influencing factors of the core feature points, and the rest are similar; Then use the algorithm to solve it. If the result shows that only the core feature points meet the allowable tolerance range, Tol At this time, we further obtain the position and posture transformation parameters for the core feature points R The optimal solution is to discard the key, important and general feature points that exceed the tolerance. If the result shows that only the core and key feature points meet the allowable tolerance range, Tol At this time, we further obtain the position and posture transformation parameters for the core and key feature points R The optimal solution is to discard the important and general feature points that exceed the tolerance. If the result shows that the core, key and important feature points meet the range of allowable tolerance, Tol At this time, we further obtain the position and posture transformation parameters for the core, key and important feature points R The optimal solution is obtained and the general feature points with excessive deviation are discarded.

18. The method for fitting the optimal position and posture of a large aircraft component according to claim 1, characterized in that: In step s10, if the out-of-tolerance feature point is important and critical, modify the influencing factor of the feature point W , the influencing factors of the core feature points are set to a , the impact factor of key and important feature points is set as b ,ensure a > b >1, sorting is: ； C W is the set of influencing factors of core feature points, K W is the set of key feature point influencing factors, I W is the set of influencing factors of important feature points, G W is the set of influencing factors of general feature points; C W 1 for The first core feature point impact factor, For the C N The influencing factors of the core feature points, and the rest are similar; Then use the algorithm to solve it. If the result shows that only the core feature points meet the allowable tolerance range, Tol At this time, we further obtain the position and posture transformation parameters for the core feature points R The optimal solution is to discard the key, important and general feature points that exceed the tolerance. If the result shows that only the core and key feature points meet the allowable tolerance range, Tol At this time, we further obtain the position and posture transformation parameters for the core and key feature points R The optimal solution is to discard the important and general feature points that exceed the tolerance. If the result shows that the core, key and important feature points meet the range of allowable tolerance, Tol At this time, we further obtain the position and posture transformation parameters for the core, key and important feature points R The optimal solution is obtained and the general feature points with excessive deviation are discarded.

19. The method for fitting the optimal position and posture of a large aircraft component according to claim 1, characterized in that: In step s10, if the out-of-tolerance feature point is important and core, or critical and core, modify the influencing factor of the feature point W , the influencing factors of the core feature points are set to a , the influence factor of the key feature point is set to b , the influence factor of important feature points is set to c ,ensure a > b > c >1, sorting is: ； C W is the set of influencing factors of core feature points, K W is the set of key feature point influencing factors, I W is the set of influencing factors of important feature points, G W is the set of influencing factors of general feature points; C W 1 for The first core feature point impact factor, For the C N The influencing factors of the core feature points, and the rest are similar; Then use the algorithm to solve it, focusing on ensuring that the core feature points do not exceed the tolerance. If the result shows that only the core feature points meet the allowable tolerance range, Tol At this time, we further obtain the position and posture transformation parameters for the core feature points R The optimal solution is to discard the key, important and general feature points that exceed the tolerance. If the result shows that only the core and key feature points meet the allowable tolerance range, Tol At this time, we further obtain the position and posture transformation parameters for the core and key feature points R The optimal solution is to discard the important and general feature points that exceed the tolerance. If the result shows that the core, key and important feature points meet the range of allowable tolerance, Tol At this time, we further obtain the position and posture transformation parameters for the core, key and important feature points R The optimal solution is obtained and the general feature points with excessive deviation are discarded.

20. The method for fitting the optimal position and posture of a large aircraft component according to claim 1, characterized in that: In step s11, if the out-of-tolerance feature point is general, important, or critical, modify the influencing factor of the feature point W , the influencing factors of the core feature points are set to a , the impact factor of key and important feature points is set as b ,ensure a > b >1, sorting is: ； C W is the set of influencing factors of core feature points, K W is the set of key feature point influencing factors, I W is the set of influencing factors of important feature points, G W is the set of influencing factors of general feature points; C W 1 for The first core feature point impact factor, For the C N The influencing factors of the core feature points, and the rest are similar; Then use the algorithm to solve it. If the result shows that only the core feature points meet the allowable tolerance range, Tol At this time, we further obtain the position and posture transformation parameters for the core feature points R The optimal solution is to discard the key, important and general feature points that exceed the tolerance. If the result shows that only the core and key feature points meet the allowable tolerance range, Tol At this time, we further obtain the position and posture transformation parameters for the core and key feature points R The optimal solution is to discard the important and general feature points that exceed the tolerance. If the result shows that the core, key and important feature points meet the range of allowable tolerance, Tol At this time, we further obtain the position and posture transformation parameters for the core, key and important feature points R The optimal solution is obtained and the general feature points with excessive deviation are discarded.

21. The method for fitting the optimal position and posture of a large aircraft component according to claim 1, characterized in that: In step s11, if the out-of-tolerance feature point is general, important, core, or important, critical, core, or general, critical, core, modify the influencing factor of the feature point W , the influencing factors of the core feature points are set to a , the influence factor of the key feature point is set to b , the influence factor of important feature points is set to c ,ensure a > b > c >1, sorting is: ； C W is the set of influencing factors of core feature points, K W is the set of key feature point influencing factors, I W is the set of influencing factors of important feature points, G W is the set of influencing factors of general feature points; C W 1 for The first core feature point impact factor, For the C N The influencing factors of the core feature points, and the rest are similar; Then use the algorithm to solve it, focusing on ensuring that the core feature points do not exceed the tolerance. If the result shows that only the core feature points meet the allowable tolerance range, Tol At this time, we further obtain the position and posture transformation parameters for the core feature points R The optimal solution is to discard the key, important and general feature points that exceed the tolerance. If the result shows that only the core and key feature points meet the allowable tolerance range, Tol At this time, we further obtain the position and posture transformation parameters for the core and key feature points R The optimal solution is to discard the important and general feature points that exceed the tolerance. If the result shows that the core, key and important feature points meet the range of allowable tolerance, Tol At this time, we further obtain the position and posture transformation parameters for the core, key and important feature points R The optimal solution is obtained and the general feature points with excessive deviation are discarded.

22. The method for fitting the optimal position and posture of a large aircraft component according to claim 1, characterized in that: In step s12, all four types of feature points are out of tolerance, and the influencing factors of the feature points are modified. W , the influencing factors of the core feature points are set to a , the influence factor of the key feature point is set to b , the influence factor of important feature points is set to c ,ensure a > b > c >1, sorting is: ； C W is the set of influencing factors of core feature points, K W is the set of key feature point influencing factors, I W is the set of influencing factors of important feature points, G W is the set of influencing factors of general feature points; C W 1 for The first core feature point impact factor, For the C N The influencing factors of the core feature points, and the rest are similar; Then use the algorithm to solve it to ensure that the core feature points do not exceed the tolerance. If the result shows that only the core feature points meet the allowable tolerance range, Tol , to obtain the position and posture transformation parameters for the core feature points R The optimal solution is to discard the key, important and general feature points that exceed the tolerance. If the result shows that only the core and key feature points meet the allowable tolerance range, Tol , to obtain the position and posture transformation parameters for the core and key feature points R The optimal solution is to discard important and general feature points that exceed the tolerance; If the results show that the core, key and important feature points meet the allowable deviation range Tol At this time, we further obtain the position and posture transformation parameters for the core, key and important feature points R The optimal solution is obtained and the general feature points with excessive deviation are discarded.

23. The method for fitting the optimal position and posture of a large aircraft component according to claim 1, characterized in that: In step s13, the coordinates of the characteristic points of the large aircraft components at the optimal position and posture are obtained by calculation. for ； m P c is the actual coordinate of the feature point in the current posture.

Images