Method for adjusting the angle between the reference cubic mirror coordinate system and the satellite reference coordinate system

Abstract

The present invention belongs to the technical field of satellite installation and precision measurement using a three-coordinate measuring machine, and specifically relates to a method for adjusting the angle between a reference cubic mirror coordinate system and a satellite reference coordinate system, comprising: establishing a virtual reference coordinate system with no angle deviation from the satellite reference coordinate system on a reference structure plate at a docking position between the satellite and the carrier; pre-installing a reference cubic mirror on the reference structure plate to establish a reference cubic mirror coordinate system; obtaining the deviation angle between the virtual reference coordinate system and the reference cubic mirror coordinate system on the operating software, and when the absolute value of the deviation angle is greater than zero, adjusting the position of the reference cubic mirror on the reference structure plate, and re-measurement until the deviation angle between the virtual reference coordinate system and the reference cubic mirror coordinate system is zero. The present invention can accurately adjust the deviation angle between the reference cubic mirror coordinate system and the satellite reference coordinate system, and improve the installation and measurement accuracy of the satellite.

Description

Technical Field

[0001] The invention belongs to the technical field of satellite installation and precision measurement using a three-coordinate measuring machine, and in particular relates to a method for adjusting the angle between a reference cubic mirror coordinate system and a satellite reference coordinate system. Background Art

[0002] The structural accuracy must be guaranteed when assembling the main structure of the satellite, and a certain accuracy must also be guaranteed when installing a single-machine bracket with accuracy requirements. These accuracies include various dimensional accuracies, shape accuracies, and position accuracies. These accuracies need to be measured during the assembly process, under light and heavy load conditions, and before and after various tests to compare their changes. When measuring these accuracies, a mechanical coordinate system of the entire satellite is required as a measurement reference. When designing a satellite, the theoretical mechanical reference coordinate system of the entire satellite is often inconvenient to measure. At this time, it is necessary to establish a virtual coordinate system with no angle deviation from the theoretical satellite reference coordinate system to facilitate measurement.

[0003] The satellite-borne optical unit needs to perform optical precision measurement. The unit itself has an autocollimation cube mirror. The cube mirror coordinate system is the coordinate system of the unit. After the unit is installed, the relationship between its coordinate system and the satellite reference coordinate system needs to be measured. When using an electronic theodolite to perform autocollimation measurement on the unit's cube mirror, the satellite reference coordinate system cannot be used directly. In this case, an optical measurement reference cube mirror whose coordinate system coincides with the satellite reference coordinate system is required.

[0004] Due to the above reasons, when assembling the main structure of the satellite, it is necessary to install and adjust the optical measurement reference cubic mirror so that the coordinate system of the optical measurement reference cubic mirror coincides with the satellite reference coordinate system. Subsequently, an electronic theodolite is used to perform self-collimation measurement on the single-unit cubic mirror, and the relationship between the single-unit cubic mirror coordinate system and the optical reference cubic mirror coordinate system is solved, which is equivalent to the relationship with the satellite reference coordinate system. At the same time, the relationship with other non-optical single machines that use the satellite reference coordinate system as the measurement reference can also be solved.

[0005] When the optical measurement reference cubic mirror coordinate system and the satellite reference coordinate system do not coincide, there will be a deviation between the two coordinate systems, the solution process will be complicated, and the accuracy will be reduced. The smaller the deviation between the optical measurement reference cubic mirror coordinate system and the satellite reference coordinate system, the higher the accuracy of the solution result. Therefore, high requirements are placed on the deviation angle of the two coordinate systems.

[0006] There are two common methods for installing and adjusting the optical reference cube mirror to coincide with the satellite reference coordinate system:

[0007] One is to use a marble platform and two electronic theodolites for installation and adjustment. Limited by the accuracy deviation of the electronic theodolite itself, it is necessary to set up an electronic theodolite on site to measure the cubic mirror. This method is difficult to adjust to a smaller deviation range and can only measure two mirror surfaces. It is slow and has poor accuracy.

[0008] The second is to use a laser tracker for installation and adjustment. The high-precision laser tracker has high measurement accuracy. When directly measuring the optical reference cubic mirror surface, only manual point measurement can be performed. Because the mirror surface is small, the number of points collected manually is limited, and manual point measurement is unstable, and the accuracy repeatability is not stable enough.

[0009] When indirectly measuring the mirror surface of an optical reference cubic mirror, there is a certain deviation in the position of the light reflection point on different reference cubic mirror surfaces. The reflection of light requires a larger measurement site and the repeatability is not ideal. Summary of the invention

[0010] In order to solve the above technical problem, the present invention provides a method for adjusting the angle between a reference cubic mirror coordinate system and a satellite reference coordinate system.

[0011] The present invention is implemented by providing a method for adjusting the angle between a reference cubic mirror coordinate system and a satellite reference coordinate system, comprising the following steps:

[0012] Step 1: On the reference structure plate at the docking position between the satellite and the carrier, a virtual reference coordinate system with no angle deviation from the satellite reference coordinate system is established using a three-dimensional coordinate measuring machine;

[0013] Step 2: Pre-install the reference cubic mirror on the reference structure plate, and use a three-coordinate measuring machine to establish the reference cubic mirror coordinate system;

[0014] Step 3: Obtain the deviation angle between the virtual reference coordinate system and the reference cubic mirror coordinate system on the operating software of the three-dimensional coordinate measuring machine. When the absolute value of the deviation angle is greater than zero, adjust the position of the reference cubic mirror on the reference structure plate and remeasure until the deviation angle between the virtual reference coordinate system and the reference cubic mirror coordinate system is zero. Then, the deviation angle between the reference cubic mirror coordinate system and the satellite reference coordinate system is zero.

[0015] Preferably, the step 1 comprises the following steps:

[0016] Step 101: a raised satellite-carrier docking installation surface is provided on the reference structure plate, the docking installation surface is parallel to the plane where the reference structure plate is located, and at least one pair of positioning holes is processed on the docking installation surface, so that the connecting line of two positioning holes in a pair of positioning holes coincides with or is parallel to an axis of the satellite reference coordinate system;

[0017] Step 102: Place the reference structure plate on the measuring platform of the three-dimensional coordinate measuring machine, start the three-dimensional coordinate measuring machine, measure the docking installation surface with a probe, and use it as the main reference surface of the virtual reference coordinate system. The probe measures the positions of two locating holes in a pair of locating holes, and project the positions of the two locating holes onto the main reference surface. Fit the line connecting the projection points of the two locating holes on the operating software as an axis of the virtual reference coordinate system, and fit the midpoint of the line connecting the projection points of the two locating holes as the origin of the virtual reference coordinate system.

[0018] Step 103: On the operating software, a virtual reference coordinate system is established according to the main reference plane, an axis and the origin of the virtual reference coordinate system, and the direction of the xyz axis of the virtual reference coordinate system is adjusted to be the same as the direction of the xyz axis of the satellite reference coordinate system to establish the virtual reference coordinate system.

[0019] Further preferably, the reference structure plate is a rectangular plate, and in the step 101, when processing at least one pair of the positioning holes, the processing positions of two positioning holes in a pair of positioning holes are determined according to the positional relationship between two orthogonal sides of the reference structure plate and an axis of the satellite reference coordinate system.

[0020] Further preferably, there are four docking mounting surfaces, each of which is rectangular, and the four docking mounting surfaces are respectively located at the four corners of the reference structure plate, and two positioning holes in a pair of the positioning holes are respectively processed on two adjacent docking mounting surfaces.

[0021] Further preferably, the docking mounting surface is provided with a circular ring-shaped portion, the center of which coincides with the center of the reference structure plate, and two of the pair of positioning holes are machined on the circular ring-shaped docking mounting surface.

[0022] Preferably, step 2 comprises the following steps:

[0023] Step 201: Installing the reference cubic mirror on the reference structure plate;

[0024] Step 202: Start the three-dimensional coordinate measuring machine, open the operating software, and use the probe to measure the three mirror surfaces of the reference cubic mirror. After the three mirror surfaces are measured, a reference cubic mirror coordinate system is established on the operating software.

[0025] Preferably, step 3 comprises the following steps:

[0026] Step 301: obtaining the deviation angle between one of the xoy, xoz, and yoz surfaces of the virtual reference coordinate system and the same surface of the reference cubic mirror coordinate system on the operating software of the three-dimensional coordinate measuring machine, that is, the deviation angle between the virtual reference coordinate system and the reference cubic mirror coordinate system;

[0027] Step 302: If the deviation angle obtained in step 301 is zero, it is proved that there is no angle deviation between the virtual reference coordinate system and the reference cubic mirror coordinate system, that is, there is no deviation between the reference cubic mirror coordinate system and the satellite reference coordinate system;

[0028] Step 303: If the absolute value of the deviation angle obtained in step 301 is greater than zero, adjust the position of the reference cubic mirror on the reference structure plate according to the angle value and direction of the phase difference, and remeasure until the deviation angle between the virtual reference coordinate system and the reference cubic mirror coordinate system is zero, that is, there is no deviation between the reference cubic mirror coordinate system and the satellite reference coordinate system.

[0029] Compared with the prior art, the advantages of the present invention are:

[0030] The present invention provides a method for adjusting the angle between a reference cubic mirror coordinate system and a satellite reference coordinate system, which can accurately adjust the deviation angle between the reference cubic mirror coordinate system and the satellite reference coordinate system, facilitate the installation and measurement of the satellite, and ensure the installation and measurement accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 This is a schematic diagram of a reference structure plate according to Embodiment 1 of the present invention;

[0032] Figure 2 This is a schematic diagram of establishing a satellite reference coordinate system on a coordinate measuring machine according to Embodiment 1 of the present invention;

[0033] Figure 3 This is a schematic diagram of installing a reference cubic mirror on a reference structure plate according to Embodiment 1 of the present invention;

[0034] Figure 4 This is a schematic diagram showing that the absolute value of the deviation angle between the reference cubic mirror coordinate system and the satellite reference coordinate system is greater than zero before adjustment in Example 1 of the present invention;

[0035] Figure 5 This is a schematic diagram showing that the absolute value of the deviation angle between the reference cubic mirror coordinate system and the satellite reference coordinate system is equal to zero after adjustment in Example 1 of the present invention;

[0036] Figure 6 This is a schematic diagram of a reference structure plate according to Embodiment 2 of the present invention;

[0037] Figure 7 A schematic diagram of establishing a satellite reference coordinate system on a coordinate measuring machine is shown in Example 2 of the present invention;

[0038] Figure 8 This is a schematic diagram of installing a reference cubic mirror on a reference structure plate according to Embodiment 2 of the present invention;

[0039] Fig. 9This is a schematic diagram showing that the absolute value of the deviation angle between the reference cubic mirror coordinate system and the satellite reference coordinate system is greater than zero before adjustment in Example 2 of the present invention;

[0040] Fig.10 This is a schematic diagram showing that the absolute value of the deviation angle between the reference cubic mirror coordinate system and the satellite reference coordinate system is equal to zero after adjustment in Example 2 of the present invention. DETAILED DESCRIPTION

[0041] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several variations and improvements may be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0042] When designing a satellite structure, the satellite reference coordinate system (theoretical mechanical coordinate system of the entire satellite) is usually designed on the reference structure plate at the docking position with the carrier. The docking surface between the reference structure plate and the carrier is usually designed as the main reference surface of the satellite reference coordinate system, and the projection point of the carrier's center of mass on the main reference surface is usually designed as the origin of the satellite reference coordinate system. The reference surface, origin, and XYZ axes of the satellite reference coordinate system cannot generally be measured directly, so it is impossible to establish a satellite reference coordinate system that can be directly used for measurement. Therefore, it is necessary to establish a virtual reference coordinate system that has no deviation from the satellite reference coordinate system for precision measurement.

[0043] Example 1

[0044] refer to Figure 1-Figure 5 This embodiment provides a method for adjusting the angle between a reference cubic mirror coordinate system and a satellite reference coordinate system, comprising the following steps:

[0045] Step 1: On the reference structure plate at the docking position between the satellite and the carrier, a virtual reference coordinate system with no angle deviation from the satellite reference coordinate system is established using a three-dimensional coordinate measuring machine; including the following specific steps:

[0046] Step 101: A raised satellite-carrier docking installation surface 2 is provided on the reference structure plate 1. In this embodiment, four docking installation surfaces 2 are provided, each docking installation surface 2 is rectangular, and the four docking installation surfaces 2 are respectively located at the four corners of the reference structure plate 1. The planes where the four docking installation surfaces 2 are located are the same plane and are parallel to the plane where the reference structure plate 1 is located. Two positioning holes 3 in a pair of the positioning holes are respectively processed on two adjacent docking installation surfaces 2, so that the connecting line of the two positioning holes in a pair of positioning holes coincides with or is parallel to an axis of the satellite reference coordinate system;

[0047] In this embodiment, the reference structure plate 1 is a rectangular plate. When processing at least one pair of the positioning holes 3, the processing positions of two positioning holes 3 in a pair of positioning holes are determined according to the positional relationship between two orthogonal sides of the reference structure plate 1 and an axis of the satellite reference coordinate system.

[0048] In this embodiment, positioning holes 3 are processed on the four docking installation surfaces 2 to form two pairs of positioning holes 3. The virtual reference coordinate system can use the connecting lines of the two pairs of positioning holes 3 as axes.

[0049] Step 102: Place the reference structure plate 1 on the measuring platform of the three-dimensional coordinate measuring machine, and place it close to the marble equal height block 11, start the three-dimensional coordinate measuring machine 9, and the probe 10 measures the four docking installation surfaces 2 as the main reference surface of the virtual reference coordinate system. The probe 10 measures the positions of two positioning holes 3 in a pair of positioning holes, and constrains the positions of the two positioning holes 3 to the main reference surface. Fit the line 4 of the projection points of the two positioning holes 3 on the operating software as an axis of the virtual reference coordinate system, and fit the midpoint of the line of the projection points of the two positioning holes as the origin of the virtual reference coordinate system;

[0050] Step 103: On the operating software, a virtual reference coordinate system is established according to the main reference plane, an axis and the origin of the virtual reference coordinate system, and the direction of the xyz axis of the virtual reference coordinate system is adjusted to be the same as the direction of the xyz axis of the satellite reference coordinate system to establish a virtual reference coordinate system 12.

[0051] Step 2: pre-install the reference cubic mirror 8 on the reference structure plate 1, and establish the reference cubic mirror coordinate system using the three-dimensional coordinate measuring machine 9; including the following specific steps:

[0052] Step 201: installing the reference cubic mirror 8 on the reference structure plate 1;

[0053] Step 202: Start the three-dimensional coordinate measuring machine 9, open the operating software, and use the probe 10 to measure the first mirror surface 5, the second mirror surface 6 and the third mirror surface 7 of the reference cubic mirror 8. When measuring the mirror surface, the number of points collected is one measuring point every 1MM. After the measurement of the three mirror surfaces is completed, the reference cubic mirror coordinate system 13 is established on the operating software.

[0054] Step 3: Obtain the deviation angle between the virtual reference coordinate system 12 and the reference cubic mirror coordinate system 13 on the operating software of the three-dimensional coordinate measuring machine. When the absolute value of the deviation angle is greater than zero, adjust the position of the reference cubic mirror 8 on the reference structure plate 1, and re-measure until the deviation angle between the virtual reference coordinate system 12 and the reference cubic mirror coordinate system 13 is zero. At this time, the deviation angle between the reference cubic mirror coordinate system and the satellite reference coordinate system is zero. The following specific steps are included:

[0055] Step 301: obtaining the deviation angle between one of the virtual reference coordinate system xoy, xoz, yoz and the same surface of the reference cubic mirror coordinate system on the operating software of the three-dimensional coordinate measuring machine 9, that is, the deviation angle between the virtual reference coordinate system 12 and the reference cubic mirror coordinate system 13;

[0056] Step 302: If the deviation angle obtained in step 301 is zero, it is proved that there is no angle deviation between the virtual reference coordinate system 12 and the reference cubic mirror coordinate system 13, that is, there is no deviation between the reference cubic mirror coordinate system 13 and the satellite reference coordinate system;

[0057] Step 303: If the absolute value of the deviation angle obtained in step 301 is greater than zero, adjust the position of the reference cubic mirror 8 on the reference structure plate 1 according to the angle value and direction of the phase difference, and remeasure until the deviation angle between the virtual reference coordinate system 12 and the reference cubic mirror coordinate system 13 is zero, that is, there is no deviation between the reference cubic mirror coordinate system 13 and the satellite reference coordinate system.

[0058] Example 2

[0059] refer to Figure 6-Figure 10 The difference between this embodiment and embodiment 1 is that the docking mounting surface 2 is provided with a circular ring-shaped docking mounting surface, the center of which coincides with the center of the reference structure plate 1, and a pair of two positioning holes 3 in the positioning holes are processed on the circular ring-shaped docking mounting surface.

Claims

1. A method for adjusting the angle between a reference cubic mirror coordinate system and a satellite reference coordinate system, characterized in that: The following steps are involved: Step 1: On the reference structure plate at the docking position between the satellite and the carrier, a virtual reference coordinate system with no angle deviation from the satellite reference coordinate system is established using a three-dimensional coordinate measuring machine; The step 1 comprises the following steps: Step 101: a raised satellite-carrier docking installation surface is provided on the reference structure plate, the docking installation surface is parallel to the plane where the reference structure plate is located, and at least one pair of positioning holes is processed on the docking installation surface, so that the connecting line of two positioning holes in a pair of positioning holes coincides with or is parallel to an axis of the satellite reference coordinate system; Step 102: Place the reference structure plate on the measuring platform of the three-dimensional coordinate measuring machine, start the three-dimensional coordinate measuring machine, measure the docking installation surface with a probe, and use it as the main reference surface of the virtual reference coordinate system. The probe measures the positions of two locating holes in a pair of locating holes, and project the positions of the two locating holes onto the main reference surface. Fit the line connecting the projection points of the two locating holes on the operating software as an axis of the virtual reference coordinate system, and fit the midpoint of the line connecting the projection points of the two locating holes as the origin of the virtual reference coordinate system. Step 103: On the operating software, a virtual reference coordinate system is established according to the main reference plane, an axis and the origin of the virtual reference coordinate system, and the direction of the xyz axis of the virtual reference coordinate system is adjusted to be the same as the direction of the xyz axis of the satellite reference coordinate system, thereby establishing the virtual reference coordinate system; Step 2: Pre-install the reference cubic mirror on the reference structure plate, and use a three-coordinate measuring machine to establish the reference cubic mirror coordinate system; The step 2 comprises the following steps: Step 201: Installing the reference cubic mirror on the reference structure plate; Step 202: Start the three-dimensional coordinate measuring machine, open the operating software, and use the probe to measure the three mirror surfaces of the reference cubic mirror. After the three mirror surfaces are measured, a reference cubic mirror coordinate system is established on the operating software; Step 3: Obtain the deviation angle between the virtual reference coordinate system and the reference cubic mirror coordinate system on the operating software of the three-dimensional coordinate measuring machine. When the absolute value of the deviation angle is greater than zero, adjust the position of the reference cubic mirror on the reference structure plate and re-measure until the deviation angle between the virtual reference coordinate system and the reference cubic mirror coordinate system is zero. Then, the deviation angle between the reference cubic mirror coordinate system and the satellite reference coordinate system is zero. The step 3 comprises the following steps: Step 301: obtaining the deviation angle between one of the xoy, xoz, and yoz surfaces of the virtual reference coordinate system and the same surface of the reference cubic mirror coordinate system on the operating software of the three-dimensional coordinate measuring machine, that is, the deviation angle between the virtual reference coordinate system and the reference cubic mirror coordinate system; Step 302: If the deviation angle obtained in step 301 is zero, it is proved that there is no angle deviation between the virtual reference coordinate system and the reference cubic mirror coordinate system, that is, there is no deviation between the reference cubic mirror coordinate system and the satellite reference coordinate system; Step 303: If the absolute value of the deviation angle obtained in step 301 is greater than zero, adjust the position of the reference cubic mirror on the reference structure plate according to the angle value and direction of the phase difference, and remeasure until the deviation angle between the virtual reference coordinate system and the reference cubic mirror coordinate system is zero, that is, there is no deviation between the reference cubic mirror coordinate system and the satellite reference coordinate system.

2. The method for adjusting the angle between the reference cubic mirror coordinate system and the satellite reference coordinate system according to claim 1, characterized in that: The reference structure plate is a rectangular plate. In step 101, when processing at least one pair of the positioning holes, the processing positions of two positioning holes in a pair of positioning holes are determined according to the positional relationship between two orthogonal sides of the reference structure plate and an axis of the satellite reference coordinate system.

3. The method for adjusting the angle between the reference cubic mirror coordinate system and the satellite reference coordinate system according to claim 1, characterized in that: There are four docking installation surfaces, each of which is rectangular. The four docking installation surfaces are respectively located at the four corners of the reference structure plate, and two positioning holes in a pair of the positioning holes are respectively processed on two adjacent docking installation surfaces.

4. The method for adjusting the angle between the reference cubic mirror coordinate system and the satellite reference coordinate system according to claim 1, characterized in that: The butt joint installation surface is provided with a circular ring shape, the center of the circular butt joint installation surface coincides with the center of the reference structure plate, and two positioning holes in a pair of positioning holes are processed on the circular butt joint installation surface.

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