Inertial reference based method for detecting the assembly status of target objects in an aircraft cabin

Abstract

The application belongs to the technical field of orientation measurement of cabin fittings in aviation, and provides a cabin target object assembly state detection method based on an inertial reference, which comprises the following steps: S1, establishing a correlation conversion equation among an observation coordinate system, a carrier coordinate system and a geographic coordinate system, and solving a deflection angle alpha between the observation coordinate system and a specified direction of the geographic coordinate system; S2, solving a deflection angle gamma between an out-of-cabin main shaft feature point and the specified direction of the geographic coordinate system through a rotation matrix; S3, obtaining an included angle beta2 between the carrier coordinate system and the geographic coordinate system; and S4, detecting whether an assembly angle theta of a target object in the cabin to be measured is qualified. The application fuses data by establishing an absolute measurement reference and an observation coordinate system, adopts unified absolute reference measurement, concentrates the to-be-measured postures of equipment in a narrow space cabin in the geographic coordinate system, simplifies a cabin detection preparation process in aviation, can realize efficient measurement, and solves the problem of the limitation of the size of the cabin on the measurement equipment.

Description

TECHNICAL FIELD

[0001] The application belongs to the field of orientation measurement of cabin fittings in aviation, and particularly relates to a cabin target object assembly state detection method based on inertial reference. BACKGROUND

[0002] At present, the following problems exist in the cabin assembly state detection process of large equipment:

[0003] 1) The preparatory work is tedious. In order to accurately measure the state of the cabin fittings, the measurement reference needs to be completed. Usually, the horizontal state of the equipment is selected as the measurement reference, and the physical leveling of the large equipment is completed through the level, large adjustment support, fastening connection device, etc. After confirming that the horizontal state of the equipment to be measured is controllable, the subsequent measurement work can be started. Since the size of the equipment to be measured is large, a large amount of manpower and props are needed in this preparation process, which consumes a lot of time and is complex to operate.

[0004] 2) The uniformity of the test tooling is low. In the process of measuring the state of the cabin fittings, the measurement system is basically constructed by relying on the laser tracker and the theodolite in the internal space of the equipment. In this process, due to the complex shielding environment in the cabin space, various designed toolings must be used to structure the measured assembly, and through different sizes and shapes of adapter toolings, the equivalent measurement of the measured cabin function parts is completed to solve the problem of limited vision in the measurement process. The form of the tooling changes with the change of the measured cabin fittings. Different cabin parts in the same equipment and different cabin parts in different equipment require a variety of toolings, which are complicated to make.

[0005] 3) The cabin size is limited. The overall size of the equipment to be measured for the state of the cabin fittings fluctuates greatly according to different functional requirements. The size of the internal space of some equipment reaches a certain scale, which can accommodate measurement equipment such as laser trackers and theodolites and ensure that the observation distance can meet the use requirements. The overall space scale of some equipment is small, which is not enough to provide sufficient use distance guarantee for general high-precision observation equipment. For the second type of equipment, the detection of the assembly state of the cabin parts is severely limited at present. Therefore, it is necessary to propose a cabin target object assembly state detection method based on inertial reference in aviation. SUMMARY

[0006] In view of the problems existing in the prior art, the cabin target object assembly state detection method based on inertial reference in aviation of the application fuses data by establishing an absolute measurement reference and an observation coordinate system, uses a unified absolute reference measurement, concentrates the measured attitude of the equipment in the narrow space cabin in the geographic coordinate system, simplifies the on-site preparation link of the cabin detection of various large equipment, improves the reuse rate of the tooling in the detection process, and solves the problem of the limitation of the size of the cabin of the equipment to be measured on the measurement equipment.

[0007] The application provides an inertial reference-based method for detecting the assembly state of a target object in an aircraft cabin, comprising the following steps:

[0008] S1, measuring the coordinates of the out-of-cabin feature points of the target object of the inertial navigation measurement system by a laser tracker, establishing the correlation conversion equation between the observation coordinate system and the carrier coordinate system and the geographic coordinate system by using the spatial interaction of the observed feature points and the information feedback target object, and calculating the deflection angle a between the specified directions of the observation coordinate system and the geographic coordinate system, specifically comprising:

[0009] S11, constructing the out-of-cabin feature point vectors Q1, Q2 and Q3 of the target object, and the correlation conversion equation between the observation coordinate system and the geographic coordinate system is:

[0010]

[0011] S12, the vectors Q s1 , Q s2 and Q s3 in the geographic coordinate system are Q n1 , Q n2 and Q n3 in the observation coordinate system, and the coordinate vectors are brought into the conversion equation to obtain:

[0012]

[0013] In the formula, Q s is the vector coordinate matrix in the geographic coordinate system, R is the rotation matrix of the conversion of the observation coordinate system to the geographic coordinate system, and Q n is the vector coordinate matrix in the observation coordinate system.

[0014] The correlation conversion equation is solved, and the rotation matrix R of the conversion of the observation coordinate system to the geographic coordinate system is calculated.

[0015] S13, the translation matrix T of the conversion of the observation coordinate system to the geographic coordinate system is solved according to the obtained rotation matrix R, and specifically:

[0016]

[0017] The spatial relative position relationship between the observation coordinate system and the geographic coordinate system is further obtained, so that the deflection angle a between the specified directions of the observation coordinate system and the geographic coordinate system is calculated.

[0018] S2, the out-of-cabin main shaft feature point observation value is measured in the observation coordinate system, and the deflection angle y between the out-of-cabin main shaft and the specified direction of the geographic coordinate system is calculated through the conversion of the rotation matrix R and the translation matrix T.

[0019] S3. When measuring outside the cabin using the inertial navigation measurement system, obtain the angle β1 between the carrier coordinate system and the geographic coordinate system. When measuring inside the cabin using the inertial navigation measurement system, obtain the angle β2 between the carrier coordinate system and the geographic coordinate system.

[0020] S4. Calculate the assembly angle θ of the target object inside the cabin to be measured, θ=|γ-β2|, and the qualification criterion for measuring the orientation of the target object is:

[0021] |Φ-|γ-β2||≤Δ

[0022] Where Φ is the required assembly angle of the target object inside the cabin, and Δ is the allowable assembly error;

[0023] If |Φ-|γ-β2||≤Δ, then the target object is deemed to be assembled successfully. If not, the orientation of the target object is adjusted, and steps S1 to S4 are repeated until the target object is assembled successfully.

[0024] Preferably, step S2 includes the following sub-steps:

[0025] S21. Measure the coordinates P of the external main axis feature point in the observation coordinate system. 10 (x 10 ,y 10 ,z 10 ), P 20 (x 20 ,y 20 ,z 20 );

[0026] S22. Based on the rotation matrix R and translation matrix T obtained in step S1, calculate the coordinate values ​​of the external principal axis feature points transformed from the observation coordinate system to the geographic coordinate system, thereby obtaining the coordinates P of the external principal axis feature points in the geographic coordinate system. 10 '(x 10 ',y 10 ',z 10 '), P 20 '(x 20 ',y 20 ',z 20 ');

[0027] S23. Based on the coordinates P of the external main axis feature points in the geographic coordinate system 10 '、P 20 'Coordinates P in the observation coordinate system 10 P 20 The angle γ between the external main axis and the specified direction of the geographic coordinate system is obtained.

[0028] Preferably, the error measurement includes an observation coordinate system, a geographic coordinate system and a carrier coordinate system, the observation coordinate system is a coordinate system formed by self-calibration of the laser tracker, the geographic coordinate system is a coordinate system formed by self-calibration of the inertial navigation measurement system, and is a standard geographic coordinate system, which is only related to the state of the earth and is an absolute coordinate system; the carrier coordinate system is a physical coordinate system of the mobile carrier, and the carrier coordinate system is pre-associated with the geographic coordinate system.

[0029] Preferably, the deflection angle α between the specified direction of the observation coordinate system and the geographic coordinate system and the deflection angle γ between the main axis outside the cabin and the specified direction of the geographic coordinate system remain unchanged during the measurement process.

[0030] Preferably, the inertial navigation measurement system unifies the measurement parameters with the absolute reference of the earth and unifies the measured target object posture in the geographic coordinate system, and the space posture of the target to be measured is measured in the absolute reference system of the earth.

[0031] Preferably, the inertial navigation measurement system is arranged on the reference platform, the laser tracker and the reference platform are arranged outside the cabin section, the carrier coordinate system is extended to four feature points of the reference platform, and the directions of the lines between the four feature points are the same as the direction of the carrier coordinate system.

[0032] Preferably, the laser tracker simultaneously observes the feature points of the reference platform and the local feature points of the envelope cabin section, and the two are used outside the cabin section to complete the orientation adjustment of the outside of the cabin section, so as to realize the pre-adjustment of the correlation calibration of the observation coordinate system and the carrier coordinate system outside the cabin section to be measured and the conversion of the observation coordinate system and the geographic coordinate system.

[0033] Preferably, the observation coordinate system outside the cabin section is established, the geographic coordinate system of the inertial navigation is kept from drifting, the mobile inertial navigation measurement system is placed on the inertial navigation bracket to be measured inside the cabin section, the inertial navigation measurement system is started to run self-calibration, and the external observation data is fused to realize the visual output of the space position of the inertial navigation bracket to be measured.

[0034] Compared with the prior art, the present application has the following advantages:

[0035] 1. The inertial reference-based target object assembly state detection method in the aircraft cabin can concentrate the measured posture of the equipment in the narrow space cabin in the geographic coordinate system, avoid the customization problem of individual auxiliary equipment for different measurement targets in different measurement scenes, and solve the equipment layout problem caused by the narrow effective space of the small cabin section, so that the observation and measurement are uniformly performed in the absolute reference coordinate system in various occasions, and the method has strong universality and can perform efficient measurement in a series scene.

[0036] 2. The application is an inertial reference-based method for detecting the assembly state of a target object in an aircraft cabin, which measures by absolute reference and adopts a unified measurement reference in the measurement system in advance, thereby avoiding the introduction of a leveling link in the traditional on-site test process of the equipment to be measured, simplifying the operation process and improving the efficiency of on-site measurement. BRIEF DESCRIPTION OF DRAWINGS

[0037] Figure 1 Figure 1 is a schematic diagram of the overall method for detecting the assembly state of a target object in an aircraft cabin according to the present application.

[0038] Figure 2a Figure 2 is a schematic diagram of the information flow of the method for detecting the assembly state of a target object in an aircraft cabin according to the present application. Figure 2b

[0039] Figure 3 is a schematic diagram of the coordinate system conversion of the method for detecting the assembly state of a target object in an aircraft cabin according to the present application. Figure 3a Figure 3b Figure 4 is a schematic diagram of the external scene test angle space of the method for detecting the assembly state of a target object in an aircraft cabin according to the present application.

[0040] Figure 4a Figure 4b Figure 5 is a schematic diagram of the internal scene test angle space of the method for detecting the assembly state of a target object in an aircraft cabin according to the present application.

[0041] Figure 5 Figure 6 is a schematic diagram of the internal scene test angle space of the method for detecting the assembly state of a target object in an aircraft cabin according to the present application.

[0042] MAIN REFERENCE NUMBERS:

[0043] Inertial navigation measurement system 1, laser tracker 2, reference platform 3, inertial navigation bracket 4, placement rack 5, cabin section 6, and extracabin feature point 7. DETAILED DESCRIPTION

[0044] To fully understand the technical content, structural features, purposes achieved and effects of the present application, the following will be described in detail in conjunction with the drawings of the specification.

[0045] The equipment used in the method for detecting the assembly state of a target object in an aircraft cabin based on inertial reference according to the present application, as shown in Figure 1 includes an inertial navigation measurement system 1, a laser tracker 2, a reference platform 3, an inertial navigation bracket 4, a placement rack 5, a cabin section 6, and an extracabin feature point 7, and the information interaction relationship between each functional device is as shown in Figure 2a Figure 2b ​​​As shown, the error measurement has an observation coordinate system, a geographic coordinate system, and a carrier coordinate system. The observation coordinate system is a coordinate system formed by self-calibration of the laser tracker 2. The geographic coordinate system is a coordinate system formed by self-calibration of the inertial navigation measurement system 1, which is also a standard geographic coordinate system, an absolute coordinate system only related to the state of the earth; and the carrier coordinate system is a physical coordinate system of the moving carrier. The carrier coordinate system is associated with the geographic coordinate system in advance. The inertial navigation measurement system 1 is arranged on the reference platform 3. The laser tracker 2 and the reference platform 3 are arranged outside the cabin section. The carrier coordinate system structure features are extended to the four feature points of the reference platform 3, and the direction of the line connecting the four feature points is the same as the direction of the carrier coordinate system. The inertial navigation measurement system 1 unifies the measurement parameters and the earth absolute reference, and unifies the measured target object posture in the geographic coordinate system, and measures the spatial posture of the target object in the earth absolute reference system.

[0046] The method for detecting the assembly state of the target object in the aviation cabin based on the inertial reference comprises the following steps:

[0047] S1, the coordinates P1(x1, y1, z1), P2(x2, y2, z2), P3(x3, y3, z3) of the out-of-cabin feature points 7 of the target object of the inertial navigation measurement system 1 are measured by the laser tracker 2, as shown in Figure 3a and Figure 3b As shown, the spatial interaction of the observation feature points and the information feedback target object is used to establish the associated conversion equation between the observation coordinate system and the carrier coordinate system and the geographic coordinate system, and the deflection angle a between the specified directions of the observation coordinate system and the geographic coordinate system is solved, which specifically comprises:

[0048] S11, the out-of-cabin feature point vectors Q1, Q2, Q3 of the target object are constructed, and the associated conversion equation of the observation coordinate system and the geographic coordinate system is:

[0049]

[0050] S12, the vectors Q s1 , Q s2 , Q s3 in the geographic coordinate system are Q n1 , Q n2 , Q n3 in the observation coordinate system, and the coordinate vectors are brought into the conversion equation to obtain:

[0051]

[0052] In the formula, Q s is the vector coordinate matrix in the geographic coordinate system, R is the rotation matrix of the observation coordinate system converted to the geographic coordinate system, and Q n is the vector coordinate matrix in the observation coordinate system.

[0053] Solve the rotation matrix R of the observation coordinate system converted to the geographic coordinate system.

[0054] S13, solve the translation matrix T of the observation coordinate system converted to the geographic coordinate system according to the obtained rotation matrix R, specifically:

[0055]

[0056] Further obtain the spatial relative position relationship between the observation coordinate system and the geographic coordinate system, so as to calculate the deflection angle α between the specified direction of the observation coordinate system and the geographic coordinate system.

[0057] S2, as shown in Figure 4a and Figure 4b , by measuring the observation value of the out-of-cabin main shaft feature point in the observation coordinate system, by the conversion of the rotation matrix R and the translation matrix T, the deflection angle γ between the out-of-cabin main shaft and the specified direction of the geographic coordinate system is calculated; step S2 includes the following sub-steps:

[0058] S21, measure the coordinates P 10 (x 10 ,y 10 ,z 10 ), P 20 (x 20 ,y 20 ,z 20 ) of the out-of-cabin main shaft feature point in the observation coordinate system.

[0059] S22, according to the rotation matrix R and the translation matrix T obtained in step S1, calculate the coordinate values of the out-of-cabin main shaft feature point converted from the observation coordinate system to the geographic coordinate system, so as to obtain the coordinates P 10 '(x 10 ',y 10 ',z 10 '), P 20 '(x 20 ',y 20 ',z 20 ') of the main shaft feature point of the cabin section 6 in the geographic coordinate system.

[0060] S23, according to the coordinates P 10 ', P 20 ' of the out-of-cabin main shaft feature point in the geographic coordinate system and the coordinates P 10 , P 20 in the observation coordinate system, obtain the deflection angle γ between the main shaft of the cabin section 6 and the specified direction of the geographic coordinate system, the deflection angle α between the observation coordinate system and the specified direction of the geographic coordinate system, and the deflection angle γ between the out-of-cabin main shaft and the specified direction of the geographic coordinate system remain unchanged in the measurement process.

[0061] S3. When measuring outside the cabin using the inertial navigation measurement system, obtain the angle β1 between the carrier coordinate system and the geographic coordinate system, such as... Figure 5 As shown, when the inertial navigation measurement system measures inside the cabin, it obtains the angle β2 between the carrier coordinate system and the geographic coordinate system.

[0062] S4. Calculate the assembly angle θ of the target object inside the cabin to be measured, θ=|γ-β2|, and the qualification criterion for measuring the orientation of the target object is:

[0063] |Φ-|γ-β2||≤Δ

[0064] Where Φ is the required assembly angle of the target object inside the cabin, and Δ is the allowable assembly error.

[0065] If |Φ-|γ-β2||≤Δ, then the target object is deemed to be assembled successfully. If not, the orientation of the target object is adjusted, and steps S1 to S4 are repeated until the target object is assembled successfully.

[0066] Laser tracker 2 simultaneously observes feature points on the reference platform and local feature points on the envelope section. Both are used outside the section to work together to adjust the external orientation of the section, achieving pre-adjustment of the external observation coordinate system of the section under test and the carrier coordinate system, as well as the transformation between the observation coordinate system and the geographic coordinate system. An external observation coordinate system is established to prevent drift in the inertial navigation geographic coordinate system. The mobile inertial navigation measurement system 1 is placed inside the section on the inertial navigation bracket 4 under test. The inertial navigation measurement system 1 is powered on and self-calibrated, fusing with external observation data to achieve a visualized output of the spatial orientation of the inertial navigation bracket 4 under test.

[0067] The following describes the assembly state detection method for target objects inside an aircraft cabin based on an inertial reference, in further detail with reference to the embodiments of the present invention:

[0068] Before the assembly error test in the aircraft cabin begins, the installation and adjustment of the reference platform 3 are completed. The reference platform 3 is a special platform with heavy weight, stable placement, and high machining accuracy. Its main functions include a reference extension point and an installation position for the inertial navigation measurement system 1. The physical coordinate system of the inertial navigation measurement system 1 is the carrier coordinate system. By performing internal self-calibration of the instrument before use, the internal correlation calibration between the carrier coordinate system and the geographic coordinate system is completed. After the internal calibration is completed, the reference platform 3 is kept stable and the measurement work is carried out.

[0069] After completing the inventory of all measuring instruments, the site layout was carried out. To further enhance the versatility of the absolute testing method and break free from the constraints of the small effective space inside the test compartment, the absolute benchmark test was divided into in-chamber testing and out-of-chamber testing.

[0070] The out-of-cabin test scene needs to be laid out by the reference platform 3 and the laser tracker 2. The reference platform 3 is an extension reference of the carrier coordinate system structure for providing external observation, and the laser tracker 2 is used for external observation on feature points of the reference platform 3 and feature points of the main shaft of the cabin section 6. When the out-of-cabin layout is performed, first, the laser tracker 2 is placed at a suitable position, and the position requires that: more than three cabin section feature points can be observed at the same time, and the position relationship between the observed cabin section feature points and the main shaft is known; and more than three reference platform feature points can be observed at the same time. After the laser tracker 2 is placed, the feature points of the reference platform 3 and the feature points of the main shaft outside the cabin are observed in the observable range of the instrument, the observation coordinate system is established, the observation coordinate system is converted according to the space relationship between the carrier coordinate system and the geographic coordinate system, all observation values are unified in the geographic coordinate system, and observation according to the absolute reference is ensured.

[0071] The in-cabin test scene only needs to be laid out by the inertial navigation measurement system 1. The inertial navigation measurement system 1 has high integration, small overall volume, and can be conveniently placed on the placing rack 5. Moreover, the system has high machining precision of the external feature structure, can be highly precisely attached to the surface of the bracket, the system is connected and fixed with the to-be-measured tray according to the external structure of the system, the physical carrier coordinate system of the system is guaranteed to be consistent with the space posture of the to-be-measured tray. The visible structure outside the integrated system includes three regions of a display screen, an operation panel and a data interface. The display screen can interactively display each operation step in the measurement process, and a user can complete each operation step and read the measurement value according to the interface prompt. The operation panel can quickly set part of test parameters and interactively operate various hardware. The data interface can be connected with an external observation device to import and export various observation data, and data fusion in the measurement data processing process is guaranteed. The system has certain environmental requirements, and vibration and shaking are avoided as much as possible during arrangement.

[0072] The aviation in-cabin target object assembly state detection method based on the inertial reference of the application fuses data by establishing an absolute measurement reference and an observation coordinate system, measures by using a unified absolute reference, concentrates the to-be-measured postures of in-cabin equipment in a narrow space in the geographic coordinate system, simplifies the in-cabin detection preparation process, can realize efficient measurement in a series scene, and solves the problem of the limitation of the size of the aviation cabin on the measurement equipment.

[0073] The above-described embodiments only describe preferred embodiments of the application, and do not limit the scope of the application. Without departing from the design spirit of the application, various modifications and improvements of the technical solutions of the application made by those skilled in the art should fall within the protection scope of the claims of the application.

Claims

1. A method for detecting the assembly state of a target object inside an aircraft cabin based on an inertial reference, characterized in that, It includes the following steps: S1. Using a laser tracker, the coordinates of the external feature points of the target object in the inertial navigation measurement system are measured as follows: P1(x1,y1,z1), P2(x2,y2,z2), and P3(x3,y3,z3). Utilizing the spatial interaction between the observed feature points and the feedback information from the target object, the correlation and transformation equations between the observation coordinate system, the carrier coordinate system, and the geographic coordinate system are established. The deflection angle between the specified directions of the observation coordinate system and the geographic coordinate system is then calculated. α Specifically, it includes: S11. Construct the target object's external feature point vectors Q1, Q2, and Q3. The transformation equation between the observation coordinate system and the geographic coordinate system is: ； S12, Vector Q in the geographic coordinate system s1 Q s2 and Q s3 The vector in the observation coordinate system is Q. n1 Q n2 and Q n3 Substituting the coordinate vectors into the correlation transformation equation yields: ； ； In the formula, Q s R is the vector coordinate matrix in the geographic coordinate system, R is the rotation matrix for transforming the observation coordinate system to the geographic coordinate system, and Q is the vector coordinate matrix in the geographic coordinate system. n This is the vector coordinate matrix in the observation coordinate system; Solve the correlation transformation equation to calculate the rotation matrix R for transforming the observation coordinate system to the geographic coordinate system; S13. Based on the obtained rotation matrix R, solve for the translation matrix T that transforms the observation coordinate system to the geographic coordinate system, specifically: ； This allows us to obtain the spatial relative positional relationship between the observation coordinate system and the geographic coordinate system, thereby calculating the deflection angle between the observation coordinate system and the geographic coordinate system in a specified direction. α ; S2. By measuring the observation values ​​of the feature points of the external principal axis in the observation coordinate system, and through the transformation of the rotation matrix R and the translation matrix T, the deflection angle between the external principal axis and the specified direction of the geographic coordinate system is calculated. γ ; S3. When measuring outside the cabin using the inertial navigation measurement system, obtain the angle between the carrier coordinate system and the geographic coordinate system. β 1. When the inertial navigation measurement system measures inside the cabin, it obtains the angle between the carrier coordinate system and the geographic coordinate system. β 2; S4. Calculate the assembly angle of the target object inside the test cabin. θ , θ =| γ - β 2| The criteria for determining the correct orientation of the target object are as follows: | Φ -| γ - β 2||≤ ； in, Φ The required assembly angle is specified for the target object inside the cabin. To allow for assembly errors; If | Φ -| γ - β 2||≤ If the target object is assembled successfully, the object is deemed to be assembled successfully. If not, the position of the target object is adjusted, and steps S1 to S4 are repeated until the target object is assembled successfully.

2. The method for detecting the assembly state of a target object inside an aircraft cabin based on an inertial reference according to claim 1, characterized in that, Step S2 includes the following sub-steps: S21. Measure the coordinates P of the external main axis feature points in the observation coordinate system. 10 (x 10 ,y 10 ,z 10 ), P 20 (x 20 ,y 20 ,z 20 ); S22. Based on the rotation matrix R and translation matrix T obtained in step S1, calculate the coordinate values ​​of the external principal axis feature points transformed from the observation coordinate system to the geographic coordinate system, thereby obtaining the coordinates P of the external principal axis feature points in the geographic coordinate system. 10 '(x 10 ',y 10 ',z 10 '), P 20 '(x 20 ',y 20 ',z 20 '); S23. Based on the coordinates P of the external main axis feature points in the geographic coordinate system 10 '、P 20 'Coordinates P in the observation coordinate system 10 P 20 Obtain the deflection angle between the external principal axis and the specified direction of the geographic coordinate system. γ .

3. The method for detecting the assembly state of a target object inside an aircraft cabin based on an inertial reference according to claim 1, characterized in that, Error measurement involves the observation coordinate system, the geographic coordinate system, and the carrier coordinate system. The observation coordinate system is the coordinate system formed by the self-calibration of the laser tracker. The geographic coordinate system is the coordinate system formed by the self-calibration of the inertial navigation measurement system, which is also the standard geographic coordinate system and an absolute coordinate system that is only related to the state of the earth. The carrier coordinate system is the physical coordinate system of the moving carrier. The carrier coordinate system and the geographic coordinate system are pre-calibrated together.

4. The method for detecting the assembly status of a target object inside an aircraft cabin based on an inertial reference according to claim 1, characterized in that, The angle of deflection between the observation coordinate system and the geographic coordinate system in a specified direction α， and the angle of deviation between the external main axis and the specified direction of the geographic coordinate system. γ It remains unchanged during the measurement process.

5. The method for detecting the assembly state of a target object inside an aircraft cabin based on an inertial reference according to claim 1, characterized in that, Inertial navigation measurement systems unify measurement parameters with the Earth's absolute reference and unify the attitude of the target object within the geographic coordinate system, thereby achieving the measurement of the spatial attitude of the target.

6. The method for detecting the assembly state of a target object inside an aircraft cabin based on an inertial reference according to claim 1, characterized in that, The inertial navigation measurement system is set on the reference platform, and the laser tracker and the reference platform are set outside the compartment. The structural features of the carrier coordinate system extend to four preset feature points on the reference platform, and the direction of the line connecting the four feature points is the same as the direction of the carrier coordinate system.

7. The method for detecting the assembly state of a target object inside an aircraft cabin based on an inertial reference according to claim 1, characterized in that, The laser tracker simultaneously observes the feature points of the reference platform and the local feature points of the envelope section. The two are used outside the section to work together to complete the orientation and guidance adjustment of the external section, realize the pre-adjustment of the external observation coordinate system of the section to be measured and the carrier coordinate system, and the transformation between the observation coordinate system and the geographic coordinate system.

8. The method for detecting the assembly state of a target object inside an aircraft cabin based on an inertial reference according to claim 1, characterized in that, An external observation coordinate system is established for the module. The mobile inertial navigation measurement system is placed on the inertial navigation bracket inside the module. The inertial navigation measurement system is powered on and self-calibrated, and then fused with the external observation data to achieve the spatial orientation visualization output of the target object on the inertial navigation bracket.

Images