Airplane control surface deflection angle measuring method and system based on three-dimensional coordinates and network architecture

Abstract

The invention discloses an aircraft control surface deflection angle measurement method and system based on three-dimensional coordinates and a network architecture, and the method comprises the steps: obtaining the three-dimensional coordinates of target points on the surface of an aircraft control surface through photogrammetry equipment, and uploading the three-dimensional coordinates to an edge server; and calculating the plane control surface deflection angle based on the three-dimensional coordinate of the target point. The method considers the curved surface characteristics of the aircraft control surface, improves the measurement precision and efficiency, and avoids the wear of the control surface through a non-contact measurement mode. In an aircraft general assembly workshop, the test period can be shortened and the production efficiency can be improved by quickly and accurately measuring the deflection angle of the control surface. In addition, the measurement mode is simple and convenient to operate and high in adaptability, and can be popularized and applied in various non-contact measurement scenes.

Description

Technical Field

[0001] The present invention relates to the field of aviation technology, and in particular to a method, system and network architecture for measuring the deflection angle of an aircraft control surface based on three-dimensional coordinates. Background Art

[0002] With the continuous advancement of aviation technology, the precision requirements for aircraft control are increasing. During flight, the error between the actual deflection angle of the rudder and the preset angle will directly affect the attitude stability of the aircraft. Therefore, accurate measurement of the actual deflection angle of the rudder before flight is of vital importance to ensure attitude control during flight. In order to ensure safe flight, during the functional test of the flight control system in the aircraft assembly stage, it is necessary to accurately measure the actual rotation angle of each active surface to determine whether the angle required by the control instruction is reached. In recent years, with the increasing number of aircraft for various purposes, the workload and accuracy requirements of rudder angle measurement have become increasingly higher, which makes fast and accurate rudder angle measurement technology an important demand in the aviation field.

[0003] At present, the measurement methods used in aircraft assembly production are mainly mechanical rulers and inclination sensors. Three operators are required for measurement. Operator A controls the rudder operation in the cockpit, operator B measures the rudder deflection angle, and operator C assists operator B. The measured rudder angle is informed to operator A in the cockpit via the intercom. Then operator A in the cockpit confirms whether the actual rotation angle of the rudder is the operating angle of the cockpit operator. These traditional methods rely on manual operation, which is prone to large reading errors, and the degree of digitization is low, making it difficult to achieve accurate traceability. In addition, the measuring tooling usually needs to be fixed on the aircraft rudder, which is prone to wear and tear on the aircraft rudder, and has a potential impact on the safety of the aircraft.

[0004] In recent years, the application of new generation information technology and industrial Internet of Things (IIoT) in industrial measurement has gradually increased, providing new solutions for improving measurement accuracy and system coordination capabilities. The core idea of ​​the industrial Internet of Things is to connect various sensors, measuring equipment and computing units through the network to form a perception network, thereby realizing real-time data collection, transmission and processing. In the rudder angle measurement scenario, by deploying multiple perception terminals, the real-time deflection data of multiple rudders can be collected synchronously, and these data are uploaded to the edge server through the 5G network for real-time processing and analysis. The edge server can process the data according to the needs of the flight control system and feed back the results to the upper system to achieve rapid response and efficient collaborative measurement.

[0005] The domestic patent application number is 202411194713.6, and its name is “A system and method for detecting the angle of an aircraft rudder surface”. It proposes an aircraft rudder surface detection system that includes a host computer, multiple fixtures, and multiple wireless sensors. The system improves the efficiency of angle detection of aircraft rudder surfaces. However, since the fixtures used are threaded locking structures, they are prone to wear on the surface of the aircraft rudder surface. The domestic patent application number is 202311746356.5, and its name is “An external measurement method for the deflection angle of an aircraft rudder surface based on an inertial measurement unit”. By establishing a rudder surface rotation motion model, it solves the problem that the inertial measurement unit cannot measure the rotation angle of a rudder whose rotation axis is in a vertical plane. However, the inertial measurement unit still needs to be fixed on the rudder surface to be measured, and the fixing process may cause wear on the surface. The domestic patent application number is 202011187660.7, and its name is "A rotation angle accuracy detection device and method based on laser detection system". A laser-based rotation angle measurement device is designed to achieve higher measurement accuracy, but the installation process is complicated and has strict requirements on the operating environment and personnel's technical requirements.

[0006] During the functional test of the flight control system in the aircraft assembly workshop, the traditional method of measuring the control surface is to use mechanical measuring tools, which are usually installed on the movable control surface of a specific type of aircraft through special fixtures or tooling, and then the measurement scale is read manually. This measurement method has problems such as low measurement efficiency, large reading errors, low degree of digitization, and the fixture is easy to cause wear on the aircraft control surface. Summary of the invention

[0007] In view of the above-mentioned defects of the prior art, the technical problem to be solved by the present invention is that the existing traditional measuring means have low efficiency, large reading errors and low degree of digitization.

[0008] To achieve the above object, in a first aspect, the present invention provides a method for measuring an aircraft control surface deflection angle based on three-dimensional coordinates, characterized in that it comprises:

[0009] (1) Use photogrammetry equipment to obtain the three-dimensional coordinates of the target points on the aircraft control surface and upload them to the edge server;

[0010] (2) Calculate the aircraft control surface deflection angle based on the three-dimensional coordinates of the target point.

[0011] The present invention provides an aircraft rudder surface deflection angle measurement based on visual network and three-dimensional coordinates. With the help of photogrammetry equipment, non-contact and high-precision measurement can be achieved. The convenient measurement operation can reduce manpower, improve measurement efficiency, and avoid the wear of the measuring fixture on the aircraft rudder surface. At the same time, photogrammetry has the advantages of large field of view and continuous measurement, and can realize dynamic measurement of the deflection angles of multiple aircraft rudder surfaces at the same time. By using industrial Internet of Things technology, efficient and reliable data transmission and flexible deployment of equipment can be achieved, which greatly improves test efficiency and improves the efficiency and quality of the aircraft assembly test process.

[0012] In a preferred embodiment of the present invention, in step (1), a target point is placed on the surface of the aircraft rudder to be tested, the photogrammetry equipment is calibrated, at least two cameras synchronously acquire images of the target point at different viewing angles, the images are uploaded to the edge server through the industrial 5G private network, and the target point is accurately matched and the three-dimensional spatial coordinates of the target point are calculated through an image processing algorithm.

[0013] In another preferred embodiment of the present invention, before obtaining the three-dimensional coordinates using the photogrammetric device in step (1), the following operations need to be performed: adjusting the camera positions so that the images captured by at least two cameras have overlapping parts, while ensuring that the aircraft control surface moves or rotates in the camera field of view, and the target point on the surface is still located in the camera field of view, and calibrating the photogrammetric device using a calibration reference ruler.

[0014] In another preferred embodiment of the present invention, the method for calculating the deflection angle of the aircraft control surface based on the three-dimensional coordinates of the target point in step (2) comprises:

[0015] The first step is to select three non-collinear target points on the aircraft control surface. The three target points before and after the aircraft control surface is deflected form two triangular facets respectively.

[0016] The second step is to establish a local coordinate system for the two triangular facets according to the same rules to represent the positions of the two triangular facets in space;

[0017] The third step is to use the unit vector of the local coordinate system's coordinate axis to calculate the rotation matrix R between the two coordinate systems;

[0018] The fourth step is to use the properties of the rotation matrix to calculate the rotation angle φ between the two local coordinate systems from the rotation matrix R. Through the conversion, the deflection angle θ of the aircraft control surface is the same as φ, thus obtaining the deflection angle of the aircraft control surface.

[0019] Based on the rigid transformation of the object and the properties of the rotation matrix, and taking into account the curved surface characteristics of the aircraft control surface, a method for measuring the deflection angle of the aircraft control surface based on the three-dimensional coordinates of the target point is designed.

[0020] The present invention establishes local coordinate systems for the rudder surface before and after rotation, and derives the rotation matrix between the local coordinate systems based on the three-dimensional coordinates of two triangular facets. The method selects three non-collinear target points (A, B, C) to form a triangular facet, and constructs a local coordinate system according to the relative position relationship, and converts the measurement problem of the rudder surface deflection angle into the rotation angle calculation of the local coordinate system. By using the unit vector of the local coordinate system, the rotation matrix R is derived, and its properties are applied to calculate the rotation angle between the local coordinate systems, ensuring the accuracy of the rotation angle calculation and avoiding the error accumulation in the traditional measurement process. In addition, the present invention utilizes the property of the target point to maintain relative position consistency in rigid body motion, and links the rotation transformation of the rudder surface with the rotation of the triangular facet, thereby ensuring that the three-dimensional coordinate change of the target point accurately reflects the deflection change of the entire rudder surface, significantly improving the stability and accuracy of the measurement, and simplifying the operation process.

[0021] The present invention can accurately measure the deflection angle of the rudder surface without contacting the measured object by introducing a local coordinate system and a calculation method of a rotation matrix. The introduction of the local coordinate system enables the angle measurement of the rudder surface with complex shapes in three-dimensional space through simple coordinate transformation, avoiding the accumulation of errors in the complex calculation process and greatly improving the measurement accuracy.

[0022] By using photogrammetry equipment, the present invention realizes completely non-contact control surface deflection angle measurement, reducing the risk of wear and damage to the control surface of the aircraft. At the same time, due to the use of automated image processing and three-dimensional coordinate calculation, operators do not need to perform tedious manual operations, which greatly simplifies the measurement process and improves measurement efficiency.

[0023] The consistency of the relative position of the target points and the stability of the local coordinate system ensure the robustness of the measurement process. Even when the rudder is rotating, the synchronous rotation of the triangular patch and the rudder keeps the measurement results stable, which can cope with the measurement needs of complex environments and dynamic objects.

[0024] In addition, the present invention can not only be used for the deflection angle measurement of aircraft control surfaces, but can also be extended to the deflection angle measurement of other complex surfaces, and has strong versatility. At the same time, the present invention has high scalability, and can flexibly adjust the local coordinate system and target point arrangement according to different measurement requirements, and is suitable for various non-contact measurement scenarios.

[0025] In the flight control system function test phase of the aircraft assembly stage, the actual deflection angle of the aircraft control surface can be measured quickly and accurately by the method of the present invention, thereby improving the efficiency and quality of the test and ensuring the safe flight of the aircraft after delivery.

[0026] In another preferred embodiment of the present invention, the local coordinate system establishment process in the second step is as follows:

[0027] a Select a vertex of the triangle as the origin of the local coordinate system, and the two triangles select the vertex corresponding to the same target point;

[0028] b. Select an edge of the triangle patch starting from the origin as the X-axis direction of the local coordinate system, and the two triangle patches select the edges corresponding to the same target point;

[0029] c. Select the cross product direction of the X-axis and the other edge of the triangle starting from the origin as the Y-axis direction of the local coordinate system, and the two triangles select the edges corresponding to the same target point;

[0030] d Determine the Z axis of the local coordinate system according to the right-hand coordinate rule.

[0031] In another preferred embodiment of the present invention, in the third step, the rotation matrix between the two local coordinate systems is calculated according to the formula, wherein the unit vectors corresponding to the three coordinate axes of the coordinate system before deflection are (i0, j0, k0) in sequence, and the unit vectors corresponding to the three coordinate axes of the coordinate system after deflection are (i1, j1, k1) in sequence;

[0032] The formula is as follows:

[0033]

[0034] In another preferred embodiment of the present invention, in the fourth step, the formula for the aircraft control surface deflection angle is:

[0035]

[0036] In a second aspect, the present invention provides a non-contact measurement system, which implements the aircraft control surface angle measurement method based on visual network and three-dimensional coordinates as described in the first aspect.

[0037] The non-contact measurement system includes photogrammetry equipment, an edge server and an industrial 5G private network.

[0038] The function of the photogrammetry equipment is to obtain the three-dimensional coordinates of the target point. The edge server deploys the deflection angle solution algorithm, and the industrial 5G private network is used for data transmission within the system, which together realizes the measurement function of the aircraft control surface deflection angle.

[0039] In view of the need to measure the aircraft rudder surface deflection angle during the flight control system test, the present invention designs a non-contact aircraft rudder surface deflection angle measurement system based on the Industrial Internet, combining the advantages of binocular vision measurement such as non-contact, high precision, and large field of view. The edge server obtains the three-dimensional coordinates of the target points on the aircraft rudder surface collected by the photogrammetry equipment through the industrial 5G private network, and calculates the aircraft rudder surface deflection angle based on these coordinates, thereby realizing non-contact measurement of the aircraft rudder surface deflection angle.

[0040] In a third aspect, the present invention provides a non-contact collaborative measurement perception network architecture for aircraft rudder surface angles, which performs synchronous and precise measurement of at least two aircraft rudder surfaces by implementing the aircraft rudder surface angle measurement method based on visual network and three-dimensional coordinates as described in the first aspect.

[0041] In another preferred embodiment of the present invention, on at least two control surfaces to be measured of an aircraft, photogrammetric equipment and target points are deployed according to a predetermined distribution strategy to form at least two target point subnets, and the industrial camera covers the working area of ​​the control surface;

[0042] The perception terminal is connected to the edge server through the industrial 5G private network. The edge server is located in the measurement and control area of ​​the aircraft assembly workshop and has data processing and computing capabilities. Each perception terminal uploads the collected image data to the edge server. After receiving the data, the server calculates the three-dimensional coordinates of the target point, the deflection angle of the rudder surface, performs error analysis and preliminary visualization of the data, and provides real-time feedback on the results.

[0043] Technical Effects

[0044] The present invention is a method for calculating the deflection angle of an aircraft rudder surface based on the three-dimensional coordinates of a target point, and is mainly used in the functional testing link of the flight control system in the aircraft assembly stage. The three-dimensional coordinates of the target point on the surface of the aircraft rudder surface are obtained with the help of photogrammetry equipment, and then an algorithm is designed to convert the rotation of the aircraft rudder surface into the rotation of a triangular facet, and the deflection angle of the aircraft rudder surface is calculated based on the three-dimensional coordinates of the target point. This calculation method takes into account the curved surface characteristics of the aircraft rudder surface, improves the measurement accuracy and efficiency, and the non-contact measurement method avoids wear on the rudder surface. In the aircraft assembly workshop, fast and accurate rudder surface deflection angle measurement can shorten the test cycle and improve production efficiency. In addition, this measurement method is easy to operate and has strong adaptability, and can be promoted and applied in various non-contact measurement scenarios.

[0045] The concept, specific structure and technical effects of the present invention will be further described below in conjunction with the accompanying drawings to fully understand the purpose, characteristics and effects of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 Schematic diagram of a non-contact measurement system for aircraft control surface deflection angle according to a preferred embodiment of the present invention;

[0047] Figure 2 This is a diagram of a measurement architecture of an aircraft control surface deflection angle based on the industrial Internet of Things according to a preferred embodiment of the present invention;

[0048] Figure 3 It is a schematic diagram of the aircraft control surface deflection angle calculation conversion process of a preferred embodiment of the present invention;

[0049] Figure 4 The invention discloses a method for measuring the deflection angle of an aircraft control surface based on a visual network and three-dimensional coordinates, which is a preferred embodiment of the present invention. DETAILED DESCRIPTION

[0050] The following describes several preferred embodiments of the present invention with reference to the drawings in the specification, so that the technical content is clearer and easier to understand. The present invention can be embodied in many different forms of embodiments, and the protection scope of the present invention is not limited to the embodiments mentioned in the text.

[0051] In the drawings, components with the same structure are indicated by the same numerical reference numerals, and components with similar structures or functions are indicated by similar numerical reference numerals. The size and thickness of each component shown in the drawings are arbitrarily shown, and the present invention does not limit the size and thickness of each component. In order to make the illustration clearer, the thickness of the components is appropriately exaggerated in some places in the drawings.

[0052] like Figure 1 The figure shows a schematic diagram of a non-contact measurement system for the deflection angle of an aircraft rudder surface. In the ground function test of the flight control system during the aircraft assembly phase, it is necessary to accurately measure the actual rotation angle of the aircraft's active surface to determine whether the control requirements are met to ensure safe flight after the aircraft is delivered. The aircraft is parked on the ground, and a photogrammetry device is used to obtain the spatial coordinates of the target point. The device mainly consists of a measuring camera and a controller. During the data acquisition process, the controller provides power and control signals to the camera, and uploads the image information captured by the camera to the edge server through the industrial 5G private network. The supporting software installed on the edge server calculates the three-dimensional coordinates of the target point. During the test, the target point is first pasted on the surface of the rudder surface of the aircraft to be tested, and then the camera position is adjusted so that the shooting images of the two cameras have as high an overlap as possible. At the same time, it is necessary to ensure that the aircraft rudder surface moves or rotates in the camera's field of view, and the surface coding point is still in the camera's field of view. When the rudder surface is perpendicular to the camera's field of view and the target point cannot be identified, the target point can be pasted on the wedge-shaped corner block and then on the aircraft's active surface so that the target point is in the camera's field of view. Before data collection, the device needs to be oriented and calibrated using a calibration ruler to unify the two cameras into a measurement coordinate system. After applying the calibration parameters, the position of the measurement camera cannot have any micro-movement. The three-dimensional coordinates of the target point before and after the movement of the aircraft rudder are obtained through photogrammetry equipment, and then the actual deflection angle of the aircraft rudder is calculated on the edge server based on the measured three-dimensional coordinates of the target point. The actual deflection angle of the aircraft rudder is compared with the angle value set by the control command to determine whether the rudder of the aircraft to be tested accurately executes the control command.

[0053] like Figure 2As shown in the figure, the aircraft rudder surface deflection angle measurement architecture diagram based on the industrial Internet of Things. Combining the industrial Internet of Things and edge computing technology, a non-contact collaborative measurement perception network architecture for multiple rudder surface deflection angles in the aircraft assembly stage is constructed. Under this architecture, the synchronous and accurate measurement of multiple aircraft rudder surfaces can be achieved. By deploying multiple perception terminals and edge servers, an efficient and real-time data acquisition and processing network is constructed. On multiple rudder surfaces to be measured on the aircraft, photogrammetry equipment and target points are deployed according to a predetermined distribution strategy to form multiple target point subnets. The industrial camera can cover the working area of ​​a single or multiple rudder surfaces. The perception terminal is connected to the edge server through the industrial 5G private network. The edge server is located in the measurement control area of ​​the aircraft assembly workshop and has powerful data processing and computing capabilities. Each perception terminal uploads the collected image data to the edge server. After receiving the data, the server calculates the three-dimensional coordinates of the target point, calculates the rudder surface deflection angle, performs error analysis, and performs preliminary visualization of the data, and feeds the results back to the on-site workshop in real time. With the support of the industrial Internet of Things architecture, the coordinated measurement of multiple aircraft control surfaces can be achieved, and the number and location of sensing terminals can be flexibly added or adjusted according to actual needs, greatly improving the test efficiency of the final assembly stage. In addition, the sensing network under this architecture has real-time monitoring and data processing capabilities, ensuring that ground test personnel can obtain measurement results in real time, facilitating timely adjustment of the flight control system, and ensuring the efficiency and quality stability of the aircraft final assembly process.

[0054] like Figure 3 The inherent properties of the rigid body ensure that all target points maintain the consistency of relative position during the movement, and undergo the same rotation transformation as the aircraft's control surface. The triangular face formed by any three non-collinear target points rotates synchronously with the aircraft's control surface. Select three target points S 03 , S 05 , S 06 The triangular patch A0B0C0 is formed. The deflection process of the aircraft rudder can be represented by the rotation of the triangular patch, so the problem of calculating the deflection angle of the aircraft rudder can be transformed into calculating the rotation angle between the triangular patch A0B0C0 before the rotation and the triangular patch A1B1C1 after the rotation. By establishing local coordinate systems O0-X0Y0Z0 and O1-X1Y1Z1 for the two triangular patches respectively to characterize their spatial posture, the positional relationship between the two triangular patches can be represented by the positional relationship between the two local coordinate systems. Therefore, the problem of calculating the deflection angle of the aircraft rudder is ultimately transformed into the problem of calculating the rotation angle between the two coordinate systems.

[0055] like Figure 4 As shown in the figure, the aircraft control surface deflection angle measurement method based on visual network and three-dimensional coordinates has the following specific steps:

[0056] (1) Adjust the camera positions so that the images captured by at least two cameras overlap. At the same time, ensure that the aircraft control surface moves or rotates in the camera field of view, and the target point on the surface remains in the camera field of view. Use the calibration reference ruler to calibrate the photogrammetric equipment.

[0057] (2) A target point is placed on the surface of the aircraft rudder to be tested. At least two cameras simultaneously acquire images of the target point at different perspectives. The images are uploaded to the edge server through the industrial 5G private network. The target point is accurately matched through an image processing algorithm and the three-dimensional spatial coordinates of the target point are calculated.

[0058] (3) Calculate the aircraft control surface deflection angle based on the three-dimensional coordinates of the target point. The specific steps are as follows:

[0059] The first step is to select three non-collinear target points on the aircraft control surface. The three target points before and after the aircraft control surface is deflected form two triangular facets respectively.

[0060] The second step is to establish a local coordinate system for the two triangular facets according to the same rules to characterize the positions of the two triangular facets in space. The method of establishing the local coordinate system includes:

[0061] a Select a vertex of the triangle as the origin of the local coordinate system, and the two triangles select the vertex corresponding to the same target point;

[0062] b. Select an edge of the triangle patch starting from the origin as the X-axis direction of the local coordinate system, and the two triangle patches select the edges corresponding to the same target point;

[0063] c. Select the cross product direction of the X-axis and the other edge of the triangle starting from the origin as the Y-axis direction of the local coordinate system, and the two triangles select the edges corresponding to the same target point;

[0064] d. Determine the Z axis of the local coordinate system according to the right-hand coordinate rule;

[0065] The third step is to use the unit vector of the local coordinate system's coordinate axis to calculate the rotation matrix R between the two coordinate systems;

[0066] The rotation matrix between the two local coordinate systems is calculated according to the formula, where the unit vectors corresponding to the three coordinate axes of the coordinate system before deflection are (i0, j0, k0) and the unit vectors corresponding to the three coordinate axes of the coordinate system after deflection are (i1, j1, k1).

[0067] The formula is as follows:

[0068]

[0069] The fourth step is to use the properties of the rotation matrix to calculate the rotation angle φ between the two local coordinate systems from the rotation matrix R. Through the conversion, the deflection angle θ of the aircraft rudder surface is the same as φ, thereby obtaining the aircraft rudder surface deflection angle. The formula for the aircraft rudder surface deflection angle is:

[0070]

[0071] The preferred specific embodiments of the present invention are described in detail above. It should be understood that ordinary technicians in the field can make many modifications and changes based on the concept of the present invention without creative work. Therefore, all technical solutions that can be obtained by technicians in the technical field based on the concept of the present invention through logical analysis, reasoning or limited experiments on the basis of the prior art should be within the scope of protection determined by the claims.

Claims

1. A method for measuring the deflection angle of an aircraft control surface based on three-dimensional coordinates, characterized in that: include: (1) Use photogrammetry equipment to obtain the three-dimensional coordinates of the target points on the aircraft control surface and upload them to the edge server; (2) Calculate the aircraft control surface deflection angle based on the three-dimensional coordinates of the target point.

2. The method for measuring the aircraft control surface deflection angle based on three-dimensional coordinates as claimed in claim 1, characterized in that: In step (1), a target point is placed on the surface of the aircraft rudder to be tested, the photogrammetry equipment is calibrated, at least two cameras synchronously acquire images of the target point at different viewing angles, the images are uploaded to the edge server via the industrial 5G private network, and the target point is accurately matched and the three-dimensional spatial coordinates of the target point are calculated using an image processing algorithm.

3. The method for measuring the aircraft control surface deflection angle based on three-dimensional coordinates as claimed in claim 1, characterized in that: Step (1) Before using the photogrammetric device to obtain the three-dimensional coordinates, the following operations need to be performed: adjust the camera position so that the shooting images of at least two cameras have overlapping parts, and at the same time ensure that the aircraft control surface moves or rotates in the camera field of view, and the target point on the surface is still located in the camera field of view, and calibrate the photogrammetric device using a calibration reference ruler.

4. The method for measuring the aircraft control surface deflection angle based on three-dimensional coordinates as claimed in claim 1, characterized in that: Step (2) The method for calculating the deflection angle of the aircraft control surface based on the three-dimensional coordinates of the target point includes: The first step is to select three non-collinear target points on the aircraft control surface. The three target points before and after the aircraft control surface is deflected form two triangular facets respectively. The second step is to establish a local coordinate system for the two triangular facets according to the same rules to represent the positions of the two triangular facets in space; The third step is to use the unit vector of the local coordinate system's coordinate axis to calculate the rotation matrix R between the two coordinate systems; The fourth step is to use the properties of the rotation matrix to calculate the rotation angle φ between the two local coordinate systems from the rotation matrix R. Through the conversion, the deflection angle θ of the aircraft control surface is the same as φ, thus obtaining the deflection angle of the aircraft control surface.

5. The method for measuring the aircraft control surface deflection angle based on three-dimensional coordinates as claimed in claim 4, characterized in that: The process of establishing the local coordinate system in the second step is as follows: a Select a vertex of the triangle as the origin of the local coordinate system, and the two triangles select the vertex corresponding to the same target point; b. Select an edge of the triangle patch starting from the origin as the X-axis direction of the local coordinate system, and the two triangle patches select the edges corresponding to the same target point; c. Select the cross product direction of the X-axis and the other edge of the triangle starting from the origin as the Y-axis direction of the local coordinate system, and the two triangles select the edges corresponding to the same target point; d Determine the Z axis of the local coordinate system according to the right-hand coordinate rule.

6. The method for measuring the aircraft control surface deflection angle based on three-dimensional coordinates as claimed in claim 4, characterized in that: In the third step, the rotation matrix between the two local coordinate systems is calculated according to the formula, where the unit vectors corresponding to the three coordinate axes of the coordinate system before deflection are (i0, j0, k0) and the unit vectors corresponding to the three coordinate axes of the coordinate system after deflection are (i1, j1, k1). The formula is as follows:

7. The method for measuring the aircraft control surface deflection angle based on three-dimensional coordinates as claimed in claim 4, characterized in that: In the fourth step, the formula for the aircraft rudder deflection angle is:

8. A non-contact measurement system, characterized in that: The non-contact measurement system implements the aircraft control surface deflection angle measurement method based on three-dimensional coordinates as described in claims 1-7.

9. A non-contact collaborative measurement perception network architecture for aircraft control surface deflection angle, characterized in that: The aircraft control surface angle non-contact collaborative measurement perception network architecture performs synchronous and precise measurement of at least two aircraft control surfaces by implementing the aircraft control surface angle measurement method based on three-dimensional coordinates as described in claims 1-7.

10. The aircraft control surface deflection angle non-contact collaborative measurement perception network architecture according to claim 9, characterized in that: On at least two control surfaces to be measured of the aircraft, the photogrammetry equipment and the target points are deployed according to a predetermined distribution strategy to form at least two target point subnets, and the industrial camera covers the working area of ​​the control surface; The perception terminal is connected to the edge server through the industrial 5G private network. The edge server is located in the measurement and control area of ​​the aircraft assembly workshop and has data processing and computing capabilities. Each perception terminal uploads the collected image data to the edge server. After receiving the data, the server calculates the three-dimensional coordinates of the target point, the deflection angle of the rudder surface, performs error analysis and preliminary visualization of the data, and provides real-time feedback on the results.

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