Spacecraft equipment installation precision detection method based on photogrammetry and laser tracking

Abstract

The invention discloses a spacecraft equipment installation precision detection method based on photogrammetry and laser tracking, and the method comprises the steps: setting photogrammetry targets on a detected unit and a reference unit, and completing the calibration of the detected unit and the reference unit through a photogrammetry camera, a laser tracker and a common target point; the relative relation between the measured unit and the reference unit is obtained by using the photogrammetry camera, and the detection of the equipment installation precision is realized through mathematical operation. The method is simple, has no special requirement for a precise measurement light path, does not need to form a precise measurement hole in the spacecraft, avoids the use of a precise measurement mirror, reduces the weight of the system, and improves the point measurement precision.

Description

Technical Field

[0001] The invention relates to a method for detecting the installation accuracy of spacecraft equipment based on photogrammetry and laser tracking, and belongs to the technical field of spacecraft testing. Background Art

[0002] The precision measurement of spacecraft assembly is generally achieved through the cubic mirror installed on the device under test. This method has the following disadvantages: (1) The normal direction of the cubic mirror of the device under test must be guaranteed to be unobstructed. If necessary, a precision measurement hole needs to be opened in the structure to ensure the precision measurement optical path. If the precision measurement optical path is blocked or the precision measurement hole cannot be opened in the structure, the installation precision measurement of the equipment cannot be achieved; (2) The precision measurement mirror itself has a certain weight. Most precision measurement mirrors cannot be removed after the equipment is installed, which increases the extra weight of the spacecraft; (3) When performing precision measurement, the precision measurement personnel need to strictly make the optical path of the theodolite perpendicular to the reflective surface of the precision measurement mirror, which requires a high level of measurement personnel's ability; (4) The measurement accuracy of the theodolite for position coordinates is low, generally 0.2 mm, which cannot meet the measurement needs of equipment with high position accuracy requirements.

[0003] In the past 20 years, with the development of technology, photogrammetry has made great progress in deformation measurement and has begun to be applied to the deformation measurement of spacecraft structures. The so-called photogrammetry technology is the abbreviation of digital close-range photogrammetry technology. It is a measurement method that obtains multiple digital images of the same object at different positions and directions, and obtains the precise three-dimensional coordinates of the measured point through computer image matching and other processing and related mathematical calculations. Photogrammetry requires the attachment of photogrammetry targets on the measured equipment. There are no specific requirements for the measurement optical path, and no specific precision measurement holes need to be opened. The weight of the photogrammetry target can be ignored and it is relatively easy to remove. In addition, the photogrammetry accuracy is high, and the measurement accuracy is better than 5μm+5μm / m.

[0004] Based on the currently disclosed technical methods, it is impossible to directly obtain the installation accuracy of spacecraft equipment using photogrammetry technology; in general, the output result of spacecraft installation accuracy is the direction matrix and the three-dimensional coordinates of the origin of the mechanical coordinate system of the measured unit relative to the mechanical coordinate system of the reference unit, while the output result of photogrammetry is the three-dimensional coordinates of a series of targets, and the two do not match. In the model development of the lunar sample return probe, photogrammetry technology was interconnected with equipment installation accuracy measurement, and an installation accuracy measurement method based on photogrammetry and laser tracking technology was needed. Summary of the invention

[0005] The technical problem solved by the present invention is: to overcome the deficiencies of the prior art, to provide a method for detecting the installation accuracy of spacecraft equipment based on photogrammetry and laser tracking, and to improve the detection accuracy.

[0006] The technical solution of the present invention is:

[0007] The present invention discloses a method for detecting the installation accuracy of spacecraft equipment based on photogrammetry and laser tracking, comprising:

[0008] Paste photogrammetry targets on the measured unit and the reference unit to obtain a number of measured unit target points and reference unit target points;

[0009] The laser tracker and the photogrammetry camera are used to calibrate the target point of the unit under test and the target point of the reference unit, and the coordinates of the target point of the unit under test in the mechanical coordinate system X of the unit under test are obtained. bc Y bc Z bc -O bc The coordinates of the reference unit target point in the reference unit mechanical coordinate system X jz Y jz Z jz -O jz The coordinates below;

[0010] Integrate the unit under test and the reference unit onto the spacecraft;

[0011] Take pictures with a photogrammetry camera to obtain the target points of the measured unit and the reference unit in the photogrammetry coordinate system X sy Y sy Z sy -O sy The coordinates below;

[0012] According to the coordinates of the target point of the measured unit and the target point of the reference unit in the photogrammetric coordinate system, the coordinates of the target point of the measured unit in the mechanical coordinate system of the measured unit and the coordinates of the target point of the reference unit in the mechanical coordinate system of the reference unit, the translation value of the origin of the mechanical coordinate system of the measured unit relative to the origin of the mechanical coordinate system of the reference unit and the angle between the mechanical coordinate system of the measured unit and the mechanical coordinate system of the reference unit are calculated.

[0013] Furthermore, in the above method, the number of the photogrammetry targets is greater than or equal to 4, and at least one photogrammetry target is not on the same plane as the other photogrammetry targets.

[0014] Furthermore, in the above method, the laser tracker and the photogrammetric camera are used to calibrate the target point of the measured unit and the target point of the reference unit, and the target point of the measured unit in the mechanical coordinate system X and bc Y bc Z bc -O bc The coordinates of the reference unit target point in the reference unit mechanical coordinate system X jz Y jz Z jz -O jzThe coordinates below are:

[0015] A three-dimensional standard is constructed by a number of straight rods;

[0016] The intersection points of the straight rods in the stereo standard constitute several common target points;

[0017] A laser tracker cooperative target sphere which can be identified by the laser tracker is installed at the public target point;

[0018] Use the laser tracker to identify the laser tracker cooperative target ball and obtain the common target point in the mechanical coordinate system X of the unit under test. bc Y bc Z bc -O bc The coordinates below;

[0019] Replace all laser tracker cooperation targets with photogrammetric spherical cooperation targets that can be recognized by photogrammetric cameras;

[0020] The photogrammetric camera is used to simultaneously measure the target point of the unit under test and the photogrammetric spherical cooperative target on the stereo standard to obtain the common target point and the target point of the unit under test in the common coordinate system X gg Y gg Z gg -O gg The three-dimensional coordinates of

[0021] According to the common target point and the target point of the unit under test in the common coordinate system X gg Y gg Z gg -O gg Under the three-dimensional coordinates, solve the common coordinate system X gg Y gg Z gg -O gg and the mechanical coordinate system X of the unit under test bc Y bc Z bc -O bc The transformation matrix R gg-bc and the coordinate origin translation value (x gg-bc ,y gg-bc ,z gg-bc );

[0022] According to the common target point and the target point of the unit under test in the common coordinate system X gg Y gg Z gg -O gg The three-dimensional coordinates and transformation matrix R under gg-bc and the coordinate origin translation value (x gg-bc ,y gg-bc ,z gg-bc), and obtain the target point of the unit under test in the mechanical coordinate system X of the unit under test bc Y bc Z bc -O bc The coordinates below;

[0023] According to the transformation matrix R gg-bc and the coordinate origin translation value (x gg-bc ,y gg-bc ,z gg-bc ), and obtain the reference unit target point in the reference unit mechanical coordinate system X jz Y jz Z jz -O jz The coordinates below.

[0024] Furthermore, in the above method, the conversion matrix R gg-bc , specifically:

[0025]

[0026]

[0027] Among them, l1, m1, n1 are the cosine values ​​of the angles between the X, Y, and Z axes of the public coordinate system and the X axis of the mechanical coordinate system of the measured unit; l2, m2, n2 are the cosine values ​​of the angles between the X, Y, and Z axes of the public coordinate system and the Y axis of the mechanical coordinate system of the measured unit; l3, m3, n3 are the cosine values ​​of the angles between the X, Y, and Z axes of the public coordinate system and the Z axis of the mechanical coordinate system of the measured unit.

[0028] Furthermore, in the above method, the target point of the unit under test is located in the mechanical coordinate system X of the unit under test. bc Y bc Z bc -O bc The coordinates below are:

[0029]

[0030] in, The target point of the unit under test is located in the mechanical coordinate system X of the unit under test. bc Y bc Z bc -O bc The coordinates under, m is the number of target points of the unit under test; is the coordinate origin translation value, The common target point and the target point of the unit under test are in the common coordinate system X gg Y gg Z gg -O gg The coordinates under R gg-bc is the common coordinate system Xgg Y gg Z gg -O gg and the mechanical coordinate system X of the unit under test bc Y bc Z bc -O bc The transformation matrix.

[0031] Furthermore, in the above method, the angle between the mechanical coordinate system of the measured unit and the mechanical coordinate system of the reference unit is specifically:

[0032]

[0033] Among them, α bc-jz-x , β bc-jz-x , γ bc-jz-x are the angles between the X, Y, and Z axes of the mechanical coordinate system of the measured unit and the X axis of the mechanical coordinate system of the reference unit; α bc-jz-y , β bc-jz-y , γ bc-jz-y are the angles between the X, Y, and Z axes of the mechanical coordinate system of the measured unit and the Y axis of the mechanical coordinate system of the reference unit; α bc-jz-z , β bc-jz-z , γ bc-jz-x are the angles between the X, Y, and Z axes of the measured unit's mechanical coordinate system and the Z axis of the reference unit's mechanical coordinate system; l 111 ,m 111 ,n 111 are the cosine values ​​of the angles between the X, Y, and Z axes of the mechanical coordinate system of the measured unit and the X axis of the mechanical coordinate system of the reference unit; l 112 ,m 112 ,n 112 are the cosine values ​​of the angles between the X, Y, and Z axes of the mechanical coordinate system of the measured unit and the Y axis of the mechanical coordinate system of the reference unit; l 113 ,m 113 ,n 113 They are the cosine values ​​of the angles between the X, Y, and Z axes of the mechanical coordinate system of the measured unit and the Z axis of the mechanical coordinate system of the reference unit.

[0034] Furthermore, in the above method, the translation value of the origin of the mechanical coordinate system of the measured unit relative to the origin of the mechanical coordinate system of the reference unit is specifically:

[0035]

[0036] in, is the translation value of the origin of the mechanical coordinate system of the measured unit relative to the origin of the mechanical coordinate system of the reference unit, is the translation value of the coordinate origin of the reference unit mechanical coordinate system relative to the photographic coordinate system, is the coordinate origin translation value of the measured unit mechanical coordinate system relative to the photographic coordinate system, R jz-sy is the transformation matrix of the reference unit mechanical coordinate system relative to the photographic coordinate system.

[0037] Furthermore, in the above method, the transformation matrix of the reference unit mechanical coordinate system relative to the photographic coordinate system satisfies the formula:

[0038] R bc-jz =R bc-sy ×R jz-sy -1

[0039] Among them, R bc-sy is the transformation matrix from the mechanical coordinate system of the unit under test to the photographic coordinate system, R jz-sy is the transformation matrix of the reference unit mechanical coordinate system relative to the photographic coordinate system; R bc-jz It is the transformation matrix of the mechanical coordinate system of the unit under test relative to the mechanical coordinate system of the reference unit.

[0040] Furthermore, in the above method, the transformation matrix from the mechanical coordinate system of the measured unit to the photographic coordinate system is specifically:

[0041]

[0042] Among them, l 11 ,m 11 ,n 11 is the cosine value of the angle between the X, Y, and Z axes of the mechanical coordinate system of the measured unit and the X axis of the photogrammetric coordinate system; l 12 ,m 12 ,n 12 is the cosine value of the angle between the X, Y, and Z axes of the mechanical coordinate system of the measured unit and the Y axis of the photogrammetric coordinate system; l 13 ,m 13 ,n 13 It is the cosine value of the angle between the X, Y, and Z axes of the mechanical coordinate system of the measured unit and the Z axis of the photogrammetry coordinate system.

[0043] Furthermore, in the above method, the transformation matrix of the measured unit mechanical coordinate system relative to the reference unit mechanical coordinate system is specifically:

[0044]

[0045] Among them, l 111 ,m 111 ,n 111 are the cosine values ​​of the angles between the X, Y, and Z axes of the mechanical coordinate system of the measured unit and the X axis of the mechanical coordinate system of the reference unit; l 112 ,m 112 ,n 112are the cosine values ​​of the angles between the X, Y, and Z axes of the mechanical coordinate system of the measured unit and the Y axis of the mechanical coordinate system of the reference unit; l 113 ,m 113 ,n 113 They are the cosine values ​​of the angles between the X, Y, and Z axes of the mechanical coordinate system of the measured unit and the Z axis of the mechanical coordinate system of the reference unit.

[0046] The beneficial effects of the present invention and the prior art are:

[0047] (1) The precision measurement method provided by the present invention applies photogrammetry technology to the installation accuracy detection of spacecraft products. The measurement method is simple, has no special requirements for the precision measurement optical path, does not need to open a precision measurement hole on the spacecraft, and avoids the use of a precision measurement mirror, thereby reducing the weight of the system and improving the point measurement accuracy.

[0048] (2) The present invention adopts a combined solution based on photogrammetry and laser tracking measurement, realizing a technical approach to directly obtain the installation accuracy of spacecraft equipment using video measurement technology, and solving the current technical problem that photogrammetry technology cannot be used to directly obtain the direction matrix and the three-dimensional coordinates of the origin of the mechanical coordinate system of the measured unit of the spacecraft relative to the mechanical coordinate system of the reference unit. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 It is a schematic diagram of the calibration of the active part (unit under test) photogrammetry target of the present invention;

[0050] Figure 2 It is a schematic diagram of photogrammetry of the present invention. DETAILED DESCRIPTION

[0051] The present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0052] like Figure 1 As shown, the present invention provides a method for detecting the installation accuracy of spacecraft equipment based on photogrammetry and laser tracking, comprising the following steps:

[0053] (a) Introduce a stereo standard and set p public target points, denoted as P ggd-1 , P ggd-2 , P ggd-3 ...P ggd-p , the public target point can be installed with either a laser tracker cooperative target or a photogrammetry cooperative target, that is, the public target point can be captured by either a laser tracker or a photogrammetry camera;

[0054] The photogrammetry target is calibrated using a laser tracker and a photogrammetry camera to obtain the target point of the unit under test and the mechanical coordinate system X of the unit under test. bc Y bc Zbc -O bc The relationship between the reference unit target and the reference unit mechanical coordinate system X jz Y jz Z jz -O jz relationship;

[0055] The basic principle is: In the calibration process, a series of common target points that can be captured by the photogrammetric camera and the laser tracker are introduced to obtain the mechanical coordinate system X bc Y bc Z bc -O bc The relationship between the measured unit photogrammetry target and the common target point is converted based on the common target point to obtain the measured unit photogrammetry target and the measured unit mechanical coordinate system X bc Y bc Z bc -O bc Similarly, obtain the relationship between the reference unit photogrammetry target and the reference unit mechanical coordinate system X jz Y jz Z jz -O jz relationship;

[0056] (b) Place the stereo standard near the unit under test, install the laser tracker cooperative target ball at the common target point of the stereo standard, and use the laser tracker to measure the p laser tracker cooperative target balls on the stereo standard and the mechanical coordinate system X of the unit under test. bc Y bc Z bc -O bc The relationship between the p common target points is in the mechanical coordinate system X of the measuring unit. bc Y bc Z bc -O bc The coordinates of ggd-bc-1 ,y ggd-bc-1 ,z ggd-bc-1 )、(x ggd-bc-2 ,y ggd-bc-2 ,z ggd-bc-2 )、(x ggd-bc-3 ,y ggd-bc-3 ,z ggd-bc-3 )……(x ggd-bc-p ,y ggd-bc-p ,z ggd-bc-p );

[0057] (c) Remove the cooperative target ball of the laser tracker, install the photogrammetric spherical cooperative target at the common target point position of the stereo standard, use the photogrammetric camera to measure the photogrammetric target on the measured unit and the photogrammetric spherical cooperative target on the stereo standard at the same time, and obtain the p common target points and the m photogrammetric targets of the measured units in the common coordinate system X gg Y gg Z gg -O gg The three-dimensional coordinates under the common coordinate system X gg Y gg Z gg -O gg It is a temporary conversion coordinate system, with no special requirements; p public target points are in the public coordinate system X gg Y gg Z gg -O gg The coordinates of the following are (x ggd-gg1 ,y ggd-gg1 ,z ggd-gg1 )、(x ggd-gg2 ,y ggd-gg2 ,z ggd-gg2 )、(x ggd-gg3 ,y ggd-gg3 ,z ggd-gg3 )……(x ggd-gg-p ,y ggd-gg-p ,z ggd-gg-p ), m measured unit photogrammetry targets are located in the common coordinate system X gg Y gg Z gg -O gg The coordinates of the following are (x bcdy-gg1 ,y bcdy-gg1 ,z bcdy-gg1 )、(x bcdy-gg2 ,y bcdy-gg2 ,z bcdy-gg2 )……(x bcdy-gg-m ,y bcdy-gg-m ,z bcdy-gg-m );

[0058] (d) Solve for the common coordinate system X gg Y gg Z gg -O gg and the mechanical coordinate system X of the unit under test bc Y bc Z bc -O bc The transformation matrix R gg-bc and the coordinate origin translation value (x gg-bc ,y gg-bc ,z gg-bc ).

[0059] make

[0060] Where, l1,m1,n1——cosine value of the angle between the X,Y,Z axis of the common coordinate system and the X axis of the mechanical coordinate system of the unit under test;

[0061] l2,m2,n2——cosine value of the angle between the X, Y, and Z axes of the public coordinate system and the Y axis of the mechanical coordinate system of the unit under test;

[0062] l3, m3, n3——The cosine values ​​of the angles between the X, Y, and Z axes of the public coordinate system and the Z axis of the mechanical coordinate system of the unit under test.

[0063] For p common target points, a total of p equations can be established, where i = 1, 2, 3 ... p:

[0064]

[0065] In addition, due to R gg-bc is the identity matrix, and there are the following constraints.

[0066]

[0067] There are 12 unknowns, namely l1, m1, n1, l2, m2, n2, l3, m3, n3, x gg-bc ,y gg-bc , z gg-bc , 6+3*p equations can be established and solved.

[0068] (e) Transform the transformation matrix R of the mechanical coordinate system of the unit under test solved in step (d) gg-bc and the coordinate origin translation value (x gg-bc ,y gg-bc ,z gg-bc ) is substituted into the following formula to obtain the m measured unit photogrammetry targets in the measured unit mechanical coordinate system X bc Y bc Z bc -O bc The coordinates of the following, where i = 1, 2, 3, ... m:

[0069]

[0070] Similarly, the coordinates of n photogrammetric targets of the reference unit in the mechanical coordinate system X of the reference unit can be obtained. jz Y jz Z jz -O jz The coordinate value under (x jzdy-jz-1 ,y jzdy-jz-1 ,z jzdy-jz-1 )、(x jzdy-jz-2 ,yjzdy-jz-2 ,z jzdy-jz-2 )…(x jzdy-jz-n ,y jzdy-jz-n ,z jzdy-jz-n );

[0071] 3) Integrate the unit under test and the reference unit into the spacecraft;

[0072] 4) Take photos with a photogrammetry camera to obtain the target points of the measured unit and the reference unit in the photogrammetry coordinate system X sy Y sy Z sy -O sy The coordinates of the target point of the unit under test are (x bc-sy-1 ,y bc-sy-1 ,z bc-sy-1 )、(x bc-sy-2 ,y bc-sy-2 ,z bc-sy-2 )……(x bc-sy-m ,y bc-sy-m ,z bc-sy-m ); the coordinates of the target point of the reference unit are (x jz-sy-1 ,y jz-sy -1,z jz-sy-1 )、(x jz-sy-2 ,y jz-sy-2 ,z jz-sy-2 )……(x jz-sy-n ,y jz-sy-n ,z jz-sy-n );

[0073] 5) Calculate the mechanical coordinate system X of the unit under test bc Y bc Z bc -O bc Relative to the reference unit mechanical coordinate system X jz Y jz Z jz -O jz relationship.

[0074] Let the mechanical coordinate system of the unit under test be X bc Y bc Z bc -O bc Relative to the camera coordinate system X sy Y sy Z sy -O sy The transformation matrix is ​​R bc-sy , the coordinate origin translation value is (x bc-sy ,y bc-sy ,z bc-sy );

[0075] make

[0076] In the formula, l 11 ,m 11 ,n 11 ——The cosine value of the angle between the X, Y, and Z axes of the mechanical coordinate system of the measured unit and the X axis of the photogrammetric coordinate system;

[0077] l 12 ,m 12 ,n 12 ——The cosine value of the angle between the X, Y, and Z axes of the mechanical coordinate system of the measured unit and the Y axis of the photogrammetric coordinate system;

[0078] l 13 ,m 13 ,n 13 ——The cosine value of the angle between the X, Y, and Z axes of the mechanical coordinate system of the measured unit and the Z axis of the photogrammetric coordinate system.

[0079] The equation is as follows, where i = 1, 2, 3, ... m:

[0080]

[0081] In addition, due to R bc-sy is the identity matrix, and there are the following constraints.

[0082]

[0083] There are 12 unknowns in total, and 6+3*m equations can be established to solve.

[0084] Similarly, the reference unit mechanical coordinate system X can be obtained jz Y jz Z jz -O jz Relative to the camera coordinate system X sy Y sy Z sy -O sy The transformation matrix R bc-jz and the coordinate origin translation value (x jz-sy ,y jz-sy ,z jz-sy )

[0085] Solve the mechanical coordinate system X of the unit under test bc Y bc Z bc -O bc Relative to the reference unit mechanical coordinate system X jz Y jz Z jz -O jz The transformation matrix R bc-jz :

[0086] make

[0087] In the formula, l 111 ,m 111 ,n 111 ——The cosine value of the angle between the X, Y, and Z axes of the mechanical coordinate system of the measured unit and the X axis of the mechanical coordinate system of the reference unit;

[0088] l 112 ,m 112 ,n 112 ——The cosine value of the angle between the X, Y, and Z axes of the mechanical coordinate system of the measured unit and the Y axis of the mechanical coordinate system of the reference unit;

[0089] l 113 ,m 113 ,n 113 ——The cosine value of the angle between the X, Y, and Z axes of the mechanical coordinate system of the measured unit and the Z axis of the mechanical coordinate system of the reference unit.

[0090] Mechanical coordinate system X of the unit under test bc Y bc Z bc -O bc Relative to the reference unit mechanical coordinate system X jz Y jz Z jz -O jz The transformation matrix R bc-jz for:

[0091]

[0092] The angle relationship between the mechanical coordinate system of the measured unit and the mechanical coordinate system of the reference unit is:

[0093]

[0094] Where α bc-jz-x , β bc-jz-x , γ bc-jz-x ——The angles between the X, Y, and Z axes of the mechanical coordinate system of the unit under test and the X axis of the mechanical coordinate system of the reference unit;

[0095] α bc-jz-y , β bc-jz-y , γ bc-jz-y ——The angles between the X, Y, and Z axes of the mechanical coordinate system of the unit under test and the Y axis of the mechanical coordinate system of the reference unit;

[0096] α bc-jz-z , β bc-jz-z , γ bc-jz-x ——The angles between the X, Y, and Z axes of the mechanical coordinate system of the measured unit and the Z axis of the mechanical coordinate system of the reference unit.

[0097] The translation value of the origin of the mechanical coordinate system of the measured unit relative to the origin of the mechanical coordinate system of the reference unit is:

[0098]

[0099] The precision measurement method provided by the present invention applies photogrammetry technology to the installation accuracy detection of spacecraft products. The measurement method is simple, has no special requirements for the precision measurement optical path, does not need to open precision measurement holes on the spacecraft, and avoids the use of precision measurement mirrors, thereby reducing the weight of the system and improving the point measurement accuracy.

[0100] Example

[0101] In order to better understand the technical solution of the present invention, the present invention is further described in detail below with reference to the accompanying drawings and specific implementation examples.

[0102] Specifically, the precise measurement method of the active component relative to the sample chamber in a deep space sampling return detector is used as an example to illustrate. In this example, the active component is defined as the measured unit, and the sample chamber is defined as the reference unit. The relative relationship between the mechanical coordinate system of the active component and the mechanical coordinate system of the sample chamber is obtained through photogrammetry technology. The specific implementation steps are as follows:

[0103] 1) Paste 10 photogrammetry targets on the active part, denoted as P bcdy-1 , P bcdy-2 , P bcdy-3 ...P bcdy-10 , 16 photogrammetry targets are attached to the sample chamber, P jzdy-1 , P jzdy-2 , P jzdy-3 ...P jzdy-16 ,The pasting positions of the photogrammetry targets are not on the same plane and are as evenly distributed as possible;

[0104] 2) Use the laser tracker and the photogrammetry camera to calibrate the photogrammetry targets on the active part and the sample chamber, that is, obtain the photogrammetry targets of the active part and the mechanical coordinate system X of the active part respectively. bc Y bc Z bc -O bc The relationship between the sample cabin photogrammetry target and the sample cabin mechanical coordinate system X jz Y jz Z jz -O jz The relationship between the active part photogrammetry target calibration is shown as follows: Figure 1 As shown in the figure, the calibration steps of active part photogrammetry target are as follows:

[0105] (a) A stereo standard is introduced, and a total of 5 public target points are set, denoted as P ggd-1 , P ggd-2 , P ggd-3 , Pggd-4 , P ggd-5 ; Five laser tracker cooperative target balls are set at the common target point of the stereo standard, and the laser tracker is used to establish the active part mechanical coordinate system X bc Y bc Z bc -O bc , and simultaneously measure the coordinates of the 5 laser tracker cooperative target balls on the stereo standard in the active part mechanical coordinate system X bc Y bc Z bc -O bc The three-dimensional coordinates (x ggd-bc-i ,y ggd-bc-i ,z ggd-bc-i ), recorded as: (686.073, -396.105, 346.111), (523.793, -677.182, -7.44277), (379.887, -219.328, -7.44277), (686.073, -396.105, -360.996), (992.259, -572.881, -7.44277);

[0106] (b) Use a photogrammetric spherical cooperative target to replace the laser tracker cooperative target ball on the stereo standard. The position of the photogrammetric spherical cooperative target is the same as that of the laser tracker cooperative target ball. Use a photogrammetric camera to measure the photogrammetric target on the active part and the photogrammetric spherical cooperative target on the stereo standard at the same time, and obtain 5 common target points and 10 active part photogrammetric targets in the common coordinate system X. gg Y gg Z gg -O gg The three-dimensional coordinates under the common coordinate system X gg Y gg Z gg -O gg It is a temporary conversion of coordinate system, with no special requirements; the five common target points are in the common coordinate system X gg Y gg Z gg -O gg The coordinates (x ggd-gg-i ,y ggd-gg-i ,z ggd-gg-i ) are: (642.772, -371.105, -153.889), (480.492, -652.182, -507.443), (336.586, -194.328, -507.443), (642.772, -371.105, -860.996), (948.958, -547.881, -507.443), 10 active parts photogrammetry targets are in the common coordinate system Xgg Y gg Z gg -O gg The coordinates (x bcdy-gg-i ,y bcdy-gg-i ,z bcdy-gg-i ) are (-306.066, 173.243, -608.612), (-70.9333, 37.4893, -819.215), (210.041, -124.732, -627.341), (169.155, -101.126, -295.618), (-193.59, 108.305, -229.276) 、(-233.601, 15.0812, -735.205), (49.5888, -148.419, -730.068), (150.623, -206.751, -482.144), (-11.7467, -113.007, -232.432), (-284.934, 44.7179, -318.729);

[0107] (c) Solve for the common coordinate system X gg Y gg Z gg -O gg With the active part mechanical coordinate system X bc Y bc Z bc -O bc The transformation matrix R gg-bc and the coordinate origin translation value (x gg-bc ,y gg-bc ,z gg-bc ),

[0108] make

[0109] Where, l1, m1, n1 are the cosine values ​​of the angles between the X, Y, and Z axes of the public coordinate system and the X axis of the active component mechanical coordinate system;

[0110] l2,m2,n2——cosine value of the angle between the X, Y, and Z axes of the public coordinate system and the Y axis of the active component mechanical coordinate system;

[0111] l3, m3, n3 - the cosine values ​​of the angles between the X, Y, and Z axes of the public coordinate system and the Z axis of the active component's mechanical coordinate system.

[0112] According to the following equation, for 5 common target points, 5 equations can be established, where l1, m1, n1, l2, m2, n2, l3, m3, n3, x gg-bc ,y gg-bc , z gg-bc is the unknown number to be solved.

[0113]

[0114] In addition, due to R gg-bc is the identity matrix, and there are the following constraints:

[0115]

[0116] Solving for this yields:

[0117]

[0118] (d) The common coordinate system X solved in step (c) gg Y gg Z gg -O gg Relative to the active part mechanical coordinate system X bc Y bc Z bc -O bc The transformation matrix R gg-bc and the coordinate origin translation value (x gg-bc ,y gg-bc ,z gg-bc ) into the following formula to obtain the coordinates (x bcdy-bc-i ,y bcdy-bc-i , z bcdy-bc-i ):

[0119]

[0120] Get 10 active part photogrammetry targets in the active part mechanical coordinate system X bc Y bc Z bc -O bc The coordinates (x bcdy-bc-i ,y bcdy-bc-i , z bcdy-bc-i ) are: (3, -301.682, -108.612), (3, -30.1747, -319.215), (3, 294.267, -127.341), (3, 247.056, 204.382), (3, -171.806, 270.724), (103.74, -159.845, -235.205), (103.74, 167.154, -230.068), (103.74, 283.819, 17.8564), (103.74, 96.3304, 267.568), (103.74, -219.119, 181.271);

[0121] Similarly, obtain the 16 sample cabin photogrammetry targets in the sample cabin mechanical coordinate system X jz Y jz Z jz -O jz The coordinates (x jzdy-jz-i ,y jzdy-jz-i , z jzdy-jz-i ), respectively: (-150, 78.8631, -133.35), (-150, 150.057, -38.5282), (-150, 145.766, 52.4789), (-150, 91.0625, 125.337), (-150, -33.7958, 151.194), (-150, -138.039, 70.3343), (-150, -144.045, -57.0316), (-150, -98.7527, -119.37 2), (-300, -23.7893, -66.0772), (-300, -63.5452, -29.9021), (-300, -65.2974, 25.8531), (-300, -31.8833, 62.5746), (-300, 65.2974, 25.8531), (-300, 39.4746, 58.0851), (-300, 43.0439, -55.4919), (-300, 60.4491, -35.7495).

[0122] 3) Install the active components and sample chamber on the spacecraft;

[0123] 4) Take photos with the photogrammetry camera to obtain the photogrammetry targets of the active parts and the sample cabin in the photogrammetry coordinate system X sy Y sy Z sy -O sy The lower coordinates, such as Figure 2 As shown, the coordinates of the 10 active photogrammetry targets (x bc-sy-i ,y bc-sy-i ,z bc-sy-i) are: (997, -136.521, 304.264), (997, 204.382, 261.198), (997, 298.122, -103.893), (997, 30.1747, -305.073), (997, -312.916, -55.8029), (896.26, 53.2 875, 293.485), (896.26, 280.879, 58.629), (896.26, 188.064, -199.175), (896.26, -121.083, -243.173), (896.26, -283.118, 40.9047); coordinates of the 16 sample chamber photogrammetry targets (x jz-sy-i ,y jz-sy-i ,z jz-sy-i ) are: (1315, 150.057, 52.6703), (1315, 133.35, -64.721), (1315, 65.9637, -126.038), (1315, -24.2356, -138.875), (1315, -130.807, -68.8707), (1315, -147.342, 62.0165), (1315, -61.528, 156.325), (1315, 14.5797, 168.379 )、(1465, 29.9021, 77.6873), (1465, -23.7893, 80.2194), (1465, -64.4531, 42.0335), (1465, -66.7919, -7.55985), (1465, 27.8913, -50.311), (1465, -13.1596, -54.843), (1465, 69.6753, 22.9442), (1465, 68.0227, -3.32313).

[0124] 5) Calculate the active component mechanical coordinate system X bc Y bc Z bc -O bc Relative to the sample chamber mechanical coordinate system X jz Y jz Z jz -O jz relationship.

[0125] Active component mechanical coordinate system X bc Y bc Z bc -O bc Relative to the camera coordinate system X sy Y sy Z sy-O sy The transformation matrix is ​​R bc-sy , the coordinate origin translation value is (x bc-sy ,y bc-sy ,z bc-sy );

[0126] make

[0127] In the formula, l 11 ,m 11 ,n 11 ——The cosine value of the angle between the X, Y, and Z axes of the active component mechanical coordinate system and the X axis of the photogrammetry coordinate system;

[0128] l 12 ,m 12 ,n 12 ——The cosine value of the angle between the X, Y, and Z axes of the active component mechanical coordinate system and the Y axis of the photogrammetry coordinate system;

[0129] l 13 ,m 13 ,n 13 ——The cosine value of the angle between the X, Y, and Z axes of the active component’s mechanical coordinate system and the Z axis of the photogrammetry coordinate system.

[0130] The equation is as follows, where i = 1, 2, 3, ... 10:

[0131]

[0132] In addition, due to R bc-sy is the identity matrix, and there are the following constraints.

[0133]

[0134] Solving for this yields:

[0135]

[0136] Similarly, the sample chamber mechanical coordinate system X can be obtained jz Y jz Z jz -O jz Relative to the camera coordinate system X sy Y sy Z sy -O sy The transformation matrix R jz-sy and the coordinate origin translation value (x jz-sy ,y jz-sy ,z jz-sy )

[0137]

[0138] Solve the active component mechanical coordinate system X bc Y bc Z bc -O bc Relative to the sample chamber mechanical coordinate system X jz Y jz Z jz -O jz The transformation matrix R bc-jz :

[0139]

[0140] Active component mechanical coordinate system X bc Y bc Z bc -O bc Relative to the sample chamber mechanical coordinate system X jz Y jz Z jz -O jz The angle relationship is:

[0141]

[0142] Where α bc-jz-x , β bc-jz-x , γ bc-jz-x ——The angles between the X, Y, and Z axes of the active component mechanical coordinate system and the X axis of the sample chamber mechanical coordinate system;

[0143] α bc-jz-y , β bc-jz-y , γ bc-jz-y ——The angles between the X, Y, and Z axes of the active component mechanical coordinate system and the Y axis of the sample chamber mechanical coordinate system;

[0144] α bc-jz-z , β bc-jz-z , γ bc-jz-z ——The angles between the X, Y, and Z axes of the active component mechanical coordinate system and the Z axis of the sample chamber mechanical coordinate system.

[0145] The translation value of the origin of the active component mechanical coordinate system relative to the origin of the sample chamber mechanical coordinate system is:

[0146]

[0147] In summary, the above are only preferred embodiments of the present invention and are not intended to limit the protection scope of 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.

[0148] Although the content of the present invention has been described in detail through the above preferred embodiments, it should be appreciated that the above description should not be considered as a limitation of the present invention. After reading the above content, it will be apparent to those skilled in the art that various modifications and substitutions of the present invention will occur. Therefore, the protection scope of the present invention should be limited by the appended claims.

[0149] The contents not described in detail in the specification of the present invention belong to the common knowledge of the professionals in this field.

Claims

1. A method for detecting the installation accuracy of spacecraft equipment based on photogrammetry and laser tracking, characterized in that: include: Paste photogrammetry targets on the measured unit and the reference unit to obtain a number of measured unit target points and reference unit target points; The laser tracker and the photogrammetry camera are used to calibrate the target point of the unit under test and the target point of the reference unit, and the coordinates of the target point of the unit under test in the mechanical coordinate system X of the unit under test are obtained. bc Y bc Z bc -O bc The coordinates of the reference unit target point in the reference unit mechanical coordinate system X jz Y jz Z jz -O jz The coordinates below; Integrate the unit under test and the reference unit into the spacecraft; Take pictures with a photogrammetry camera to obtain the target points of the measured unit and the reference unit in the photogrammetry coordinate system X sy Y sy Z sy -O sy The coordinates below; According to the coordinates of the target point of the measured unit and the target point of the reference unit in the photogrammetric coordinate system, the coordinates of the target point of the measured unit in the mechanical coordinate system of the measured unit and the coordinates of the target point of the reference unit in the mechanical coordinate system of the reference unit, the translation value of the origin of the mechanical coordinate system of the measured unit relative to the origin of the mechanical coordinate system of the reference unit and the angle between the mechanical coordinate system of the measured unit and the mechanical coordinate system of the reference unit are calculated.

2. The method for detecting the installation accuracy of spacecraft equipment based on photogrammetry and laser tracking according to claim 1, characterized in that: The number of the photogrammetry targets is greater than or equal to 4, and at least one photogrammetry target is not on the same plane as the other photogrammetry targets.

3. The method for detecting the installation accuracy of spacecraft equipment based on photogrammetry and laser tracking according to claim 1, characterized in that: The laser tracker and the photogrammetric camera are used to calibrate the target point of the measured unit and the target point of the reference unit, and the coordinates of the target point of the measured unit in the mechanical coordinate system X of the measured unit are obtained respectively. bc Y bc Z bc -O bc The coordinates of the reference unit target point in the reference unit mechanical coordinate system X jz Y jz Z jz -O jz The coordinates below are: A three-dimensional standard is constructed by a number of straight rods; The intersection points of the straight rods in the stereo standard constitute several common target points; A laser tracker cooperative target sphere which can be identified by the laser tracker is installed at the public target point; Use the laser tracker to identify the laser tracker cooperative target ball and obtain the common target point in the mechanical coordinate system X of the unit under test. bc Y bc Z bc -O bc The coordinates below; Replace all laser tracker cooperation targets with photogrammetric spherical cooperation targets that can be recognized by photogrammetric cameras; The photogrammetric camera is used to simultaneously measure the target point of the unit under test and the photogrammetric spherical cooperative target on the stereo standard to obtain the common target point and the target point of the unit under test in the common coordinate system X gg Y gg Z gg -O gg The three-dimensional coordinates of According to the common target point and the target point of the unit under test in the common coordinate system X gg Y gg Z gg -O gg Under the three-dimensional coordinates, solve the common coordinate system X gg Y gg Z gg -O gg and the mechanical coordinate system X of the unit under test bc Y bc Z bc -O bc The transformation matrix R gg-bc and the coordinate origin translation value (x gg-bc ,y gg-bc ,z gg-bc ); According to the common target point and the target point of the unit under test in the common coordinate system X gg Y gg Z gg -O gg The three-dimensional coordinates and transformation matrix R under gg-bc and the coordinate origin translation value (x gg-bc ,y gg-bc ,z gg-bc ), and obtain the target point of the unit under test in the mechanical coordinate system X of the unit under test bc Y bc Z bc -O bc The coordinates below; According to the transformation matrix R gg-bc and the coordinate origin translation value (x gg-bc ,y gg-bc ,z gg-bc ), and obtain the reference unit target point in the reference unit mechanical coordinate system X jz Y jz Z jz -O jz The coordinates below.

4. The method for detecting the installation accuracy of spacecraft equipment based on photogrammetry and laser tracking according to claim 3 is characterized in that: The transformation matrix R gg-bc , specifically: Among them, l1, m1, n1 are the cosine values ​​of the angles between the X, Y, and Z axes of the public coordinate system and the X axis of the mechanical coordinate system of the measured unit; l2, m2, n2 are the cosine values ​​of the angles between the X, Y, and Z axes of the public coordinate system and the Y axis of the mechanical coordinate system of the measured unit; l3, m3, n3 are the cosine values ​​of the angles between the X, Y, and Z axes of the public coordinate system and the Z axis of the mechanical coordinate system of the measured unit.

5. The method for detecting the installation accuracy of spacecraft equipment based on photogrammetry and laser tracking according to claim 3, characterized in that: The target point of the unit under test is in the mechanical coordinate system X of the unit under test. bc Y bc Z bc -O bc The coordinates below are: in, The target point of the unit under test is located in the mechanical coordinate system X of the unit under test. bc Y bc Z bc -O bc The coordinates under, m is the number of target points of the unit under test; is the coordinate origin translation value, The common target point and the target point of the unit under test are in the common coordinate system X gg Y gg Z gg -O gg The coordinates under R gg-bc is the common coordinate system X gg Y gg Z gg -O gg and the mechanical coordinate system X of the unit under test bc Y bc Z bc -O bc The transformation matrix.

6. The method for detecting the installation accuracy of spacecraft equipment based on photogrammetry and laser tracking according to claim 1, characterized in that: The angle between the measured unit's mechanical coordinate system and the reference unit's mechanical coordinate system is: Among them, α bc-jz-x , β bc-jz-x , γ bc-jz-x are the angles between the X, Y, and Z axes of the mechanical coordinate system of the measured unit and the X axis of the mechanical coordinate system of the reference unit; α bc-jz-y , β bc-jz-y , γ bc-jz-y are the angles between the X, Y, and Z axes of the mechanical coordinate system of the measured unit and the Y axis of the mechanical coordinate system of the reference unit; α bc-jz-z , β bc-jz-z , γ bc-jz-x are the angles between the X, Y, and Z axes of the measured unit's mechanical coordinate system and the Z axis of the reference unit's mechanical coordinate system; l 111 ,m 111 ,n 111 are the cosine values ​​of the angles between the X, Y, and Z axes of the mechanical coordinate system of the measured unit and the X axis of the mechanical coordinate system of the reference unit; l 112 ,m 112 ,n 112 are the cosine values ​​of the angles between the X, Y, and Z axes of the mechanical coordinate system of the measured unit and the Y axis of the mechanical coordinate system of the reference unit; l 113 ,m 113 ,n 113 They are the cosine values ​​of the angles between the X, Y, and Z axes of the mechanical coordinate system of the measured unit and the Z axis of the mechanical coordinate system of the reference unit.

7. The method for detecting the installation accuracy of spacecraft equipment based on photogrammetry and laser tracking according to claim 1, characterized in that: The translation value of the origin of the mechanical coordinate system of the measured unit relative to the origin of the mechanical coordinate system of the reference unit is specifically: in, is the translation value of the origin of the mechanical coordinate system of the unit under test relative to the origin of the mechanical coordinate system of the reference unit, is the translation value of the coordinate origin of the reference unit mechanical coordinate system relative to the photographic coordinate system, is the coordinate origin translation value of the measured unit mechanical coordinate system relative to the photographic coordinate system, R jz-sy is the transformation matrix of the reference unit mechanical coordinate system relative to the photographic coordinate system.

8. The method for detecting the installation accuracy of spacecraft equipment based on photogrammetry and laser tracking according to claim 7, characterized in that: The transformation matrix of the reference unit mechanical coordinate system relative to the photographic coordinate system satisfies the formula: R bc-jz =R bc-sy ×R jz-sy -1 Among them, R bc-sy is the transformation matrix from the mechanical coordinate system of the unit under test to the photographic coordinate system, R jz-sy is the transformation matrix of the reference unit mechanical coordinate system relative to the photographic coordinate system; R bc-jz It is the transformation matrix of the mechanical coordinate system of the unit under test relative to the mechanical coordinate system of the reference unit.

9. The method for detecting the installation accuracy of spacecraft equipment based on photogrammetry and laser tracking according to claim 8, characterized in that: The transformation matrix from the mechanical coordinate system of the measured unit to the photographic coordinate system is as follows: Among them, l 11 ,m 11 ,n 11 is the cosine value of the angle between the X, Y, and Z axes of the mechanical coordinate system of the measured unit and the X axis of the photogrammetric coordinate system; l 12 ,m 12 ,n 12 is the cosine value of the angle between the X, Y, and Z axes of the mechanical coordinate system of the measured unit and the Y axis of the photogrammetric coordinate system; l 13 ,m 13 ,n 13 It is the cosine value of the angle between the X, Y, and Z axes of the mechanical coordinate system of the measured unit and the Z axis of the photogrammetry coordinate system.

10. The method for detecting the installation accuracy of spacecraft equipment based on photogrammetry and laser tracking according to claim 8, characterized in that: The transformation matrix of the measured unit mechanical coordinate system relative to the reference unit mechanical coordinate system is specifically: Among them, l 111 ,m 111 ,n 111 are the cosine values ​​of the angles between the X, Y, and Z axes of the mechanical coordinate system of the measured unit and the X axis of the mechanical coordinate system of the reference unit; l 112 ,m 112 ,n 112 are the cosine values ​​of the angles between the X, Y, and Z axes of the mechanical coordinate system of the measured unit and the Y axis of the mechanical coordinate system of the reference unit; l 113 ,m 113 ,n 113 They are the cosine values ​​of the angles between the X, Y, and Z axes of the mechanical coordinate system of the measured unit and the Z axis of the mechanical coordinate system of the reference unit.

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