A pipeline design method for launch vehicle

Abstract

The present invention provides a pipeline design method for a launch vehicle, comprising: measuring the center point coordinates of a tank outlet flange, an engine pump inlet flange, a tank side pipeline flange, an engine side pipeline flange, a frame mounting hole, and a mounting hole of a gimbal; taking the center point coordinates of the frame mounting hole and the gimbal mounting hole as a basis, combining assembly interference, coordinate conversion and other constraint boundaries, optimizing with the minimum sum of squared residuals of the corresponding coordinates as an optimization target, and obtaining a first conversion matrix; multiplying the first conversion matrix with the center point coordinates of the mounting hole of the engine pump inlet flange, and obtaining the first coordinates of the assembled engine pump inlet flange; calculating the second coordinate and the third coordinate by the above method; and designing a pipeline model between the engine pump inlet and the tank outlet by using the second coordinate of the tank side pipeline flange and the third coordinate of the engine side pipeline flange. The present invention improves the accuracy of pipeline sampling and shortens the production cycle of the launch vehicle.

Description

Technical Field

[0001] The invention relates to the technical field of launch vehicles, and in particular to a pipeline design method for launch vehicles. Background Art

[0002] Due to manufacturing deviations in the tanks, engines and other sections of the launch vehicle, during the final assembly design and production of the launch vehicle, some of the ducts are adapted and produced after the production of other sections is completed, which is called sampling. Most of the existing pipeline sampling is carried out at the rocket assembly site, and the ducts are produced after the dimensions are coordinated. Due to the larger size of the rocket body, complex interfaces and high degree of internal structure integration, on-site physical sampling has brought operational difficulties and brought safety risks to operators and other rocket products. With the development of commercial aerospace, pipeline sampling has increasingly become a shortcoming for the rapid iteration and rapid delivery of launch vehicles.

[0003] In view of this, there is an urgent need to design a pipeline design method for launch vehicles that has a simple non-contact measurement and accurate calculation. Summary of the invention

[0004] The purpose of the present invention is to overcome the deficiencies of the prior art and provide a pipeline design method for a launch vehicle.

[0005] The present invention provides a pipeline design method for a launch vehicle, comprising:

[0006] Measure coordinates, measure the center point coordinates of the mounting holes of the tank outlet flange and the engine pump inlet flange, measure the center point coordinates of the mounting holes of the tank side pipeline flange and the engine side pipeline flange, and measure the center point coordinates of the tank side frame mounting holes and the engine side gimbal mounting holes;

[0007] Calculate the first coordinate, based on the coordinates of the center points of the frame mounting hole and the center points of the gimbal mounting hole, and combine the assembly interference and the coordinate transformation constraint boundary to minimize the residual sum of squares of the corresponding coordinates as the optimization goal, and obtain the optimized first transformation matrix; multiply the first transformation matrix by the coordinates of the center point of the mounting hole of the engine pump inlet flange to obtain the first coordinates of the assembled engine pump inlet flange;

[0008] Calculate the second coordinates, based on the coordinates of the center points of the mounting holes of the tank outlet flange and the coordinates of the center points of the mounting holes of the tank side pipeline flange, and combine assembly interference and coordinate transformation constraint boundaries to minimize the sum of squared residuals of the corresponding coordinates, and obtain an optimized second transformation matrix; multiply the second transformation matrix by the coordinates of the center points of the mounting holes of the tank side pipeline flange, and obtain the second coordinates of the assembled tank side pipeline flange;

[0009] Calculate the third coordinate, based on the first coordinate of the engine pump inlet flange and the center point coordinate of the mounting hole of the engine side pipeline flange, combine the assembly interference and the coordinate transformation constraint boundary, minimize the residual square sum of the corresponding coordinates as the optimization goal, and obtain the optimized third transformation matrix; multiply the third transformation matrix by the center point coordinate of the mounting hole of the engine side pipeline flange to obtain the third coordinate of the assembled engine side pipeline flange;

[0010] The pipeline design uses the second coordinate of the pipeline flange on the tank side and the third coordinate of the pipeline flange on the engine side to design a pipeline model between the engine pump inlet and the tank outlet.

[0011] According to one embodiment of the present invention, in the step of measuring coordinates, the mounting holes of the tank outlet flange and the engine pump inlet flange are respectively measured with coordinates of no less than 3 center points, the mounting holes of the tank side pipeline flange and the engine side pipeline flange are respectively measured with coordinates of no less than 3 center points, and the mounting holes of the frame and the mounting holes of the gimbal are respectively measured with coordinates of no less than 3 center points.

[0012] According to an embodiment of the present invention, the coordinate transformation in the constraint boundary of the three-dimensional coordinate transformation matrix includes a rotation angle and a translation distance.

[0013] According to one embodiment of the present invention, in the step of calculating the first coordinate, the first transformation matrix is ,in Respectively represent the distance of translation along each coordinate axis, They represent the angles of rotation along the coordinate axes.

[0014] According to one embodiment of the present invention, in the step of calculating the first coordinate, the matrices rotating around the X, Y, and Z axes are respectively:

[0015]

[0016]

[0017] .

[0018] According to one embodiment of the present invention, in the step of calculating the first coordinate, the coordinates of the center points of the gimbal mounting hole are marked as matrices: , respectively including , the coordinates of the center points of the rack installation holes are marked as matrices , respectively including ; The coordinates of the center point of the gimbal mounting hole after coordinate transformation are , ; The optimization goal is to minimize the sum of squares of the residuals of the corresponding coordinates: .

[0019] According to one embodiment of the present invention, in the step of calculating the first coordinate, each point of the engine pump inlet flange hole is marked as a matrix , respectively including , multiplied by the first transformation matrix, the first coordinate of the assembled engine pump inlet flange is , .

[0020] According to one embodiment of the present invention, in the step of calculating the second coordinate and the third coordinate, is the initial coordinate set, As the target coordinate set and the minimum residual square sum as the optimization goal, the coordinate transformation matrix under the specified constraint boundary is obtained. , where the formula includes:

[0021]

[0022]

[0023]

[0024] .

[0025] According to one embodiment of the present invention, in the step of measuring coordinates, a laser tracker target sphere is used to scan the center point coordinates of the corresponding mounting holes of the tank and the engine.

[0026] According to an embodiment of the present invention, in the step of measuring coordinates, the center point coordinates of the mounting holes of the tank side pipeline flange and the engine side pipeline flange can be measured based on a theoretical model or obtained through physical measurement.

[0027] The pipeline design method of the present invention only needs to measure the interface coordinates of the sections to be assembled on the launch vehicle on site, collect the center point coordinates of the six corresponding mounting holes, and then optimize the constraint boundary calculation of the above coordinates through three-dimensional software to obtain the second coordinates of the pipeline flange on the tank side and the third coordinates of the pipeline flange on the engine side after assembly, and then design the pipeline model on this basis. This design method greatly improves the accuracy of pipeline sampling, shortens the production cycle of the launch vehicle, and greatly reduces the safety risks to products and personnel.

[0028] It should be understood that the above general description and the following detailed description are merely exemplary and illustrative and are not intended to limit the scope of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The following drawings are a part of the specification of the present invention, and illustrate exemplary embodiments of the present invention. Together with the description of the specification, the accompanying drawings are used to explain the principles of the invention.

[0030] Figure 1 is a schematic diagram of a pipeline design method for a launch vehicle according to an embodiment of the present invention;

[0031] Figure 2 It is a schematic diagram of the launch vehicle tank and engine interface according to one embodiment of the present invention. DETAILED DESCRIPTION

[0032] The features and exemplary embodiments of various aspects of the present invention will be described in detail below. In order to make the purpose, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only configured to explain the present invention and are used to illustrate the principles of the present invention, and are not configured to limit the present invention. In addition, the structural components in the drawings are not necessarily drawn to scale. For example, the sizes of some structural components or areas in the drawings may be enlarged for other structural components or areas to help understand the embodiments of the present invention.

[0033] The directional words appearing in the following description are all directions shown in the figures, and do not limit the specific structure of the embodiments of the present invention. In the description of the present invention, it should be noted that, unless otherwise specified, the terms "installation", "connection" and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected or indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0034] In addition, the terms "include", "comprise", "have" or any other variations thereof are intended to cover non-exclusive inclusion, so that a structure or component including a series of elements includes not only those elements, but also other mechanical elements that are not explicitly listed or inherent in the structure or component. In the absence of more restrictions, the elements defined by the sentence "include..." do not exclude the existence of other identical elements in the article or device including the elements.

[0035] Coordinate relationship terms such as "below", "below", "beneath", "under", "low", "above", "on", "high", etc. are used to facilitate the description to explain the positioning of one element relative to a second element, indicating that these terms are intended to cover different orientations of the device in addition to orientations different from those shown in the figures. In addition, for example, "one element is above / below another element" can mean that the two elements are in direct contact, or it can mean that there are other elements between the two elements. In addition, terms such as "first", "second", etc. are also used to describe various elements, regions, parts, etc., and should not be regarded as limiting. Similar terms represent similar elements throughout the description.

[0036] For those skilled in the art, the present invention can be implemented without some of these specific details. The following description of the embodiments is only intended to provide a better understanding of the present invention by showing examples of the present invention.

[0037] Figure 1 is a schematic diagram of a pipeline design method for a launch vehicle according to an embodiment of the present invention; Figure 2 It is a schematic diagram of the launch vehicle tank and engine interface according to one embodiment of the present invention.

[0038] like Figure 1 and Figure 2 As shown, the present invention provides a pipeline design method for a launch vehicle, comprising:

[0039] Step S101, measuring coordinates, measuring the center point coordinates of the mounting holes of the tank outlet flange and the engine pump inlet flange, measuring the center point coordinates of the mounting holes of the tank side pipeline flange and the engine side pipeline flange, measuring the center point coordinates of the tank side frame mounting hole and the engine side gimbal mounting hole;

[0040] Step S102, calculating the first coordinates, based on the coordinates of the center points of the frame mounting holes and the center points of the gimbal mounting holes, combined with assembly interference and coordinate transformation constraint boundaries, optimizing with the minimum sum of squared residuals of the corresponding coordinates as the optimization goal, to obtain an optimized first conversion matrix; multiplying the first conversion matrix with the coordinates of the center points of the mounting holes of the engine pump inlet flange, to obtain the first coordinates of the assembled engine pump inlet flange;

[0041] Step S103, calculating the second coordinates, based on the coordinates of the center points of the mounting holes of the tank outlet flange and the coordinates of the center points of the mounting holes of the tank side pipeline flange, combined with assembly interference and coordinate transformation constraint boundaries, optimizing with the minimum sum of squared residuals of the corresponding coordinates as the optimization goal, to obtain an optimized second conversion matrix; multiplying the second conversion matrix with the coordinates of the center points of the mounting holes of the tank side pipeline flange to obtain the second coordinates of the assembled tank side pipeline flange;

[0042] Step S104, calculating the third coordinates, based on the first coordinates of the engine pump inlet flange and the center point coordinates of the mounting hole of the engine side pipeline flange, combined with assembly interference and coordinate transformation constraint boundaries, optimizing with the minimum sum of squares of the residuals of the corresponding coordinates as the optimization goal, to obtain an optimized third conversion matrix; multiplying the third conversion matrix with the center point coordinates of the mounting hole of the engine side pipeline flange to obtain the third coordinates of the assembled engine side pipeline flange;

[0043] Step S105, pipeline design, using the second coordinate of the pipeline flange on the tank side and the third coordinate of the pipeline flange on the engine side, to design a pipeline model between the engine pump inlet and the tank outlet.

[0044] According to one embodiment of the present invention, in the step of measuring coordinates, the mounting holes of the tank outlet flange and the engine pump inlet flange respectively measure no less than 3 center point coordinates, the mounting holes of the tank side pipeline flange and the engine side pipeline flange respectively measure no less than 3 center point coordinates, and the mounting holes of the frame and the mounting holes of the gimbal respectively measure no less than 3 center point coordinates.

[0045] According to one embodiment of the present invention, in the step of measuring coordinates, a laser tracker target sphere is used to scan the center point coordinates of the corresponding mounting holes of the tank and the engine.

[0046] According to one embodiment of the present invention, in the step of measuring coordinates, the center point coordinates of the mounting holes of the tank side pipeline flange and the engine side pipeline flange can be measured based on a theoretical model or obtained through physical measurement.

[0047] Specifically, the pipeline design method in this embodiment only needs to measure the interface coordinates of the sections that need to be assembled on the launch vehicle on site, collect the center point coordinates of the installation holes of the six components, namely, the tank outlet flange, the engine pump inlet flange, the tank side pipeline flange, the engine side pipeline flange, the frame mounting hole, and the gimbal mounting hole, and then optimize the constraint boundary calculation of the above coordinates through three-dimensional software to obtain the second coordinates of the tank side pipeline flange and the third coordinates of the engine side pipeline flange after assembly, and then design the pipeline model on this basis. In the process of general assembly of the launch vehicle, the tedious operations of repeatedly repairing and carrying the pipeline on site can be omitted, which greatly reduces the safety risks of personnel and products.

[0048] Among them, the pipeline design method performs high-precision measurement on the assembly feature points of the tank, pipeline, engine and other sections, obtains the center point coordinates of the corresponding points, and then uses the Matlab optimization algorithm to perform coordinate conversion and data optimization on the feature points, thereby obtaining assembly data that meets the accuracy requirements. After determining the position of the pipeline assembly interface, the pipeline design method of the present invention can complete the design of the sampling pipeline of the launch vehicle, thereby advancing the production of the sampling pipeline to parallel production with the tank, cabin section and engine and other sections, greatly improving the accuracy of pipeline sampling and shortening the production cycle of pipeline sampling.

[0049] In step S101 of the embodiment, when measuring the center point coordinates of the four sections of the tank outlet flange, the engine pump inlet flange, the tank side pipeline flange, and the engine side pipeline flange, four mounting holes among the multiple mounting holes on the flange can be selected as the center point coordinates. When measuring the center point coordinates of the mounting holes of the tank side frame and the mounting holes of the engine side gimbal, four mounting holes or positioning holes in the frame and the gimbal can be selected as the center point coordinates. In one embodiment, the center point coordinates of the mounting holes of the tank side pipeline flange and the engine side pipeline flange can be obtained by physical measurement when not assembled, or can be measured in three-dimensional software based on a theoretical model.

[0050] It should be noted that when measuring the center point coordinates of the tank outlet flange and the tank side pipeline flange, select the four mounting hole positions corresponding to the two flanges when assembled, for example, the four mounting holes are selected symmetrically. When measuring the center point coordinates of the engine pump inlet flange and the engine side pipeline flange, select the four mounting hole positions corresponding to the two flanges when assembled, for example, the four mounting holes are selected symmetrically. When measuring the center point coordinates of the mounting holes of the tank side frame and the mounting holes of the engine side gimbal, select the four mounting hole positions corresponding to the assembly of the frame and the gimbal, for example, the four mounting holes can be selected symmetrically. The measurement method can be selected to use a laser tracker target ball to scan the reference point coordinates of the engine or tank. If necessary, transfer stations can also be arranged around the engine or tank.

[0051] In step S102, based on the tank side frame, the center point coordinates of the gimbal mounting hole on the engine side are converted to the center point coordinates of the frame mounting hole, and combined with the constraint boundary conditions of assembly interference, the optimization is performed with the minimum sum of squares of the residuals of the corresponding coordinates as the optimization target to obtain the first conversion matrix. The center point coordinates of the mounting hole of the engine pump inlet flange are multiplied by the first conversion matrix, which is equivalent to moving the engine to the assembled position, and obtaining the first coordinates of the assembled engine pump inlet flange.

[0052] It should be noted that step S103 and step S104 can be performed simultaneously. In step S103, when calculating the second coordinate of the tank side pipeline flange, it is equivalent to converting the coordinate of the center point of the mounting hole of the tank side pipeline flange to the coordinate of the center point of the mounting hole of the tank outlet flange, and optimizing the corresponding coordinates with the minimum residual square sum as the optimization target in combination with the constraint boundary conditions of assembly interference, to obtain the second conversion matrix. The coordinate of the center point of the mounting hole of the tank side pipeline flange is multiplied by the second conversion matrix, which is equivalent to moving the tank side pipeline flange to the assembled position, and obtaining the second coordinate of the assembled tank side pipeline flange.

[0053] In step S104, when calculating the third coordinate of the engine side pipeline flange, it is equivalent to converting the coordinate of the center point of the mounting hole of the engine side pipeline flange to the first coordinate of the assembled engine pump inlet flange, and optimizing the corresponding coordinates with the minimum residual square sum as the optimization target in combination with the constraint boundary conditions of assembly interference, and obtaining the third conversion matrix. The coordinate of the center point of the mounting hole of the engine side pipeline flange is multiplied by the third conversion matrix, which is equivalent to moving the engine side pipeline flange to the assembled position, and obtaining the third coordinate of the assembled engine side pipeline flange.

[0054] In step S105, after the precise coordinates of the flanges at both ends of the pipeline are determined, the second and third coordinates are inputted using 3D software to obtain the model design of the pipeline between the engine pump inlet and the tank outlet, and the sampling production of the pipeline is completed. In one embodiment, the fitted pipeline model and size requirements are obtained, and the optimized pipeline can be 3D printed using additive manufacturing technology.

[0055] In this embodiment, this design method can complete data measurement and pipeline design before the tank, engine, cabin and other sections are docked, which greatly improves the accuracy of pipeline sampling, shortens the production cycle of the launch vehicle, and greatly reduces the safety risks to products and personnel.

[0056] According to an embodiment of the present invention, the coordinate transformation in the constraint boundary of the three-dimensional coordinate transformation matrix includes a rotation angle and a translation distance.

[0057] According to one embodiment of the present invention, in the step of calculating the first coordinate, it is assumed that the first transformation matrix is ,in Respectively represent the distance of translation along each coordinate axis, They represent the angles of rotation along the coordinate axes.

[0058] According to one embodiment of the present invention, in the step of calculating the first coordinate, the matrices rotated around the X, Y, and Z axes are respectively:

[0059]

[0060]

[0061] .

[0062] According to one embodiment of the present invention, in the step of calculating the first coordinate, the coordinates of the center points of the gimbal mounting hole are marked as a matrix: , respectively including , the coordinates of the center points of the rack installation holes are marked as matrices , respectively including The coordinates of the center point of the gimbal mounting hole after coordinate transformation are: , .

[0063] The optimization goal is to minimize the residual square sum of the center point coordinates of the rack mounting hole and the center point coordinates of the gimbal mounting hole after coordinate transformation, that is, the following objective function equation:

[0064] .

[0065] By implementing the above code in Matlab with the optimization goal of minimizing the sum of squared residuals, and optimizing the objective function using the "active set" algorithm, we finally obtained the specific values ​​in the first transformation matrix after optimization.

[0066] According to one embodiment of the present invention, in the step of calculating the first coordinate, the center point coordinates of the mounting hole of the engine pump inlet flange are marked as matrices: , respectively including , multiplied by the first transformation matrix, the first coordinate of the assembled engine pump inlet flange is , .

[0067] According to one embodiment of the present invention, in the step of calculating the second coordinate and the third coordinate, the spatial positions of the engine pump inlet and the tank outlet connected at both ends of the pipeline have been determined based on the above steps. is the initial coordinate set (the center coordinates of the flange mounting holes at both ends of the pipeline), The target coordinate set (the center coordinates of the flange mounting holes at the engine pump inlet and the tank outlet) and the minimum residual square sum are used as the optimization goal to obtain the coordinate transformation matrix under the specified constraint boundary. (Second transformation matrix and third transformation matrix), calculated (The second coordinate of the tank side pipe flange after assembly and the third coordinate of the engine side pipe flange), where the formula includes:

[0068]

[0069]

[0070]

[0071] .

[0072] The above formula is used for optimization calculation, and the center point coordinates of the mounting holes of the flanges at both ends of the pipeline are used as the initial coordinate set, and the center point coordinates of the mounting holes of the tank outlet flange and the engine pump inlet flange are used as the target coordinate set. The corresponding second conversion matrix and third conversion matrix are obtained respectively, and multiplied with the initial coordinate set to obtain the position coordinates of the assembled pipeline flange in the model, that is, the second coordinates of the assembled tank side pipeline flange and the third coordinates of the engine side pipeline flange. After the above steps, the flange coordinates at both ends of the pipeline are determined, and finally the sampling pipeline model is designed using 3D software, and finally the sampling production of the pipeline is completed.

[0073] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A pipeline design method for a launch vehicle, characterized in that: include: Measure coordinates, measure the center point coordinates of the mounting holes of the tank outlet flange and the engine pump inlet flange, measure the center point coordinates of the mounting holes of the tank side pipeline flange and the engine side pipeline flange, and measure the center point coordinates of the tank side frame mounting holes and the engine side gimbal mounting holes; Calculate the first coordinates, based on the coordinates of the center points of the frame mounting holes and the center points of the gimbal mounting holes, combine assembly interference and coordinate transformation constraint boundaries, and optimize with the minimum sum of squared residuals of the corresponding coordinates as the optimization goal to obtain an optimized first conversion matrix; multiply the first conversion matrix by the coordinates of the center points of the mounting holes of the engine pump inlet flange to obtain the first coordinates of the assembled engine pump inlet flange; Calculate the second coordinates, based on the coordinates of the center points of the mounting holes of the tank outlet flange and the coordinates of the center points of the mounting holes of the tank side pipeline flange, combine assembly interference and coordinate transformation constraint boundaries, and optimize with the minimum sum of squares of the residuals of the corresponding coordinates as the optimization goal to obtain an optimized second conversion matrix; multiply the second conversion matrix by the coordinates of the center points of the mounting holes of the tank side pipeline flange to obtain the second coordinates of the assembled tank side pipeline flange; Calculate the third coordinate, based on the first coordinate of the engine pump inlet flange and the center point coordinate of the mounting hole of the engine side pipeline flange, combine assembly interference and coordinate transformation constraint boundaries, and optimize with the minimum sum of squares of the residuals of the corresponding coordinates as the optimization goal to obtain an optimized third conversion matrix; multiply the third conversion matrix by the center point coordinate of the mounting hole of the engine side pipeline flange to obtain the third coordinate of the assembled engine side pipeline flange; The pipeline design uses the second coordinate of the pipeline flange on the tank side and the third coordinate of the pipeline flange on the engine side to design a pipeline model between the engine pump inlet and the tank outlet.

2. The pipeline design method for a launch vehicle according to claim 1, characterized in that: In the step of measuring coordinates, the mounting holes of the tank outlet flange and the engine pump inlet flange are measured with coordinates of no less than 3 center points respectively, the mounting holes of the tank side pipeline flange and the engine side pipeline flange are measured with coordinates of no less than 3 center points respectively, and the mounting holes of the frame and the mounting holes of the gimbal are measured with coordinates of no less than 3 center points respectively.

3. The pipeline design method for a launch vehicle according to claim 2, characterized in that: The coordinate transformation in the constraint boundary of the three-dimensional coordinate transformation matrix includes rotation angle and translation distance.

4. The pipeline design method for a launch vehicle according to claim 3, characterized in that: In the step of calculating the first coordinate, the first transformation matrix is ,in Respectively represent the distance of translation along each coordinate axis, They represent the angles of rotation along the coordinate axes.

5. The pipeline design method for a launch vehicle according to claim 4, characterized in that: In the step of calculating the first coordinate, the matrices rotating around the X, Y, and Z axes are respectively: 。 6. The pipeline design method for a launch vehicle according to claim 5, characterized in that: In the step of calculating the first coordinate, the coordinates of the center points of the gimbal mounting hole are marked as matrices , respectively including , the coordinates of the center points of the rack installation holes are marked as matrices , respectively including ; The coordinates of the center point of the gimbal mounting hole after coordinate transformation are: , ; The optimization goal is to minimize the sum of squares of the residuals of the corresponding coordinates: .

7. The pipeline design method for a launch vehicle according to claim 6, characterized in that: In the step of calculating the first coordinate, the center points of the mounting holes of the engine pump inlet flange are marked as matrix , respectively including , multiplied by the first transformation matrix, the first coordinate of the assembled engine pump inlet flange is , .

8. The pipeline design method for a launch vehicle according to claim 7, characterized in that: In the step of calculating the second coordinate and the third coordinate, is the initial coordinate set, As the target coordinate set and the minimum residual square sum as the optimization goal, the coordinate transformation matrix under the specified constraint boundary is obtained. , where the formula includes: 。 9. The pipeline design method for a launch vehicle according to claim 1, characterized in that: In the step of measuring coordinates, a laser tracker target ball is used to scan the center point coordinates of the corresponding mounting holes of the tank and the engine.

10. The pipeline design method for a launch vehicle according to claim 1, characterized in that: In the step of measuring coordinates, the center point coordinates of the mounting holes of the tank side pipeline flange and the engine side pipeline flange can be measured based on a theoretical model or obtained through actual measurement.

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