Aircraft body space coordinate positioning method and device in aircraft test

Abstract

The invention belongs to the technical field of aircraft test measurement, and particularly relates to an aircraft body space coordinate positioning method and device in an aircraft test. The method comprises the following steps: S1, acquiring coordinates of a measuring device under an overall coordinate system of an aircraft; s2, controlling a lens on the measuring device to deflect so as to lock a positioning point of a to-be-determined coordinate on the surface of the machine body, and acquiring a deflection angle and a pitch angle of the measuring device; s3, acquiring a linear distance between the measuring device and the positioning point; and S4, calculating the coordinates of the positioning points. According to the invention, the method can achieve the precise positioning of the surface point of the airplane, and improves the positioning measurement efficiency.

Description

Technical Field

[0001] The present application belongs to the technical field of aircraft test and measurement, and in particular, relates to a method and device for positioning the space coordinates of an aircraft body in an aircraft test. Background Art

[0002] In the static / fatigue test of full-size aircraft, a large number of strain gauges need to be pasted to detect the mechanical properties of the fuselage structure. Before pasting the strain gauges, it is necessary to find the position coordinates in the overall coordinate system of the aircraft marked according to the plan and test task book. The accuracy of the strain gauge position pasting directly affects the validity of the strain gauge measurement data and the validity of the full-aircraft test results. Therefore, in the full-aircraft test, the accuracy of the positioning of the points on the surface of the aircraft body plays a vital role in the results of the full-aircraft test. In current aircraft tests, the measurement and positioning of aircraft body points are indirectly obtained by manually measuring the relative positions of the precise coordinates of key positions around the fuselage. This method is time-consuming, labor-intensive, and inefficient. There are certain errors in the positioning results obtained. In addition, there will be certain effects on the fuselage structure during the measurement process. Summary of the invention

[0003] In order to solve at least one of the above technical problems, the present application provides a method and device for positioning the spatial coordinates of an aircraft body during aircraft testing, so as to realize rapid positioning and measurement of points on the surface of the aircraft body during full aircraft testing or aircraft maintenance.

[0004] The first aspect of the present application provides a method for positioning the space coordinates of an aircraft body in an aircraft test, mainly comprising:

[0005] Step S1, obtaining the coordinates (x0, y0, z0) of the measuring device in the overall coordinate system of the aircraft;

[0006] Step S2, controlling the lens on the measuring device to deflect to lock the positioning point on the body surface whose coordinates are to be determined, and obtaining the deflection angle α and the pitch angle θ of the measuring device;

[0007] Step S3, obtaining the straight-line distance L between the measuring device and the positioning point;

[0008] Step S4: Calculate the coordinates (x, y, z) of the positioning point based on the following formula:

[0009]

[0010] z=z0-L·sin(θ).

[0011] Preferably, step S2 further comprises:

[0012] Step S21, determining a conversion matrix between an installation positioning center and an imaging center of the measuring device based on the deflection angle α and the pitch angle θ;

[0013] Step S22: Correct the coordinates (x0, y0, z0) of the measuring device based on the transformation matrix.

[0014] Preferably, in step S1, the coordinates of the measuring device are inversely deduced by measuring the coordinates of known points on the fuselage.

[0015] Preferably, in step S3, the straight-line distance L between the measuring device and the positioning point is measured by calling a laser distance measuring module, and the laser distance measuring module is installed at the lens of the measuring device.

[0016] The second aspect of the present application provides a device for positioning the body space coordinates in an aircraft test, mainly comprising:

[0017] A measuring device coordinate determination module is used to obtain the coordinates (x0, y0, z0) of the measuring device in the overall coordinate system of the aircraft;

[0018] A measuring device parameter acquisition module is used to control the lens deflection on the measuring device to lock the positioning point on the body surface whose coordinates are to be determined, and to obtain the deflection angle α and the pitch angle θ of the measuring device;

[0019] A positioning point distance acquisition module, used to acquire a straight-line distance L between the measuring device and the positioning point;

[0020] The positioning point coordinate calculation module is used to solve the coordinates (x, y, z) of the positioning point based on the following formula:

[0021]

[0022] z=z0-L·sin(θ).

[0023] Preferably, the measuring device parameter acquisition module further includes:

[0024] A conversion matrix calculation unit, used to determine a conversion matrix between an installation positioning center and an imaging center of the measuring device based on a deflection angle α and a pitch angle θ;

[0025] A coordinate correction unit is used to correct the coordinates (x0, y0, z0) of the measuring device based on the transformation matrix.

[0026] Preferably, in the measuring device coordinate determination module, the coordinates of the measuring device are inversely deduced by measuring the coordinates of known points on the fuselage.

[0027] Preferably, in the positioning point distance acquisition module, the straight-line distance L between the measuring device and the positioning point is measured by calling a laser distance measuring module, and the laser distance measuring module is installed at the lens of the measuring device.

[0028] The present application can achieve relatively accurate positioning of points on the aircraft surface, thereby improving the efficiency of positioning measurement. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a flow chart of a preferred embodiment of the method for positioning the body space coordinates in the aircraft test of the present application.

[0030] Figure 2 For this application Figure 1 Schematic diagram of the structure of the measuring device of the embodiment shown.

[0031] Figure 3 For this application Figure 1 Schematic diagram of the spatial position relationship between the measuring device and the positioning points of the illustrated embodiment.

[0032] Among them, 1-optical zoom lens, 2-imaging unit, 3-laser ranging module, 4-rotation axis, 5-mounting hole, 6-mounting base. DETAILED DESCRIPTION

[0033] In order to make the purpose, technical scheme and advantages of the implementation of this application clearer, the technical scheme in the implementation of this application will be described in more detail in combination with the drawings in the implementation of this application. In the drawings, the same or similar reference numerals throughout represent the same or similar elements or elements with the same or similar functions. The described implementation is a part of the implementation of this application, not all of the implementations. The implementation described below with reference to the drawings is exemplary and is intended to be used to explain this application, and cannot be understood as a limitation on this application. Based on the implementation in this application, all other implementations obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application. The implementation of this application is described in detail below in combination with the drawings.

[0034] The first aspect of the present application provides a method for positioning the space coordinates of an aircraft body in an aircraft test, such as Figure 1 As shown, it mainly includes:

[0035] Step S1, obtaining the coordinates (x0, y0, z0) of the measuring device in the overall coordinate system of the aircraft;

[0036] Step S2, controlling the lens on the measuring device to deflect to lock the positioning point on the body surface whose coordinates are to be determined, and obtaining the deflection angle α and the pitch angle θ of the measuring device;

[0037] Step S3, obtaining the straight-line distance L between the measuring device and the positioning point;

[0038] Step S4: Calculate the coordinates (x, y, z) of the positioning point based on the following formula:

[0039]

[0040] z=z0-L·sin(θ).

[0041] In this application, the parameters of the positioning point are obtained by a measuring device in the overall coordinate system of the aircraft, and the coordinates of the positioning point are calculated by the formula of step S4 based on the obtained parameters. Figure 3 According to the straight-line distance L and the pitch angle θ, the coordinate z value of the positioning point can be calculated first, and then substituted into the calculation formula of x and y to calculate the coordinate x and y values ​​of the positioning point. The present application provides a non-contact measurement method that can quickly obtain the coordinates of points on the aircraft body, reduce the workload of measurement personnel, and improve work efficiency. It is suitable for non-contact measurement and positioning of surface points and specific parts in aircraft tests such as civil aircraft, transport aircraft, military aircraft, and unmanned aerial vehicles.

[0042] First, the overall coordinate system of the aircraft is explained. In the full aircraft test, strain gauges are pasted, displacements are measured, etc., and relevant points on the fuselage surface are measured and located as needed. Therefore, the overall coordinate system of the aircraft needs to be constructed in advance. Its coordinate origin is located at the front of the fuselage, the x-axis is located on the mid-axis plane of the fuselage, the z-axis is perpendicular to the ground and upward, and the y-axis is automatically defined by the right-hand rectangular coordinate system.

[0043] Secondly, this application uses a measuring device to obtain positioning point parameters, such as Figure 2 As shown, the device is composed of four parts: a camera system, a laser ranging module, a high-precision pan-tilt and a mounting base. The camera system includes an optical zoom lens 1, an imaging unit 2 and a housing. The main function of the camera system is to clearly image the point to be located on the aircraft body; the laser ranging module 3 is used to measure the distance between the measuring device and the point to be located on the aircraft body. The high-precision pan-tilt includes a plurality of movable components, and adjacent movable components are connected by a rotating shaft 4 for rotating the camera system in the horizontal and vertical directions, respectively, so that it can clearly shoot points at different positions on the aircraft body. In step S2, the deflection angle α and the pitch angle θ provided by the high-precision pan-tilt, and the straight-line distance provided by the laser ranging module 3 are combined to solve the coordinates of the positioning point on the aircraft body; the mounting base 6 has two functions: one is to support the high-precision pan-tilt and the camera system, and the other is to stably fix the high-precision pan-tilt and the camera system at the mounting position through the mounting hole 5 and the connector.

[0044] Before measurement and calculation, the measuring device needs to be placed in a suitable position around the fuselage and fixed, and the three-dimensional position coordinates of the center of the bottom surface of the mounting base in the overall coordinate system of the aircraft are calibrated through known coordinate points. In the measurement and positioning of points on the surface of the fuselage, only one measuring device is required. When measuring, adjust the pan-tilt rotation angle and the focal length of the lens of the measuring device so that the point to be located is clearly imaged at the center of the image recorded by the measuring device. At this time, the three-dimensional coordinates of the point on the surface of the aircraft body in the overall coordinate system of the aircraft can be solved through the coordinates of the measuring device in the overall coordinate system of the aircraft, the pitch angle of the pan-tilt, and the laser ranging distance of the point to be located.

[0045] In some optional implementations, step S2 further includes:

[0046] Step S21, determining a conversion matrix between an installation positioning center and an imaging center of the measuring device based on the deflection angle α and the pitch angle θ;

[0047] Step S22: Correct the coordinates (x0, y0, z0) of the measuring device based on the transformation matrix.

[0048] In this embodiment, since the installation positioning center of the measuring device is not consistent with the imaging center, when the gimbal angle changes, the coordinates of the imaging center on the measuring device will change slightly. The actual equivalent position of the measuring device in the overall coordinate system of the aircraft can be calculated by the coordinates of the measuring device, the gimbal deflection angle and the size of the measuring device. The coordinate position of the measuring device A after equivalent calculation is recorded as (x0, y0, z0).

[0049] In some optional embodiments, in some optional embodiments, in step S1, the coordinates of the measuring device are inferred by measuring the coordinates of known points on the fuselage.

[0050] In this embodiment, in actual application, the real coordinates of the measuring device cannot be directly known. It is necessary to measure the coordinates of a known point on the fuselage of the aircraft in advance, use the angle of the gimbal of the measuring device A, and use the above process to infer the position of the measuring device A (i.e., the calibration process). Then, the position of the measuring device A calculated at present is used to locate the positions of other points on the fuselage using the above process.

[0051] In some optional implementations, in step S3, the straight-line distance L between the measuring device and the positioning point is measured by calling a laser ranging module, and the laser ranging module is installed at the lens of the measuring device.

[0052] This application has the following advantages:

[0053] 1. It adopts a highly integrated optical zoom camera device, which changes the measuring point through high-precision pan / tilt and lens zoom. It is simple and efficient and suitable for the test site environment.

[0054] 2. High measurement accuracy, strong real-time performance and strong anti-interference ability;

[0055] 3. Only one measuring device is needed, which does not take up space;

[0056] 4. Accelerate detection efficiency and shorten detection cycle;

[0057] 5. Easy to install and operate;

[0058] 6. Non-contact measurement, high safety factor;

[0059] 7. Automation and real-time monitoring can be achieved through computer and program control, saving manpower and material resources.

[0060] The second aspect of the present application provides a device for positioning the body space coordinates in an aircraft test corresponding to the above method, mainly comprising:

[0061] A measuring device coordinate determination module is used to obtain the coordinates (x0, y0, z0) of the measuring device in the overall coordinate system of the aircraft;

[0062] A measuring device parameter acquisition module is used to control the lens deflection on the measuring device to lock the positioning point on the body surface whose coordinates are to be determined, and to obtain the deflection angle α and the pitch angle θ of the measuring device;

[0063] A positioning point distance acquisition module, used to acquire a straight-line distance L between the measuring device and the positioning point;

[0064] The positioning point coordinate calculation module is used to solve the coordinates (x, y, z) of the positioning point based on the following formula:

[0065]

[0066] z=z0-L·sin(θ).

[0067] In some optional implementations, the measurement device parameter acquisition module further includes:

[0068] A conversion matrix calculation unit, used to determine a conversion matrix between an installation positioning center and an imaging center of the measuring device based on a deflection angle α and a pitch angle θ;

[0069] A coordinate correction unit is used to correct the coordinates (x0, y0, z0) of the measuring device based on the transformation matrix.

[0070] In some optional implementations, in the measurement device coordinate determination module, the coordinates of the measurement device are inversely deduced by measuring the coordinates of known points on the fuselage.

[0071] In some optional implementations, in the positioning point distance acquisition module, a laser distance measurement module is called to measure the straight-line distance L between the measuring device and the positioning point, and the laser distance measurement module is installed at the lens of the measuring device.

[0072] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A method for positioning the body space coordinates in an aircraft test, characterized in that: include: Step S1, obtaining the coordinates (x0, y0, z0) of the measuring device in the overall coordinate system of the aircraft; Step S2, controlling the lens on the measuring device to deflect to lock the positioning point on the body surface whose coordinates are to be determined, and obtaining the deflection angle α and the pitch angle θ of the measuring device; Step S3, obtaining the straight-line distance L between the measuring device and the positioning point; Step S4: Calculate the coordinates (x, y, z) of the positioning point based on the following formula: z=z0-L·sin(θ).

2. The method for positioning the body space coordinates in an aircraft test according to claim 1, characterized in that: Step S2 further includes: Step S21, determining a conversion matrix between an installation positioning center and an imaging center of the measuring device based on the deflection angle α and the pitch angle θ; Step S22: Correct the coordinates (x0, y0, z0) of the measuring device based on the transformation matrix.

3. The method for positioning the body space coordinates in an aircraft test according to claim 1, characterized in that: In step S1, the coordinates of the measuring device are inversely deduced by measuring the coordinates of known points on the fuselage.

4. The method for positioning the body space coordinates in an aircraft test according to claim 1, characterized in that: In step S3, the straight-line distance L between the measuring device and the positioning point is measured by calling a laser distance measuring module, and the laser distance measuring module is installed at the lens of the measuring device.

5. A device for positioning the body space coordinates in aircraft testing, characterized in that: include: A measuring device coordinate determination module is used to obtain the coordinates (x0, y0, z0) of the measuring device in the overall coordinate system of the aircraft; A measuring device parameter acquisition module is used to control the lens deflection on the measuring device to lock the positioning point on the body surface whose coordinates are to be determined, and to obtain the deflection angle α and the pitch angle θ of the measuring device; A positioning point distance acquisition module, used to acquire a straight-line distance L between the measuring device and the positioning point; The positioning point coordinate calculation module is used to solve the coordinates (x, y, z) of the positioning point based on the following formula: z=z0-L·sin(θ).

6. The device for positioning the body space coordinates in aircraft testing as claimed in claim 5, characterized in that: The measuring device parameter acquisition module also includes: A conversion matrix calculation unit, used to determine a conversion matrix between an installation positioning center and an imaging center of the measuring device based on a deflection angle α and a pitch angle θ; A coordinate correction unit is used to correct the coordinates (x0, y0, z0) of the measuring device based on the transformation matrix.

7. The device for positioning the body space coordinates in aircraft testing as claimed in claim 5, characterized in that: In the measuring device coordinate determination module, the coordinates of the measuring device are inversely deduced by measuring the coordinates of known points on the fuselage.

8. The device for positioning the body space coordinates in aircraft testing as claimed in claim 5, characterized in that: In the positioning point distance acquisition module, the straight-line distance L between the measuring device and the positioning point is measured by calling a laser distance measurement module, and the laser distance measurement module is installed at the lens of the measuring device.

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