Three-dimensional coordinate-based aircraft control surface deflection measurement method, system, and network architecture

Abstract

The application discloses a kind of based on three-dimensional coordinate aircraft rudder surface deflection angle measurement method, system and network architecture, including using photogrammetry equipment obtains the three-dimensional coordinates of aircraft rudder surface surface target point, and upload to edge server;Based on the three-dimensional coordinates of target point calculates aircraft rudder surface deflection angle.The application considers the curved surface characteristics of aircraft rudder surface, improves the precision and efficiency of measurement, and the non-contact measurement mode avoids the wear of rudder surface.In aircraft assembly workshop, fast, accurate rudder surface deflection angle measurement can shorten test cycle, improve production efficiency.In addition, this measurement mode is easy to operate, and has strong adaptability, can be popularized and applied in various non-contact measurement scenes.

Description

Technical Field

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

[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 control surfaces and the preset angle directly affects the attitude stability of the aircraft. Therefore, accurate measurement of the actual deflection angle of the control surfaces before flight is crucial for ensuring attitude control during flight. To ensure safe flight, during the functional testing phase of the flight control system in the final assembly stage of the aircraft, it is necessary to accurately measure the actual rotation angle of each moving surface to determine whether the angle required by the control command has been met. In recent years, with the increasing variety of aircraft types for various purposes, the workload and accuracy requirements for control surface angle measurement have also increased, making rapid and accurate control surface angle measurement technology an important need in the aviation field.

[0003] Currently, the main measurement methods used in aircraft final assembly production are mechanical rulers and tilt sensors. Measurements require three operators: Operator A controls the control surfaces in the cockpit, Operator B measures the control surface deflection angle, and Operator C assists Operator B by communicating the measured angle to Operator A in the cockpit via walkie-talkie. Operator A then confirms whether the actual control surface rotation angle matches the operator's input angle. These traditional methods rely on manual operation, are prone to significant reading errors, have low digitization levels, and struggle to achieve accurate traceability. Furthermore, the measuring fixtures are typically fixed to the aircraft control surfaces, which can cause wear and tear, potentially impacting aircraft safety.

[0004] In recent years, the application of next-generation information technology and the Industrial Internet of Things (IIoT) in industrial measurement has been increasing, providing new solutions for improving measurement accuracy and system collaboration capabilities. The core idea of ​​the IIoT is to connect various sensors, measuring devices, and computing units through a network to form a sensing network, thereby enabling real-time data acquisition, transmission, and processing. In the scenario of control surface deflection measurement, by deploying multiple sensing terminals, real-time deflection data of multiple control surfaces can be collected simultaneously. This data is uploaded to an edge server via a 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 the results back to the upper-level system to achieve rapid response and efficient collaborative measurement.

[0005] Domestic patent application number 202411194713.6, entitled "An Aircraft Control Surface Angle Detection System and Method," proposes an aircraft control surface detection system comprising a host computer, multiple tooling fixtures, and multiple wireless sensors. This system improves the efficiency of aircraft control surface angle detection; however, the use of threaded locking fixtures can easily cause wear on the aircraft control surface. Domestic patent application number 202311746356.5, entitled "An External Measurement Method for Aircraft Control Surface Deflection Angle Based on an Inertial Measurement Unit," solves the problem that inertial measurement units cannot measure the rotation angle of rudders with their rotation axis located in a vertical plane by establishing a control surface rotation motion model. However, the inertial measurement unit still needs to be fixed to the control surface being measured, and the fixing process may cause wear on the surface. The domestic patent application number 202011187660.7, entitled "A Rotation Angle Accuracy Detection Device and Method Based on Laser Detection System", designs a laser-based rotation angle measurement device that can achieve high measurement accuracy. However, the installation process is complex and has relatively stringent requirements for the operating environment and personnel's technical skills.

[0006] During the functional testing of flight control systems in the aircraft final assembly workshop, traditional control surface measurement methods employ mechanical measuring tools. These tools are typically installed on the movable control surfaces of specific types of aircraft using specialized fixtures or jigs, and then the measurement scale is read manually. This method suffers from problems such as low measurement efficiency, large reading errors, low digitization, and the fixtures easily causing wear on the aircraft control surfaces. 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 measurement methods are inefficient, have large reading errors and low degree of digitization.

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

[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] This invention provides a method for measuring aircraft control surface deflection angles based on visual networks and three-dimensional coordinates. Utilizing photogrammetry equipment, it enables non-contact and high-precision measurement. The convenient operation reduces manpower, improves measurement efficiency, and avoids wear on the aircraft control surface from the measuring fixture. Furthermore, photogrammetry offers advantages such as a large field of view and continuous measurement, allowing for simultaneous dynamic measurement of multiple aircraft control surface deflection angles. Employing industrial IoT technology enables efficient and reliable data transmission and flexible equipment deployment, significantly improving testing efficiency and enhancing the efficiency and quality of the aircraft final assembly testing process.

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

[0013] In another preferred embodiment of the present invention, before obtaining three-dimensional coordinates using photogrammetry equipment in step (1), the operation to be performed is: adjusting the camera position so that the images captured by at least two cameras have overlapping parts, while ensuring that the aircraft control surfaces move or rotate in the camera's field of view, and the target points on the surface are still located in the camera's field of view, and calibrating the photogrammetry equipment using a calibration reference ruler.

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

[0015] The first step is to select three non-collinear target points on the aircraft control surface. Before and after the aircraft control surface deflects, these three target points form two triangular patches respectively.

[0016] The second step is to establish a local coordinate system for the two obtained triangular facets according to the same rules, so as to represent the pose of the two triangular facets in space.

[0017] The third step is to use the unit vectors of the obtained local coordinate system coordinate axes 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 using the rotation matrix R. Through transformation, the deflection angle θ of the aircraft control surface is the same as φ, thus obtaining the aircraft control surface deflection angle.

[0019] Based on the properties of rigid transformation and rotation matrix of an object, and considering 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] This invention establishes local coordinate systems before and after the control surface rotation, and derives the rotation matrix between these 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 triangular facets, and constructs local coordinate systems based on their relative positions, transforming the measurement of the control surface deflection angle into the calculation of the rotation angle within these local coordinate systems. By utilizing 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 error accumulation in traditional measurement processes. Furthermore, this invention utilizes the property that the target points maintain consistent relative positions during rigid body motion, linking the rotation transformation of the control surface with the rotation of the triangular facets. This ensures that the changes in the three-dimensional coordinates of the target points accurately reflect the overall deflection angle changes of the control surface, significantly improving the stability and accuracy of the measurement while simplifying the operation process.

[0021] This invention, by introducing a local coordinate system and a rotation matrix calculation method, enables precise measurement of the deflection angle of a control surface without contact with the object being measured. The introduction of the local coordinate system allows for angle measurement of control surfaces with complex shapes in three-dimensional space through simple coordinate transformations, avoiding error accumulation in complex calculation processes and significantly improving measurement accuracy.

[0022] By utilizing photogrammetry equipment, this invention achieves completely non-contact measurement of control surface deflection, reducing the risk of wear and damage to the aircraft control surface. Simultaneously, due to the use of automated image processing and three-dimensional coordinate calculation, operators are freed from tedious manual operations, significantly simplifying the measurement process and improving measurement efficiency.

[0023] The consistency of the relative positions of the target points and the stability of the local coordinate system ensure the robustness of the measurement process. Even during the rotation of the control surface, the synchronous rotation of the triangular facet with the control surface keeps the measurement results stable, enabling it to meet the measurement needs of complex environments and dynamic objects.

[0024] Furthermore, this invention can be used not only for measuring the deflection angle of aircraft control surfaces, but also extended to measuring the deflection angle of other complex surfaces, demonstrating strong versatility. Simultaneously, this invention exhibits high scalability, allowing for flexible adjustment of the local coordinate system and target point arrangement according to different measurement needs, making it suitable for various non-contact measurement scenarios.

[0025] In the flight control system functional testing phase of aircraft final assembly, the method of this invention can quickly and accurately measure the actual deflection angle of the aircraft control surfaces, improving testing efficiency and quality, and ensuring safe flight after aircraft delivery.

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

[0027] a. Select one vertex of the triangular facet as the origin of the local coordinate system, and select the vertex corresponding to the same target point for both triangular faces;

[0028] b. Select one edge of the triangular facet starting from the origin as the X-axis direction of the local coordinate system, and select the edge corresponding to the same target point for the two triangular faces.

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

[0030] d. Determine the Z-axis of the local coordinate system according to the right-hand coordinate system 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 the deflection are (i0, j0, k0) in sequence, and the unit vectors corresponding to the three coordinate axes of the coordinate system after the 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] Secondly, the present invention provides a non-contact measurement system that implements the aircraft control surface deflection angle measurement method based on visual networks 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 photogrammetric equipment is used to acquire the three-dimensional coordinates of the target points. An edge server deploys an angle calculation algorithm, and an industrial 5G private network is used for data transmission within the system, together enabling the measurement of aircraft control surface deflection angles.

[0039] To address the need for measuring aircraft control surface deflection angle during flight control system testing, and combining the advantages of binocular vision measurement such as non-contact operation, high precision, and large field of view, this invention designs a non-contact aircraft control surface deflection angle measurement system based on the Industrial Internet. The edge server acquires the three-dimensional coordinates of the target points on the aircraft control surface collected by the photogrammetry equipment through an industrial 5G private network. Based on these coordinates, the aircraft control surface deflection angle is calculated, enabling non-contact measurement of the aircraft control surface deflection angle.

[0040] Thirdly, the present invention provides a non-contact collaborative measurement and sensing network architecture for aircraft control surface deflection. This architecture enables synchronous and accurate measurement of at least two aircraft control surfaces by implementing the aircraft control surface deflection measurement method based on visual networks and three-dimensional coordinates as described in the first aspect.

[0041] In another preferred embodiment of the present invention, photogrammetry equipment and target points are deployed on at least two control surfaces to be measured on the aircraft 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 surfaces.

[0042] The sensing terminal is connected to the edge server via an industrial 5G private network. The edge server is located in the measurement and control area of ​​the aircraft final assembly workshop and has data processing and computing capabilities. Each sensing terminal uploads the collected image data to the edge server. After receiving the data, the server performs three-dimensional coordinate calculation of the target point, calculation of the control surface deflection angle, error analysis, and preliminary data visualization processing, and feeds back the results in real time.

[0043] Technical effect

[0044] This invention discloses a method for calculating aircraft control surface deflection angles based on the three-dimensional coordinates of target points, primarily applied to the functional testing phase of flight control systems during aircraft final assembly. The method utilizes photogrammetry to acquire the three-dimensional coordinates of target points on the aircraft control surface. An algorithm is then designed to convert the rotation of the control surface into the rotation of triangular facets, calculating the deflection angle of the control surface based on the three-dimensional coordinates of the target points. This calculation method considers the curved surface characteristics of the aircraft control surface, improving measurement accuracy and efficiency. Furthermore, the non-contact measurement method avoids wear on the control surface. In aircraft final assembly workshops, rapid and accurate control surface deflection angle measurement can shorten testing cycles and improve production efficiency. In addition, this measurement method is simple to operate, highly adaptable, and can be widely applied in various non-contact measurement scenarios.

[0045] The following will further explain the concept, specific structure, and technical effects of the present invention in conjunction with the accompanying drawings, so as to fully understand the purpose, features, and effects of the present invention. Attached Figure Description

[0046] Figure 1 This is a schematic diagram of a preferred embodiment of the non-contact measurement system for aircraft control surface deflection angle.

[0047] Figure 2 This is a preferred embodiment of the measurement architecture diagram for aircraft control surface deflection angle based on the Industrial Internet of Things.

[0048] Figure 3 This is a schematic diagram illustrating the calculation and conversion process of aircraft control surface deflection angle according to a preferred embodiment of the present invention.

[0049] Figure 4 This is a preferred embodiment of the aircraft control surface deflection angle measurement method based on visual networks and three-dimensional coordinates. Detailed Implementation

[0050] The following description, with reference to the accompanying drawings, illustrates several preferred embodiments of the present invention to make its technical content clearer and easier to understand. The present invention can be embodied in many different forms, and the scope of protection of the present invention is not limited to the embodiments mentioned herein.

[0051] In the accompanying drawings, components with the same structure are indicated by the same numerical designation, and components with similar structures or functions are indicated by similar numerical designations. The dimensions and thicknesses of each component shown in the drawings are arbitrary, and the present invention does not limit the dimensions and thicknesses of each component. To make the illustrations clearer, the thickness of some components has been appropriately exaggerated in the drawings.

[0052] like Figure 1 The diagram shows a non-contact measurement system for aircraft control surface deflection. During the ground functional testing of the flight control system in the final assembly phase of an aircraft, it is necessary to accurately measure the actual rotation angle of the aircraft's moving surfaces to determine whether control requirements are met, ensuring safe flight after delivery. With the aircraft parked on the ground, photogrammetry equipment is used to acquire the spatial coordinates of target points. This equipment mainly consists of a measuring camera and a controller. During data acquisition, the controller provides power and control signals to the camera and uploads the image information captured by the camera to an edge server via an industrial 5G private network. The accompanying software installed on the edge server calculates the three-dimensional coordinates of the target points. During testing, target points are first attached to the surface of the aircraft's control surfaces. Then, the camera positions are adjusted to ensure a high degree of overlap between the images captured by the two cameras. Simultaneously, it is crucial to ensure that the coded points on the surface remain within the camera's field of view even when the aircraft control surfaces move or rotate within the camera's field of view. When the control surfaces are perpendicular to the camera's field of view, making the target points unrecognizable, the target points can be attached to wedge-shaped corner blocks and then to the aircraft's moving surfaces, ensuring that the target points are within the camera's field of view. Before data acquisition, equipment orientation is required. Calibration is performed using a calibration reference ruler to unify the two cameras into a single measurement coordinate system. After applying the calibration parameters, the position of the measuring camera must remain perfectly still. The photogrammetric equipment acquires the three-dimensional coordinates of the target point before and after the aircraft control surface movement. Then, on an edge server, the actual deflection angle of the aircraft control surface is calculated based on the measured three-dimensional coordinates of the target point. The actual deflection angle of the aircraft control surface is compared with the control command set angle value to determine whether the aircraft control surface accurately executes the control command.

[0053] like Figure 2The diagram shows an architecture for measuring aircraft control surface deflection angles based on the Industrial Internet of Things (IIoT). Combining IIoT and edge computing technologies, a non-contact collaborative measurement sensing network architecture for multiple control surface deflections during aircraft final assembly is constructed. This architecture enables simultaneous and accurate measurement of multiple aircraft control surfaces. By deploying multiple sensing terminals and edge servers, a highly efficient, real-time data acquisition and processing network is built. Photogrammetric equipment and target points are deployed on multiple control surfaces to be measured according to a predetermined distribution strategy, forming multiple target point subnets. Industrial cameras can cover the working area of ​​one or more control surfaces. Sensing terminals are connected to the edge server via an industrial 5G private network. The edge server is located in the measurement and control area of ​​the aircraft final assembly workshop and possesses powerful data processing and computing capabilities. Each sensing terminal uploads the acquired image data to the edge server. After receiving the data, the server performs 3D coordinate calculation of the target points, calculation of the control surface deflection angle, error analysis, and preliminary data visualization processing, and feeds the results back to the workshop in real time. Supported by an Industrial Internet of Things (IIoT) architecture, collaborative measurement of multiple aircraft control surfaces can be achieved. Furthermore, the number and location of sensing terminals can be flexibly added or adjusted according to actual needs, significantly improving testing efficiency during the final assembly phase. In addition, the sensing network under this architecture possesses real-time monitoring and data processing capabilities, ensuring that ground testing personnel can obtain measurement results instantly, facilitating timely adjustments to the flight control system and guaranteeing high efficiency and stable quality throughout the aircraft final assembly process.

[0054] like Figure 3 The diagram illustrates the principle of the control surface deflection calculation and conversion process. The inherent properties of the rigid body ensure that all target points maintain consistent relative positions during motion, undergoing the same rotational transformation as the aircraft control surface. Any triangular facet formed by three non-collinear target points rotates synchronously with the aircraft control surface. Three target points S are selected... 03 S 05 S 06 A triangular facet A0B0C0 is formed. The deflection process of the aircraft control surface can be represented by the rotation of the triangular facet. This transforms the problem of calculating the deflection angle of the aircraft control surface into calculating the rotation angle between the triangular facet A0B0C0 before rotation and the triangular facet A1B1C1 after rotation. By establishing local coordinate systems O0-X0Y0Z0 and O1-X1Y1Z1 for the two triangular facets respectively, their spatial poses can be characterized. Thus, the positional relationship between the two triangular facets can be represented by the positional relationship between the two local coordinate systems. Therefore, the problem of calculating the deflection angle of the aircraft control surface is ultimately transformed into calculating the rotation angle between the two coordinate systems.

[0055] like Figure 4 As shown, the specific steps of the aircraft control surface deflection angle measurement method based on visual networks and three-dimensional coordinates are as follows:

[0056] (1) Adjust the camera position so that the images captured by at least two cameras overlap, while ensuring that the aircraft control surfaces move or rotate within the camera's field of view, and that the target points on the surface remain within the camera's field of view. Use a calibration reference ruler to calibrate the photogrammetry equipment.

[0057] (2) Place target points on the control surface of the aircraft to be tested, and at least two cameras simultaneously acquire images of the target points from different perspectives. Upload the images to the edge server through the industrial 5G private network, and use image processing algorithms to accurately match the target points and calculate the three-dimensional spatial coordinates of the target points.

[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. Before and after the aircraft control surface deflects, these three target points form two triangular patches respectively.

[0060] The second step is to establish a local coordinate system for the two resulting triangular faces according to the same rules, in order to represent the pose of the two triangular faces in space; the methods for establishing the local coordinate system include:

[0061] a. Select one vertex of the triangular facet as the origin of the local coordinate system, and select the vertex corresponding to the same target point for both triangular faces;

[0062] b. Select one edge of the triangular facet starting from the origin as the X-axis direction of the local coordinate system, and select the edge corresponding to the same target point for the two triangular faces.

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

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

[0065] The third step is to use the unit vectors of the obtained local coordinate system coordinate axes 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. Before the rotation, the unit vectors corresponding to the three coordinate axes of the coordinate system are (i0, j0, k0) and after the rotation, the unit vectors corresponding to the three coordinate axes of the coordinate system are (i1, j1, k1).

[0067] The formula is as follows:

[0068]

[0069] The fourth step involves using the properties of rotation matrices to calculate the rotation angle φ between the two local coordinate systems from the rotation matrix R. Through transformation, the deflection angle θ of the aircraft control surfaces becomes the same as φ, thus obtaining the aircraft control surface deflection angle. The formula for the aircraft control surface deflection angle is:

[0070]

[0071] The preferred embodiments of the present invention have been described in detail above. It should be understood that those skilled in the art can make numerous modifications and variations based on the concept of the present invention without creative effort. Therefore, all technical solutions that can be obtained by those skilled in the art based on the concept of the present invention through logical analysis, reasoning, or limited experimentation on the basis of existing technology should be within the scope of protection defined by the claims.

Claims

1. A method for measuring the deflection angle of aircraft control surfaces 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; The first step is to select three non-collinear target points on the aircraft control surface. Before and after the aircraft control surface deflects, these three target points form two triangular patches respectively. The second step is to establish a local coordinate system for the two obtained triangular facets according to the same rules, so as to represent the pose of the two triangular facets in space. The third step is to use the unit vectors of the obtained local coordinate system coordinate axes to calculate the rotation matrix R between the two coordinate systems; The fourth step involves using the properties of rotation matrices to calculate the rotation angle Φ between the two local coordinate systems from the rotation matrix R. Through transformation, the deflection angle θ of the aircraft control surfaces becomes the same as Φ, thus obtaining the aircraft control surface deflection angle. The formula for the aircraft control surface deflection angle is: 。 2. The method for measuring aircraft control surface deflection angle based on three-dimensional coordinates as described in claim 1, characterized in that, In step (1), target points are attached to the control surface of the aircraft to be tested, the photogrammetry equipment is calibrated, at least two cameras simultaneously acquire images of the target points from different perspectives, the images are uploaded to the edge server through the industrial 5G private network, and the target points are accurately matched and the three-dimensional spatial coordinates of the target points are calculated through image processing algorithms.

3. The method for measuring aircraft control surface deflection angle based on three-dimensional coordinates as described in claim 1, characterized in that, Before obtaining three-dimensional coordinates using photogrammetry equipment in step (1), the following operations must be performed: adjust the camera position so that the images captured by at least two cameras have overlapping parts, while ensuring that the aircraft control surfaces move or rotate within the camera's field of view, and that the target points on the surface remain within the camera's field of view. Then, calibrate the photogrammetry equipment using a calibration reference ruler.

4. The method for measuring aircraft control surface deflection angle based on three-dimensional coordinates as described in claim 1, characterized in that, The process of establishing the local coordinate system in the second step is as follows: a. Select one vertex of the triangular facet as the origin of the local coordinate system, and select the vertex corresponding to the same target point for both triangular faces; b. Select one edge of the triangular facet starting from the origin as the X-axis direction of the local coordinate system, and select the edge corresponding to the same target point for the two triangular faces. c. Select the cross product direction of the X-axis and the other edge of the triangular facet starting from the origin as the Y-axis direction of the local coordinate system, and select the edge corresponding to the same target point for the two triangular faces. d. Determine the Z-axis of the local coordinate system according to the right-hand coordinate system rule.

5. The method for measuring aircraft control surface deflection angle based on three-dimensional coordinates as described in claim 1, 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 the deflection are as follows: After the deflection, the unit vectors corresponding to the three coordinate axes of the coordinate system are as follows: ; The formula is as follows: 。 6. 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 1-5.

7. A non-contact collaborative measurement and sensing network architecture for aircraft control surface deflection, characterized in that, The non-contact collaborative measurement and sensing network architecture for aircraft control surface deflection angles enables synchronous and accurate measurement of at least two aircraft control surfaces by implementing the three-dimensional coordinate-based aircraft control surface deflection angle measurement method as described in claims 1-5.

8. The non-contact collaborative measurement and sensing network architecture for aircraft control surface deflection as described in claim 7, characterized in that, On at least two control surfaces of the aircraft to be tested, photogrammetric equipment and target points are deployed according to a predetermined distribution strategy to form at least two target point subnets, and industrial cameras cover the working area of ​​the control surfaces. The sensing terminal is connected to the edge server via an industrial 5G private network. The edge server is located in the measurement and control area of ​​the aircraft final assembly workshop and has data processing and computing capabilities. Each sensing terminal uploads the collected image data to the edge server. After receiving the data, the server performs three-dimensional coordinate calculation of the target point, calculation of the control surface deflection angle, error analysis, and preliminary data visualization processing, and feeds back the results in real time.

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