Attitude measurement system, method and equipment of attitude heading airborne equipment bracket and medium

Abstract

The embodiment of the invention discloses an attitude measurement system, method and equipment for a navigation attitude airborne equipment bracket and a medium. Comprising an upper terminal and at least three attitude measurement terminals fixedly arranged in a cabin, wireless communication connection is established between the upper terminal and each attitude measurement terminal; each attitude measurement terminal is used for determining attitude information of a heading attitude airborne equipment bracket arranged in a cabin through acquired attitude related data after detecting that the attitude measurement terminal is in a normal measurement mode, and feeding back the attitude information to the upper terminal; and the upper terminal is used for displaying the attitude information fed back by each attitude measurement terminal on a displayed attitude measurement result display interface, so that the problem that measurement data needs to be manually recorded is avoided, and meanwhile, the convenience and accuracy of attitude data measurement of the heading attitude airborne equipment bracket are improved; and high-precision measurement of the attitude angle of the attitude and heading airborne equipment bracket is realized.

Description

Technical Field

[0001] The embodiments of the present disclosure relate to the field of flight control technology, and in particular to an attitude measurement system, method, device and medium for an attitude airborne equipment bracket. Background Art

[0002] The installation status of the brackets and base plates of the aircraft's inertial reference system and other airborne equipment may cause errors in attitude angles, affecting the flight safety of the aircraft. At present, the commonly used measurement methods for attitude angle measurement of airborne equipment such as attitude and navigation are laser trackers and photographic measurement.

[0003] The existing method for measuring the attitude of the airborne equipment bracket has the problem that the measuring device is complex and is not suitable for the scenario where the measured bracket is located inside the cabin. In addition, the power cord, data cable and other adapter cables of the existing measuring device are too long to make wireless measurement. In addition, the measurement data of the existing measuring device needs to be recorded manually, which affects the measurement efficiency. Summary of the invention

[0004] The embodiments of the present disclosure provide a system, method, device and medium for measuring the attitude of an airborne equipment bracket, which realize high-precision measurement of the attitude data of the airborne equipment bracket.

[0005] In a first aspect, an attitude measurement system for an attitude airborne equipment bracket is provided, comprising: a host terminal and at least three attitude measurement terminals fixed inside a cabin; the host terminal establishes a wireless communication connection with each of the attitude measurement terminals;

[0006] Each of the attitude measurement terminals is used to determine the attitude information of the heading attitude airborne equipment bracket arranged in the cabin through the collected attitude related data after detecting that it is in the normal measurement mode, and feed back the attitude information to the upper terminal;

[0007] The upper terminal is used to display the posture information fed back by each of the posture measurement terminals on the presented posture measurement result display interface.

[0008] In a second aspect, a method for measuring the attitude of an airborne equipment bracket is provided, which is performed by the attitude measurement system for the airborne equipment bracket provided by the first aspect of the embodiment of the present disclosure, and the method includes:

[0009] After detecting that the device is in a normal measurement mode, each attitude measurement terminal determines the attitude information of the attitude airborne equipment bracket set in the cabin through the collected attitude related data, and feeds back the attitude information to the upper terminal;

[0010] The posture information fed back by each of the posture measurement terminals is displayed on the posture measurement result display interface presented by the host terminal.

[0011] In a third aspect, an attitude measurement device for an attitude airborne equipment bracket is provided, which, when used as an attitude measurement terminal in the attitude measurement system for the attitude airborne equipment bracket provided in the first aspect of the embodiment of the present disclosure, includes:

[0012] Attitude sensor, used to collect spatial attitude data;

[0013] one or more processors;

[0014] a storage device for storing one or more programs,

[0015] When the one or more programs are executed by the one or more processors, the one or more processors implement the attitude information measurement logic in the attitude measurement method of the heading and attitude airborne equipment bracket provided in the second aspect of the embodiment of the present disclosure.

[0016] In a fourth aspect, a computer-readable storage medium is provided, on which a computer program is stored, characterized in that when the program is executed by a processor, the attitude measurement method of the attitude airborne equipment bracket provided in the above-mentioned second aspect of the embodiment of the present disclosure is implemented.

[0017] In a fifth aspect, a computer program product is provided, characterized in that the computer program product includes a computer program, and when the computer program is executed by a processor, the attitude measurement method of the attitude airborne equipment bracket provided in the above-mentioned second aspect of the embodiment of the present disclosure is implemented.

[0018] The disclosed embodiment discloses a system, method, device, and medium for measuring the attitude of an attitude airborne equipment bracket. The system includes: a host terminal and at least three attitude measurement terminals fixed inside the cabin; the host terminal establishes a wireless communication connection with each of the attitude measurement terminals; each of the attitude measurement terminals is used to determine the attitude information of the attitude airborne equipment bracket installed in the cabin through the collected attitude-related data after detecting that it is in a normal measurement mode, and feed back the attitude information to the host terminal; the host terminal is used to display the attitude information fed back by each of the attitude measurement terminals on the presented attitude measurement result display interface. The above technical solution uses the attitude measurement terminal to perform real-time measurement of the attitude airborne equipment bracket and uses the host terminal to display the attitude measurement results, thereby realizing high-precision measurement of the attitude angle of the attitude airborne equipment bracket.

[0019] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present disclosure, nor is it intended to limit the scope of the embodiments of the present disclosure. Other features of the embodiments of the present disclosure will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0021] Figure 1 It is a structural block diagram of an attitude measurement system of an attitude airborne equipment bracket provided according to the first embodiment of the present disclosure;

[0022] Figure 2 It is another structural block diagram of an attitude measurement system of an attitude airborne equipment bracket provided according to the first embodiment of the present disclosure;

[0023] Figure 3 It is a flow chart of a method for measuring the attitude of an airborne equipment bracket according to the second embodiment of the present disclosure;

[0024] Figure 4 A schematic diagram of an attitude measurement interface of a host terminal in an attitude measurement method of an airborne equipment bracket provided in a second embodiment of the present disclosure is provided;

[0025] Figure 5 A schematic diagram of an attitude calibration interface of a host terminal in an attitude measurement method of an airborne equipment bracket provided in the second embodiment of the present disclosure is given.

[0026] Figure 6 A flowchart of the steps of a method for measuring the attitude of an airborne equipment bracket provided in the second embodiment of the present disclosure is given.

[0027] Figure 7 A structural schematic diagram of the attitude measurement device of the heading attitude airborne equipment bracket provided in the third embodiment of the present disclosure is given. DETAILED DESCRIPTION

[0028] In order to enable those skilled in the art to better understand the embodiments of the present disclosure, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only embodiments of a part of the embodiments of the present disclosure, rather than all of the embodiments. Based on the embodiments in the embodiments of the present disclosure, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the embodiments of the present disclosure.

[0029] It should be noted that the terms "first", "second", etc. in the specification and claims of the embodiments of the present disclosure and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present disclosure described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product, or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products, or devices.

[0030] Embodiment 1

[0031] Figure 1 The present disclosure provides a structural block diagram of an attitude measurement system for an attitude airborne equipment bracket. This embodiment is applicable to the situation where the flight attitude of an attitude airborne equipment bracket is measured, such as Figure 1 As shown, the attitude measurement system 10 of the attitude airborne equipment bracket includes: a host terminal 101 and at least three attitude measurement terminals 102 fixed inside the cabin; the host terminal 101 establishes a wireless communication connection with each of the attitude measurement terminals 102;

[0032] Each attitude measurement terminal 102 is used to determine the attitude information of the attitude airborne equipment bracket set in the cabin through the collected attitude related data after detecting that it is in the normal measurement mode, and feed back the attitude information to the host terminal 101;

[0033] The upper terminal 101 is used to display the posture information fed back by each posture measurement terminal on the presented posture measurement result display interface.

[0034] The embodiment of the present disclosure provides an attitude measurement system 10 for an attitude and navigation airborne equipment bracket, comprising: an upper terminal 101 and at least three attitude measurement terminals 102 fixedly installed inside the cabin. The at least three attitude measurement terminals 102 include a master attitude measurement terminal 102 fixedly installed on a reference plane of the attitude and navigation airborne equipment bracket inside the cabin and at least two slave attitude measurement terminals 102 fixedly installed on a measurement plane of the attitude and navigation airborne equipment bracket inside the cabin; each of the slave attitude measurement terminals 102 establishes a communication connection with the master attitude measurement terminal 102; specifically, one of the three attitude measurement terminals 102 fixedly installed inside the cabin can directly communicate with the upper terminal 101 through wireless transmission as a host, and the remaining two attitude measurement terminals 102 can communicate with the attitude measurement terminal 102 as a host through wireless transmission as slaves.

[0035] It should be noted that the application scenario of the attitude measurement system of the heading and attitude airborne equipment bracket can be described as follows: in the attitude measurement system 10 of the heading and attitude airborne equipment bracket, each attitude measurement terminal 102 performs attitude measurement on each position of the heading and attitude airborne equipment bracket. Among them, the master attitude measurement terminal 102 as the host transmits the attitude data of the reference plane of the heading and attitude airborne equipment bracket measured by it to the upper terminal 101 through wireless communication; the two slave attitude measurement terminals 102 as slaves transmit the attitude data of the measurement plane of the heading and attitude airborne equipment bracket measured by it to the master attitude measurement terminal 102 through wireless communication, and the master attitude measurement terminal 102 transmits the attitude data measured by the two slave attitude measurement terminals 102 to the upper terminal 101 through wireless communication; at the same time, the master attitude measurement terminal 102 will also transmit the difference between the attitude data of the heading and attitude airborne equipment bracket measured by the slave attitude measurement terminal 102 and the master attitude measurement terminal 102 to the upper terminal 101 through wireless communication.

[0036] Each attitude measurement terminal 102 is used to determine the attitude information of the attitude airborne equipment bracket arranged in the cabin through the collected attitude related data after detecting that it is in the normal measurement mode, and feed back the attitude information to the host terminal 101.

[0037] It should be explained that after the attitude measurement system of the attitude airborne equipment bracket is started, each attitude measurement terminal 102 and the host terminal 101 are turned on. Among them, the attitude airborne equipment bracket can include a reference plane of the attitude airborne equipment built into the cabin and a measurement plane of the attitude airborne equipment bracket; the main attitude measurement terminal 102 determines the working mode of the attitude airborne equipment bracket. The working mode of the attitude airborne equipment bracket attitude measurement system is divided into a calibration mode and a normal measurement mode. The calibration mode can be a working mode in which the host terminal 101 is used to perform calibration operations on the main attitude measurement terminal 102 and the slave attitude measurement terminal 102. The normal measurement mode can be a working mode in which the main attitude measurement terminal 102 and the slave attitude measurement terminal 102 perform attitude measurement on the reference plane and the measurement plane of the attitude airborne equipment bracket through the main attitude measurement terminal 102 and the slave attitude measurement terminal 102 and display it in real time through the host terminal 101.

[0038] Among them, the working mode of the attitude measurement system of the attitude airborne equipment bracket can be judged by the main attitude measurement terminal 102. Exemplarily, the main attitude measurement terminal 102 includes a paddle, and the attitude measurement system working mode can be switched by paddle. Each attitude measurement terminal 102 can also include at least two light emitting diodes (LEDs) to indicate the power-on status of each measurement terminal 102 and the connection status of the main attitude measurement terminal 102 and the slave attitude measurement terminal 102. Exemplarily, when the LED light indicating the power-on status of each attitude measurement terminal 102 is green, it can indicate that each attitude measurement terminal 102 is in the power-on state; when the LED light indicating the connection status of each attitude measurement terminal 102 is green, it can indicate that the master and slave attitude measurement terminals 102 are in the connection state.

[0039] Specifically, when it is detected that the attitude measurement system is in the normal measurement mode, the master attitude measurement terminal 102 and the slave attitude measurement terminal 102 collect attitude information of the position of the heading attitude airborne equipment bracket set in the cabin. The attitude information may include a pitch attitude value and a roll attitude value. The pitch attitude value may be an attitude value measured when the aircraft fuselage is taken as the x-axis and the wing is taken as the y-axis, and the nose of the aircraft moves in a direction perpendicular to the x-axis and the y-axis, that is, the aircraft is in a head-up or head-down attitude. The roll attitude value may be an attitude value measured when the aircraft fuselage is taken as the x-axis and the aircraft fuselage rotates around the x-axis.

[0040] Continuing with the above description, after the main attitude measurement terminal 102 collects the attitude information of the reference plane of the heading and attitude airborne equipment bracket, it feeds back the attitude information to the host terminal 101 for display; after the slave attitude measurement terminal 102 collects the attitude information of the measurement plane of the heading and attitude airborne equipment bracket, it feeds back the attitude information to the main attitude measurement terminal 102, the main attitude measurement terminal 102 subtracts the attitude information measured by itself from the attitude information measured by the slave attitude measurement terminal 102 to obtain the difference between the two, and the main attitude measurement terminal 102 feeds back the difference to the host terminal 101 for real-time display.

[0041] In this embodiment, the upper terminal 101 is used to display the posture information fed back by each posture measurement terminal on the presented posture measurement result display interface.

[0042] Among them, the host terminal 101 can be a terminal device used to display the measurement data of the attitude measurement terminal 102. The host terminal 101 can include two parts, software and hardware. The software part of the host terminal 101 can provide web services for the attitude measurement system of the navigation and attitude airborne equipment bracket. The host computer hardware can be any portable terminal that can connect to the Internet, such as a laptop, a mobile phone, a tablet computer, etc. The host computer hardware can also perform firmware upgrades and / or program burning operations on each attitude measurement terminal 102. Start the browser on the portable terminal to log in to the web page to realize the display and operation of the pitch and roll attitude measurement page or calibration page of the navigation and attitude airborne equipment bracket. The attitude measurement page of the software part of the host terminal 101 can also provide dynamic measurement result display and screenshot saving functions.

[0043] The measurement interface of the attitude measurement system of the attitude airborne equipment bracket can realize the data display of the X-axis (pitch direction) and Y-axis (roll direction) in the attitude information measured by the main attitude measurement terminal 102 and the slave attitude measurement terminal 102, the data display of the attitude information difference, the connection status display and / or time display of each attitude measurement terminal 102, etc.

[0044] Continuing with the above description, the calibration page of the attitude measurement system of the attitude airborne equipment bracket can realize independent angle zero bias and synchronous angle zeroing operations on the X-axis (pitch direction), Y-axis (roll direction) x-axis, and y-axis of the attitude airborne equipment bracket respectively; the calibration page of the attitude measurement system of the attitude airborne equipment bracket can also provide the factory setting restore function of the attitude airborne equipment bracket and save the calibration time of the attitude airborne equipment bracket.

[0045] It can be known that the main attitude measurement terminal 102 feeds back the attitude information measured by itself and the difference between the attitude information of the main attitude measurement terminal 102 and the slave attitude measurement terminal 102 to the host terminal 101, and the attitude information fed back by each attitude measurement terminal is respectively presented in the set display area of ​​the attitude measurement result display interface of the host terminal 101 for real-time display.

[0046] In this embodiment, if the pitch attitude measurement value of the X-axis and the roll attitude measurement value of the Y-axis of the attitude airborne equipment bracket meet the preset standard, the measurement value of the attitude measurement page of the upper terminal 101 software part is displayed in green, otherwise the measurement value is displayed in red. Among them, the preset standard can be the attitude qualification standard of the measured bracket. The one-key screenshot function of the attitude measurement page of the upper terminal 101 software part can record the measurement results and the current measurement time, take a screenshot of the page and save it in a local folder.

[0047] The first embodiment of the present invention provides an attitude measurement system for an attitude airborne equipment bracket, comprising an upper terminal and at least three attitude measurement terminals fixed inside the cabin; the upper terminal establishes a wireless communication connection with each of the attitude measurement terminals; each of the attitude measurement terminals is used to determine the attitude information of the attitude airborne equipment bracket arranged in the cabin through the collected attitude-related data after detecting that it is in a normal measurement mode, and feed back the attitude information to the upper terminal; the upper terminal is used to display the attitude information fed back by each of the attitude measurement terminals on the presented attitude measurement result display interface. Each attitude measurement terminal can feed back the attitude information measured by it to the upper terminal for display through wireless communication. This technical solution uses wireless transmission to realize wireless connection and information transmission between attitude measurement terminals and between attitude measurement terminals and upper terminals, avoiding lengthy communication cables and improving measurement efficiency; at the same time, a high-precision attitude measurement sensor is used to measure attitude information, realizing high-precision measurement of the attitude of the attitude airborne equipment bracket, and improving the measurement quality of attitude information.

[0048] As a first optional embodiment of this embodiment, based on the above embodiment, Figure 2 Another structural block diagram of an attitude measurement system 10 of an attitude airborne equipment bracket provided in this embodiment is given. This first optional embodiment can optimize the attitude measurement terminal 102 provided, such as Figure 2 As shown, the posture measurement terminal 102 includes: a measurement control module 1021 , a posture data acquisition module 1022 and a wireless communication module 1023 .

[0049] Among them, the measurement control module 1021 is used to determine the working mode after receiving the start trigger instruction, and when it is determined to be in the normal measurement mode, it sends a collection instruction to the attitude data collection module 1022 and sends transmission mode information to the wireless communication module 1023 according to the master-slave affiliation determination result.

[0050] In this embodiment, each attitude measurement terminal 102 includes a measurement control module 1021. When each attitude measurement terminal 102 is powered on, the main attitude measurement terminal 102 determines the working mode of the attitude measurement system of the heading attitude airborne equipment bracket.

[0051] After the master attitude measurement terminal 102 determines that the working mode of the attitude measurement system is the normal measurement mode, it sends a collection instruction to the master attitude measurement terminal 102 and the attitude data collection module 1022 in the slave attitude measurement terminal 102, respectively, wherein the collection instruction may be an instruction for each attitude measurement terminal to start attitude measurement, and the transmission mode information may be information that can indicate the transmission target of the attitude data of the current attitude measurement terminal 102. At the same time, the transmission mode information will also be transmitted to each attitude measurement terminal 102 and the upper terminal 101 through the wireless communication module 1023. Exemplarily, the transmission mode information may be the attitude data acquired from the attitude measurement terminal 102 transmitted to the master attitude measurement terminal 102.

[0052] The attitude data acquisition module 1022 is used to acquire the spatial attitude data of the position of the heading attitude airborne equipment bracket through the included attitude sensor according to the received acquisition instruction and use it as the attitude information of the heading attitude airborne equipment bracket.

[0053] It should be noted that after each attitude data acquisition module 1022 receives the acquisition instruction issued by the measurement control module 1021, the attitude sensor in each attitude data acquisition module 1022 is started. The attitude sensor can be a high-precision attitude sensor that can achieve high-precision measurement of pitch attitude and roll attitude.

[0054] Continuing with the above description, the attitude sensors in each attitude data acquisition module 1022 collect the spatial attitude data of the position of the heading attitude airborne equipment bracket, wherein the spatial attitude data can be spatial data that can reflect the attitude change of the heading attitude airborne equipment bracket as the flight attitude of the aircraft changes, and exemplary, the spatial attitude data can be the attitude angle values ​​of the X-axis (pitch direction) and the Y-axis (roll direction). The obtained spatial attitude data can be regarded as the attitude information of the heading attitude airborne equipment bracket.

[0055] The wireless communication module 1023 is used to determine a feedback target according to the transmission mode information and feed back the posture information to the feedback target after detecting that the communication service port is in a normal state. The feedback target is the main posture measurement terminal 102 or the host terminal 101.

[0056] In this embodiment, the wireless communication module 1023 first determines the working mode of the attitude measurement system, and when the working mode of the attitude measurement system is the normal measurement mode, inquires about the connection status between the upper terminal 101 and each attitude measurement terminal 102. Exemplarily, when the LED light for indicating the connection status of each measurement terminal 102 is green, it can indicate that the master and slave measurement terminals 102 are in a connected state.

[0057] Specifically, when the connection status between the upper terminal 101 and each attitude measurement terminal 102 is normal, the attitude measurement terminal 102 feeds back the attitude information of the position of the measurement plane of the heading and attitude airborne equipment bracket measured by it to the main attitude measurement terminal 102, and the main attitude measurement terminal 102 calculates the difference between the attitude data measured by the main attitude measurement terminal 102 and the slave attitude measurement terminal 102, and transmits the difference, the attitude data of the position of the reference plane of the heading and attitude airborne equipment bracket measured by the main attitude measurement terminal 102, and the data measured by the slave attitude measurement terminal 102 to the upper terminal 101.

[0058] Based on the above embodiments, the measurement control module 1021 provided in this first optional embodiment can be specifically used for:

[0059] a1) starting the posture measurement terminal 102 according to the received start trigger instruction, and after detecting that the posture measurement terminal 102 is in a normal measurement mode, performing a master-slave affiliation determination on the posture measurement terminal 102;

[0060] In this embodiment, after each attitude measurement terminal 102 is turned on, the measurement control module 1021 is started. At the same time, the working mode of each attitude measurement terminal 102 is determined. Exemplarily, the working mode of the attitude measurement terminal 102 is determined by judging the position of the paddle on the master attitude measurement terminal 102. When the attitude measurement terminal 102 is in the normal measurement mode, the master-slave affiliation determination is performed on the attitude measurement terminal 102, and the master-slave affiliation determination can be a division determination of the attitude measurement terminal 102 into a master and a slave. Exemplarily, each attitude measurement terminal 102 is divided into a master attitude measurement terminal 102 and a slave attitude measurement terminal 102 according to the feature that the master attitude measurement terminal 102 needs to include an external antenna.

[0061] b1) when the master-slave affiliation determination result is the master posture measurement terminal 102, generating master transmission mode information corresponding to the master posture measurement terminal 102 and sending it to the wireless communication module 1023, and sending a collection instruction to the posture data collection module 1022;

[0062] It can be known that when the current posture measurement terminal 102 is the main posture measurement terminal 102, the posture data of the main posture measurement terminal 102 is transmitted to the upper terminal 101 as the main transmission mode information, and the information is sent to the wireless communication module 1023 of the current posture measurement terminal 102, and a collection instruction is sent to the posture data collection module 1022 of the current main posture measurement terminal 102.

[0063] c1) When the master-slave affiliation determination result is the slave posture measurement terminal 102 , the slave transmission mode information corresponding to the slave posture measurement terminal 102 is generated and sent to the wireless communication module 1023 , and a collection instruction is sent to the posture data collection module 1022 .

[0064] It should be noted that when the current posture measurement terminal 102 is a slave posture measurement terminal 102, the data measured by the slave posture measurement terminal 102 is transmitted to the master posture measurement terminal 102 as slave transmission mode information, and the information is sent to the wireless communication module 1023 of the current posture measurement terminal 102, and a collection instruction is sent to the posture data collection module 1022 of the current slave posture measurement terminal 102.

[0065] On the basis of the above embodiments, the wireless communication module 1023 provided in this first optional embodiment may be specifically used for:

[0066] a2) when the received transmission mode information is slave transmission mode information transmitted to the master attitude measurement terminal 102, the attitude information sent by the attitude data acquisition module is transmitted to the master attitude measurement terminal 102;

[0067] Specifically, after receiving the transmission mode information, the wireless communication module 1023 determines the main content of the transmission mode information. When the transmission mode information is to transmit the posture information to the main posture measurement terminal 102, the posture measurement terminal 102 transmits the posture data measured by it to the main posture measurement terminal 102 through the wireless communication module 1023.

[0068] b2) When the received transmission mode information is the main transmission mode information transmitted to the upper terminal 101, the upper terminal 101 is taken as the feedback target, and the posture information sent by the posture data acquisition module and the posture information received from the posture measurement terminal 102 are uploaded to the upper terminal 101.

[0069] Continuing with the above description, when the transmission mode information is to transmit posture information to the upper terminal 101, the master posture measurement terminal 102 transmits its own measured posture data, the posture data measured by the slave posture measurement terminal 102 and the difference between the two to the upper terminal 101 through the wireless communication module 1023.

[0070] The first optional embodiment of the disclosed embodiment provides a posture measurement terminal, which includes: a measurement control module, a posture data acquisition module and a wireless communication module; the measurement control module is used to determine the working mode after receiving the start trigger instruction, and when it is determined to be in the normal measurement mode, send a collection instruction to the posture data acquisition module according to the master-slave affiliation determination result and send transmission mode information to the wireless communication module; the posture data acquisition module is used to collect the spatial posture data of the position of the attitude airborne equipment bracket through the included attitude sensor according to the received collection instruction and use it as the posture information of the attitude airborne equipment bracket; the wireless communication module is used to determine the feedback target according to the transmission mode information and feed back the attitude information to the feedback target after detecting that the communication service port is in a normal state, and the feedback target is the main posture measurement terminal or the upper terminal. The technical solution of the disclosed embodiment adopts the attitude sensor to collect the attitude data of the position of the attitude airborne equipment bracket and transmit the collected attitude data to the upper terminal through the wireless communication module for display. Different from the existing problems of bracket attitude measurement in the prior art, such as complex measuring equipment, too long data cables and other adapter cables, and inability to make wireless measurements, this technical solution simplifies the measuring equipment, improves the convenience and accuracy of the bracket attitude data measurement of the attitude airborne equipment, and also improves the measurement efficiency.

[0071] In addition, based on the above optimization, the measurement control module 1021 can also be used to perform the following steps:

[0072] a3) after detecting that the posture measurement terminal 102 is in the measurement calibration mode, controlling the calibration execution module to run;

[0073] In this embodiment, when each attitude measurement terminal 102 is turned on, the main attitude measurement terminal 102 determines the working mode of the attitude measurement system of the heading attitude airborne equipment bracket. When the main attitude measurement terminal 102 determines that the working mode of the attitude measurement system is the calibration mode, it starts the calibration module.

[0074] b3) The calibration instruction received from the host terminal 101 via the universal data bus is fed back to the calibration execution module, so that the posture measurement terminal 102 is calibrated by the calibration execution module, and then fed back to the host terminal 101 via the universal data bus.

[0075] In this embodiment, after the working mode of the posture measurement system is the calibration mode, the upper terminal 101 issues a calibration instruction and transmits the calibration instruction to the calibration execution module through the universal data bus. After receiving the calibration instruction, the calibration execution module controls each posture measurement terminal 102 to perform a calibration operation, and feeds back the posture information of each posture measurement terminal 102 to the upper terminal 101 through the universal data bus, and displays the calibration data through the calibration display interface of the upper terminal 101.

[0076] As a second optional embodiment of this embodiment, on the basis of the above embodiment, the posture measurement terminal 102 further includes a temperature sensor and an acceleration sensor, and the temperature information collected by the temperature sensor and the acceleration information collected by the acceleration sensor are used to compensate the spatial posture data collected by the posture sensor;

[0077] The posture measurement terminal 102 further includes: a power management module, which is used to supply power to the posture measurement terminal 102 through a lithium battery and control the charging and discharging of the posture measurement terminal 102 .

[0078] It is known that each attitude measurement terminal 102 may also include a temperature sensor and an acceleration sensor. The temperature sensor and the acceleration sensor may be integrated around the attitude sensor in the attitude data acquisition module 1022, and temperature compensation and acceleration compensation may be performed on the spatial attitude data acquired by the attitude sensor, so that the spatial attitude data measured by the attitude sensor is more accurate.

[0079] Continuing with the above description, each posture measurement terminal 102 also includes a power management module, which can supply power to each posture measurement terminal 102 through a lithium battery. At the same time, the power management module can also realize charging and discharging operations of each posture measurement terminal 102 .

[0080] This optional embodiment provides a posture measurement terminal, including a temperature sensor, an acceleration sensor and a power management module. The temperature information collected by the temperature sensor and the acceleration information collected by the acceleration sensor are used to compensate for the spatial posture data collected by the posture sensor. The power management module is used to supply power to the posture measurement terminal through a lithium battery and control the charging and discharging of the posture measurement terminal. This technical solution supplies power to the posture measurement terminal through the power management module and controls the charging and discharging of the posture measurement terminal, thereby avoiding lengthy power cables and improving measurement efficiency; the temperature sensor and the acceleration sensor are used to compensate for the data collected by the posture sensor, thereby realizing high-precision measurement of the posture information of the attitude airborne equipment bracket.

[0081] As a third optional embodiment of this embodiment, based on the above embodiment, this third optional embodiment can optimize the upper terminal 101 to specifically perform the following steps:

[0082] a4) comparing the posture data value in each posture information received with the preset posture range;

[0083] In this embodiment, the master attitude measurement terminal 102 transmits the attitude data measured by the master attitude measurement terminal 102, the attitude data measured by the slave attitude measurement terminal 102, and the difference between the two to the host terminal 101. After receiving the attitude data transmitted by the master attitude measurement terminal 102, the host terminal 101 compares the received attitude data value with the preset attitude range, and the preset attitude range can be a qualified numerical range of the attitude value of the measured bracket.

[0084] b4) if the comparison result shows that the posture data value is within the preset posture range, the posture measurement is determined to be normal, and the posture information is displayed in a set normal display mode; otherwise, the posture measurement is determined to be abnormal, and the posture information is displayed in an abnormal display mode;

[0085] It should be noted that after receiving the attitude data transmitted by the main attitude measurement terminal 102, the upper terminal 101 compares the received attitude data value with the preset attitude range. When the received attitude data value meets the preset attitude range, it indicates that the attitude of the navigation and attitude airborne equipment bracket is normal, and the attitude data information is displayed according to the normal display mode, wherein the normal display mode can be the display state of the measurement interface of the upper terminal 101 when the received attitude data value meets the preset attitude range. Exemplarily, when the received attitude data value meets the preset attitude range, the attitude data of the measurement interface of the upper terminal 101 can be displayed in green.

[0086] Continuing with the above description, when the received attitude data value does not satisfy the preset attitude range, it indicates that the attitude of the attitude airborne equipment bracket is abnormal, and the attitude data information is displayed according to the abnormal display mode, wherein the abnormal display mode can be the display status of the measurement interface of the upper terminal 101 when the received attitude data value does not satisfy the preset attitude range. Exemplarily, when the received attitude data value does not satisfy the preset attitude range, the attitude data of the measurement interface of the upper terminal 101 can be displayed in red.

[0087] c4) after receiving the instruction to save the posture measurement result, taking a screenshot of the posture measurement result display interface and saving it;

[0088] It can be known that the measurement interface of the host terminal 101 can execute the function of taking a screenshot and saving. After receiving the instruction to save the posture measurement result, the posture measurement result display interface of the host terminal 101 can be screenshotted and saved, thereby saving the posture measurement result. Among them, the instruction to save the posture measurement result can be an instruction in the posture measurement result display interface of the host terminal 101 that can save the posture measurement result. Exemplarily, the instruction to save the posture measurement result can be a screenshot save function key in the posture measurement result display interface of the host terminal 101.

[0089] d4) displaying the calibration measurement information corresponding to the received calibration mode in the calibration display interface, and taking a screenshot of the calibration display interface and saving it according to the received calibration result saving instruction.

[0090] It should be explained that the host terminal 101 has an attitude measurement result display interface and a calibration display interface. When the host terminal 101 is in the calibration display interface, the attitude measurement system of the attitude airborne equipment bracket is in the calibration working mode, and the calibration display interface receives the attitude data of the calibration measurement of each attitude measurement terminal 102 in the calibration working mode of the attitude measurement system of the attitude airborne equipment bracket, and displays the measured attitude data.

[0091] Continuing with the above description, the calibration display interface of the host terminal 101 may also include a calibration result saving instruction, wherein the calibration result saving instruction may be an instruction for the calibration display interface of the host terminal 101 to save the posture calibration result. Exemplarily, the calibration result saving instruction may be a save calibration time function key of the calibration display interface of the host terminal 101. After receiving the calibration result saving instruction, the host terminal 101 takes a screenshot of the calibration display interface and saves the calibration measurement posture data.

[0092] An optional embodiment of the disclosed embodiment provides a host terminal, which compares the posture data value in each posture information received with a preset posture range; if the comparison result is that the posture data value is within the preset posture range, it is determined that the posture measurement is normal, and the posture information is displayed in the set normal display mode; otherwise, it is determined that the posture measurement is abnormal, and the posture information is displayed in the abnormal display mode; after receiving the save instruction of the posture measurement result, a screenshot of the posture measurement result display interface is saved; the calibration measurement information corresponding to the received calibration mode is displayed in the calibration display interface, and a screenshot of the calibration display interface is saved according to the received calibration result save instruction. The host terminal of the present technical solution receives the posture data measured by the high-precision posture sensor transmitted by the wireless transmission module, and displays it, and can judge in real time whether the posture data meets the preset posture range, avoiding the problem that the measurement data needs to be manually recorded, which affects the measurement efficiency. At the same time, the measurement data can be screenshotted with one click, and the historical data of the measured object is recorded, realizing the function of querying historical data.

[0093] Embodiment 2

[0094] Figure 3 This is a flow chart of a method for measuring the attitude of an airborne equipment bracket provided in the second embodiment of the present disclosure. The method is applicable to the situation where the attitude of an airborne equipment bracket is measured. Specifically, the method can be performed by the attitude measurement terminal and the host terminal included in the attitude measurement system for the airborne equipment bracket provided in the first embodiment of the present disclosure. Figure 3 As shown, the method includes:

[0095] S210, after detecting that the state is in the normal measurement mode, each attitude measurement terminal determines the attitude information of the heading attitude airborne equipment bracket set in the cabin through the collected attitude related data, and feeds back the attitude information to the upper terminal;

[0096] In this embodiment, after the attitude measurement system of the attitude airborne equipment bracket is started, each attitude measurement terminal and the host terminal are turned on, wherein the attitude airborne equipment bracket may include a reference plane of the attitude airborne equipment bracket built into the cabin and a measurement plane of the attitude airborne equipment bracket. The working modes of the attitude airborne equipment bracket attitude measurement system may be a normal measurement mode and a calibration mode, wherein the normal measurement mode may be to perform attitude measurement on the reference plane and the measurement plane of the attitude airborne equipment bracket through the master attitude measurement terminal and the slave attitude measurement terminal, and display them in real time through the host terminal, and the calibration mode may be to perform attitude calibration operations on the master attitude measurement terminal and the slave attitude measurement terminal using the host terminal.

[0097] Among them, the switching of the working mode of the attitude measurement system of the attitude airborne equipment bracket can be achieved through the paddle on the main attitude measurement terminal, and the working mode of the attitude measurement system can be judged by the position of the paddle of the main attitude measurement terminal. When each attitude measurement terminal detects that it is in the normal measurement mode, each attitude measurement terminal in the attitude measurement system can collect attitude information of the position of the attitude airborne equipment bracket set in the cabin, wherein the attitude information can include the pitch attitude value and the roll attitude value, the pitch attitude value can be the attitude value measured when the aircraft fuselage is the x-axis, the wing is the y-axis, and the nose of the aircraft moves in the direction perpendicular to the x-axis and y-axis, that is, the aircraft is in a head-up or head-down attitude, and the roll attitude value can be the attitude value measured when the aircraft fuselage is the x-axis and the aircraft fuselage rotates around the x-axis.

[0098] Continuing with the above description, after obtaining the attitude data measured by each attitude measurement terminal, the attitude measurement terminal feeds back the attitude information of the position of the measurement plane of the heading attitude airborne equipment bracket collected by it to the main attitude measurement terminal, and the main attitude measurement terminal feeds back the attitude information of the position of the reference plane of the heading attitude airborne equipment bracket measured, the attitude information measured by the attitude measurement terminal, and the difference obtained by subtracting the two to the upper terminal for display.

[0099] S220 . Displaying the posture information fed back by each posture measurement terminal on the presented posture measurement result display interface through the host terminal.

[0100] In this embodiment, the host terminal can be a terminal device used to display the attitude data fed back by each attitude measurement terminal. The host terminal can include two parts, software and hardware. The software part of the host terminal can provide web services for the attitude measurement system of the attitude airborne equipment bracket. The host computer hardware can be any portable terminal that can connect to the Internet, such as a laptop, a mobile phone, a tablet computer, etc. The host computer hardware can also perform firmware upgrades and / or program burning operations on each attitude measurement terminal. The display and operation of the pitch and roll attitude measurement page or calibration page of the attitude airborne equipment bracket can be realized by starting the browser on the portable terminal to log in to the web page. The attitude measurement page of the host terminal software part can also provide real-time measurement result display and screenshot saving functions.

[0101] Figure 4 The interface diagram of the attitude measurement interface of the upper terminal is given. The measurement interface of the upper terminal may include the X-axis attitude data display, Y-axis attitude data display, difference data display, connection status of each attitude measurement terminal, measurement time, screenshot saving and / or the name and connection status of the upper terminal in the attitude information measured by the master attitude measurement terminal and the slave attitude measurement terminal. Figure 5The interface diagram of the attitude calibration interface of the upper terminal is given. The calibration interface of the upper terminal can display the X-axis attitude data display, Y-axis attitude data display, difference data display, and save the calibration time in the attitude information measured by the master attitude measurement terminal and the slave attitude measurement terminal during the calibration process; at the same time, the calibration interface can also perform independent angle zero bias and synchronous angle zeroing operations on the x-axis and y-axis of the master attitude measurement terminal and the slave attitude measurement terminal; in addition, the calibration interface can also perform factory settings restoration operations on the master attitude measurement terminal and the slave attitude measurement terminal.

[0102] The disclosed embodiment discloses a method for measuring the attitude of an attitude airborne equipment bracket. After each attitude measurement terminal detects that it is in a normal measurement mode, it determines the attitude information of the attitude airborne equipment bracket installed in the cabin through the collected attitude-related data, and feeds back the attitude information to the host terminal; the host terminal displays the attitude information fed back by each attitude measurement terminal in the attitude measurement result display interface. The above technical solution uses wireless transmission to achieve wireless connection and information transmission between attitude measurement terminals and between the host terminal, avoiding lengthy communication cables and improving measurement efficiency; at the same time, a high-precision attitude measurement sensor is used to measure attitude information, achieving high-precision measurement of the attitude airborne equipment bracket and improving the measurement quality of attitude information.

[0103] In order to facilitate a better understanding of the attitude measurement system of the heading attitude airborne equipment bracket provided in the above embodiment, this embodiment gives an application example below to illustrate the specific implementation of the attitude measurement method of the heading attitude airborne equipment bracket. Figure 6 A flowchart of the steps of a method for measuring the attitude of an airborne equipment bracket provided in an embodiment of the present disclosure is given.

[0104] Specifically, the implementation of the attitude measurement method of the heading attitude airborne equipment bracket includes the following steps:

[0105] S1. Start the master and slave attitude measurement terminals and the host terminal.

[0106] Start the master attitude measurement terminal, slave attitude measurement terminal and upper terminal, and observe whether each terminal is in the startup state through the LED indicating the switch state of each terminal on the master attitude measurement terminal, slave attitude measurement terminal and upper terminal. When the LED indicating the switch state of each terminal in each terminal is in the green state, the master attitude measurement terminal, slave attitude measurement terminal and upper terminal are successfully started.

[0107] S2. Determine the working mode of the master and slave attitude measurement terminals.

[0108] The working mode of the attitude measurement system is determined by the position of the paddle on the main attitude measurement terminal.

[0109] S3. When it is in the normal working mode, it sends a collection instruction to the posture data collection module and sends transmission mode information to the wireless communication module.

[0110] When the working mode of the posture measurement system is the normal measurement mode, a collection instruction is sent to the posture data collection module in each posture measurement terminal, and the transmission mode information of each posture measurement terminal is sent to the wireless communication module.

[0111] S4. The attitude data acquisition module of the master-slave attitude measurement terminal acquires the spatial attitude data of the heading attitude airborne equipment bracket according to the acquisition instruction and uses it as the attitude information of the heading attitude airborne equipment bracket.

[0112] When the working mode of the attitude measurement system is the normal measurement mode, the master attitude measurement terminal and the slave attitude measurement terminal start the attitude data acquisition modules of each terminal to collect the attitude data of the position.

[0113] S5. Determine the status of the communication service port and feed back the attitude information to the feedback target, which is the main attitude measurement terminal or the upper terminal.

[0114] After the attitude data is collected from the attitude measurement terminal, the connection status of the communication service port between the attitude measurement terminal and the main attitude measurement terminal is determined, and after determining that the connection status is normal, the collected data is transmitted to the main attitude measurement terminal.

[0115] After the main attitude measurement terminal obtains the attitude data transmitted from the slave attitude measurement terminal, the main attitude measurement terminal subtracts the attitude information measured by itself from the attitude information measured by the slave attitude measurement terminal to obtain the difference between the two. The main attitude measurement terminal feeds back the attitude information measured by itself, the attitude information measured by the slave attitude measurement terminal and the difference between the two to the upper terminal for real-time display.

[0116] S6. The upper terminal displays the attitude information received from the main attitude measurement terminal in real time.

[0117] After receiving the attitude information sent by the main attitude measurement terminal, the upper terminal presents the acquired attitude information in the set display area of ​​the attitude measurement result display interface of the upper terminal for real-time display.

[0118] S7. Save the measurement results.

[0119] The one-key screenshot function of the attitude measurement page of the upper terminal software can record the measurement results and the current measurement time, take a screenshot of the page and save it in a local folder.

[0120] S8. When the calibration mode is in progress, the calibration instruction is fed back to the calibration execution module, so that the posture measurement terminal is calibrated through the calibration execution module and fed back to the upper terminal.

[0121] When the working mode of the attitude measurement system is the calibration mode, the upper terminal issues a calibration instruction and transmits the calibration instruction to the calibration execution module. After receiving the calibration instruction, the calibration execution module controls each attitude measurement terminal to perform the calibration operation, and feeds back the attitude information of each attitude measurement terminal to the upper terminal through the universal data bus, and displays the calibration data through the calibration display interface of the upper terminal.

[0122] S9. The calibration display interface of the upper terminal displays the calibration measurement information, and takes a screenshot of the calibration display interface and saves it according to the received calibration result saving instruction.

[0123] The calibration display interface of the upper terminal also includes a calibration result saving instruction. After receiving the calibration result saving instruction, the upper terminal takes a screenshot of the calibration display interface and saves the calibration measurement posture data.

[0124] Embodiment 2 of the present disclosure provides a method for measuring the attitude of an attitude airborne equipment bracket. First, the master and slave attitude measurement terminals and the host terminal are started, and then the working modes of the master and slave attitude measurement terminals are determined. When it is in the normal working mode, a collection instruction is sent to the attitude data collection module of the master and slave attitude measurement terminals and transmission mode information is sent to the wireless communication module. The attitude data collection module of the master and slave attitude measurement terminals collects the spatial attitude data of the attitude airborne equipment bracket according to the collection instruction and uses it as the attitude information of the attitude airborne equipment bracket. When the state of the communication service port is determined, the attitude information is fed back to the feedback target, and the feedback target is the master attitude measurement terminal or the host terminal. The host terminal displays the attitude information of the master and slave attitude measurement terminals in real time, and can save the measured attitude information according to actual needs. When it is in the calibration mode, the calibration instruction is fed back to the calibration execution module, so that the attitude measurement terminal is calibrated through the calibration execution module, and fed back to the host terminal. The calibration display interface of the host terminal displays the calibration measurement information, and the screenshot of the calibration display interface is saved according to the received calibration result saving instruction. This technical solution uses an attitude measurement terminal to measure the attitude of an airborne bracket in real time and displays the attitude measurement results on a host terminal, thus achieving high-precision measurement of the attitude angle of the attitude airborne equipment bracket.

[0125] Embodiment 3

[0126] An embodiment of the present disclosure provides an attitude measurement device for an attitude airborne equipment bracket. Figure 7 A schematic diagram of the hardware structure of an attitude measurement device of an attitude airborne equipment bracket provided in a third embodiment of the present disclosure is given.

[0127] like Figure 7As shown, the attitude measurement device 30 of the attitude and heading airborne equipment bracket includes at least one processor 31, and a memory connected to the at least one processor 31 in communication, such as a read-only memory (ROM) 32, a random access memory (RAM) 33, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 31 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 32 or the computer program loaded from the storage unit 38 to the random access memory (RAM) 33. In the RAM 33, various programs and data required for the operation of the attitude and heading airborne equipment bracket attitude and heading airborne equipment bracket can also be stored. The processor 31, the ROM 32 and the RAM 33 are connected to each other through a bus 34. An input / output (I / O) interface 35 is also connected to the bus 34.

[0128] A plurality of components in the attitude measurement device 30 of the attitude airborne equipment bracket are connected to the I / O interface 35, including: an input unit 36, such as a keyboard, a mouse, etc.; an output unit 37, such as various types of displays, etc.; a storage unit 38, such as a disk, an optical disk, etc.; and a communication unit 39, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 39 allows the attitude measurement device 30 of the attitude airborne equipment bracket to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0129] The embodiment of the present disclosure also provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the attitude measurement method of the heading attitude airborne equipment bracket provided by the embodiment of the present disclosure is implemented.

[0130] The embodiment of the present disclosure also provides a computer program product, which includes a computer program. When the computer program is executed by a processor, it implements the attitude measurement method of the heading attitude airborne equipment bracket provided by the embodiment of the present disclosure.

[0131] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps recorded in the embodiments of the present disclosure can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solutions of the embodiments of the present disclosure can be achieved, and this document does not limit this.

[0132] The above specific implementations do not constitute a limitation on the protection scope of the embodiments of the present disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the embodiments of the present disclosure shall be included in the protection scope of the embodiments of the present disclosure.

Claims

1. An attitude measurement system for an attitude airborne equipment bracket, characterized in that: include: A host terminal and at least three attitude measurement terminals fixed inside the cabin; the host terminal establishes a wireless communication connection with each of the attitude measurement terminals; Each of the attitude measurement terminals is used to determine the attitude information of the heading attitude airborne equipment bracket arranged in the cabin through the collected attitude related data after detecting that it is in the normal measurement mode, and feed back the attitude information to the upper terminal; The upper terminal is used to display the posture information fed back by each of the posture measurement terminals on the presented posture measurement result display interface.

2. The system according to claim 1, characterized in that The heading attitude airborne equipment bracket includes a reference plane of the heading attitude airborne equipment bracket built into the cabin and a measurement plane of the heading attitude airborne equipment bracket; the at least three attitude measurement terminals include a main attitude measurement terminal fixedly arranged on the reference plane and at least two slave attitude measurement terminals fixedly arranged on the measurement plane; each of the slave attitude measurement terminals establishes a communication connection with the main attitude measurement terminal; The attitude information includes a pitch attitude value and a roll attitude value; the attitude information fed back by each attitude measurement terminal is respectively presented in a set display area of ​​the attitude measurement result display interface.

3. The system according to claim 2, characterized in that The posture measurement terminal comprises: a measurement control module, a posture data acquisition module and a wireless communication module; The measurement control module is used to determine the working mode after receiving the start trigger instruction, and when it is determined to be in the normal measurement mode, send a collection instruction to the attitude data collection module and send transmission mode information to the wireless communication module according to the master-slave affiliation determination result; The attitude data acquisition module is used to acquire the spatial attitude data of the position of the heading and attitude airborne equipment bracket through the included attitude sensor according to the received acquisition instruction and use it as the attitude information of the heading and attitude airborne equipment bracket; The wireless communication module is used to determine a feedback target according to the transmission mode information and feed back the posture information to the feedback target after detecting that the communication service port is in a normal state. The feedback target is a main posture measurement terminal or a host terminal.

4. The system according to claim 3, characterized in that The measurement control module is specifically used for: Starting the attitude measurement terminal according to the received start trigger instruction, and after detecting that the attitude measurement terminal is in a normal measurement mode, performing master-slave affiliation determination on the attitude measurement terminal; When the master-slave affiliation determination result is the master posture measurement terminal, generating master transmission mode information corresponding to the master posture measurement terminal and sending it to the wireless communication module, and sending a collection instruction to the posture data collection module; When the master-slave affiliation determination result is a slave posture measurement terminal, slave transmission mode information corresponding to the slave posture measurement terminal is generated and sent to the wireless communication module, and a collection instruction is sent to the posture data collection module.

5. The system according to claim 3, characterized in that The wireless communication module is specifically used for: When the received transmission mode information is slave transmission mode information transmitted to the master attitude measurement terminal, the attitude information sent by the included attitude data acquisition module is transmitted to the master attitude measurement terminal; When the received transmission mode information is the main transmission mode information transmitted to the upper terminal, the upper terminal is taken as the feedback target, and the posture information sent by the posture data acquisition module and the posture information received from the posture measurement terminal are uploaded to the upper terminal.

6. The system according to claim 3, characterized in that The posture measurement terminal also includes a temperature sensor and an acceleration sensor, and the temperature information collected by the temperature sensor and the acceleration information collected by the acceleration sensor are both used to compensate for the spatial posture data collected by the posture sensor; The posture measurement terminal also includes: a power management module, which is used to supply power to the posture measurement terminal through a lithium battery and control the charging and discharging of the posture measurement terminal.

7. The system according to claim 3, characterized in that The measurement control module is specifically used for: After detecting that the attitude measurement terminal is in the measurement calibration mode, the calibration execution module is controlled to run; The calibration instruction received from the upper terminal through the universal data bus is fed back to the calibration execution module, so that the posture measurement terminal is calibrated through the calibration execution module, and is fed back to the upper terminal through the universal data bus.

8. The system according to any one of claims 1 to 7, characterized in that: The upper terminal is specifically used for: Compare the posture data value in each posture information received with the preset posture range; If the comparison result shows that the posture data value is within the preset posture range, it is determined that the posture measurement is normal, and the posture information is displayed in the set normal display mode; Otherwise, it is determined that the posture measurement is abnormal, and the posture information is displayed in an abnormal display mode; After receiving the instruction to save the posture measurement result, taking a screenshot of the posture measurement result display interface and saving it; The calibration measurement information corresponding to the received calibration mode is displayed in the calibration display interface, and a screenshot of the calibration display interface is saved according to the received calibration result saving instruction.

9. A method for measuring the attitude of an airborne equipment bracket, characterized in that: The method is performed by the attitude measurement system of the attitude airborne equipment bracket according to any one of claims 1 to 8, and comprises: After detecting that the device is in a normal measurement mode, each attitude measurement terminal determines the attitude information of the attitude airborne equipment bracket set in the cabin through the collected attitude related data, and feeds back the attitude information to the upper terminal; The posture information fed back by each of the posture measurement terminals is displayed on the posture measurement result display interface presented by the host terminal.

10. An electronic device, characterized in that: When used as an attitude measurement terminal in an attitude measurement system of an attitude airborne equipment bracket according to any one of claims 1 to 8, it comprises: Attitude sensor, used to collect spatial attitude data; one or more processors; a storage device for storing one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors implement the attitude information measurement logic in the attitude measurement method of the heading attitude airborne equipment bracket as described in claim 9.

11. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the attitude measurement method of the heading attitude airborne equipment bracket as claimed in claim 9 is implemented.

12. A computer program product, characterized in that The computer program product comprises a computer program, which, when executed by a processor, implements the attitude measurement method of the attitude airborne equipment bracket according to claim 9.

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