Satellite-borne product installation precision testing device and method thereof

Abstract

The invention provides a satellite-borne product installation precision testing device and method. The satellite-borne product installation precision testing device comprises a single-machine product, a reference mirror LJ1 assembly, a satellite platform and a reference mirror LJ2 assembly. According to the invention, the assembly precision test of the satellite product is realized through a high-precision measurement system, and the assembly precision is rapidly calculated, and the adjustment direction and the adjustment amount are directly given in an Euler rotation angle mode, so that rapid calculation and accurate orientation adjustment are realized; a reference mirror is used as a measurement basis, an electronic theodolite is used as test equipment, industrial measurement software (SA) is matched for use, and the size requirement and the use method of the reference mirror are provided. The method has the advantages that the error rate of testing and adjusting is effectively avoided, and the method is simple, easy to understand and high in operation adaptability; the device is suitable for assembly precision test and adjustment of all aerospace products.

Description

Technical Field

[0001] This invention belongs to the field of spaceborne product technology, and in particular relates to a spaceborne product installation accuracy testing device and method. Background Technology

[0002] With the continuous development of aerospace technology, satellites are playing an increasingly important role in fields such as communication, remote sensing, and navigation. As a key component of a satellite, the installation accuracy of its onboard units directly affects the overall performance and on-orbit reliability of the satellite. While the satellite operates in orbit, its attitude is adjusted via commands from ground equipment. However, the installation status of each individual unit is generally fixed. To ensure the coordinated operation of these units in the complex space environment, their installation accuracy directly impacts their operational status. Therefore, a high-precision, unified measurement benchmark system needs to be established during the ground assembly phase. Using the satellite's coordinate system as a reference, the installation accuracy tests of all individual units are strictly conducted based on this unified coordinate system. Advanced equipment such as laser trackers, electronic theodolites, and three-dimensional coordinate measurement systems are used to achieve sub-millimeter level precision measurements.

[0003] Currently, installation accuracy testing of spaceborne products is mainly achieved through equipment such as laser trackers, industrial photogrammetry, and electronic theodolites, with electronic theodolites being the most prevalent. The advantage of this equipment is that it eliminates the need for additional installation reference points or markers on the tested product and enables high-precision measurement without contacting the object's surface. The testing system primarily uses a single-sided measurement method with an electronic theodolite. This method can result in significant errors for single-point or hole testing, especially at large or small angles, where errors can reach 0.5mm, and the basic angular direction error can reach 0.02°. In calculating installation accuracy, the rotation matrix of the test coordinate system is often used as the analysis method. This method is not only difficult to analyze but also prone to errors in product adjustment orientation, making it unsuitable for the rapid and accurate analysis and adjustment of spaceborne products. Summary of the Invention

[0004] In view of this, the present invention aims to propose a device and method for testing the installation accuracy of spaceborne products, so as to solve the problems of large testing errors and difficult data analysis in the prior art.

[0005] To achieve the above objectives, the technical solution of the present invention is implemented as follows: In a first aspect, the present invention provides a spaceborne product installation accuracy testing device, including a single product, a reference mirror LJ1 component, a satellite platform, and a reference mirror LJ2 component; The stand-alone product is installed on the satellite platform. The stand-alone product and the satellite platform are connected by screws and are rigidly connected. The reference mirror LJ1 assembly is installed on the stand-alone product, and the reference mirror LJ2 assembly is installed at the bottom of the satellite platform. The reference mirror LJ1 assembly and the reference mirror LJ2 assembly have the same structure. The stand-alone product is positioned on the satellite platform by pin one and pin two, which are diagonally distributed. Pin one is installed using a circular positioning hole, and pin two is installed using a strip-shaped positioning hole.

[0006] Furthermore, the satellite platform includes a base plate, an east side plate, a south side plate, a west side plate, a north side plate, an east center plate, a west center plate, a transverse plate, and a top plate. The base plate is connected to the east side plate, south side plate, west side plate, north side plate, east center plate, west center plate, and transverse plate by screws. The east center plate is connected to the transverse plate by a 90-degree connecting angle plate. The west center plate is connected to the transverse plate by a 90-degree connecting angle plate. The top plate is connected to the east side plate, south side plate, west side plate, north side plate, east center plate, west center plate, and transverse plate by screws. Mounting pin holes are provided on the base plate, east side plate, south side plate, west side plate, north side plate, east center plate, west center plate, transverse plate, and top plate.

[0007] Furthermore, the reference mirror LJ2 assembly includes a support base, a base, and a reference mirror. The support base is mounted on the base plate of the satellite platform, the base is mounted on the support base, the base and the support base are connected by screws, and the reference mirror is mounted on the base by adhesive bonding.

[0008] Furthermore, a set of corner reference holes is provided at the corners of the base plate, and a set of edge center reference holes is provided at the center of the edge of the base plate.

[0009] Furthermore, the angular reference hole group includes angular reference hole one, angular reference hole two, and angular reference hole three. Angular reference hole one is opened on the mounting surface of the base plate, and angular reference hole two and angular reference hole three are respectively opened on two adjacent surfaces of the mounting surface of the base plate.

[0010] Furthermore, the edge center reference hole group includes an edge center reference hole one and an edge center reference hole two. The edge center reference hole one is opened on the mounting surface of the base plate, and the edge center reference hole two is opened on the adjacent surface of the mounting surface of the base plate.

[0011] Furthermore, the reference mirror has a cubic structure with a side length of 20mm. The reference mirror includes a mounting surface and five measuring surfaces. The accuracy of the mounting surface is Ra≥3.2. Each measuring surface of the reference mirror is engraved with a crosshair, and the intersection of the crosshairs is the center of the measuring surface (432).

[0012] Secondly, based on the same concept, this invention also proposes a method for testing the installation accuracy of spaceborne products, comprising the following steps: 8. A method for testing the installation accuracy of spaceborne products, applied to the spaceborne product installation accuracy testing device according to any one of claims 1-7, characterized in that it includes the following steps: S1. Define the reference mirror coordinate system; S2, Calibrate the reference mirror coordinate system; S3. Test installation accuracy; In step S1, the reference mirror coordinate system is defined, including: S11. The coordinate system is set as a rectangular coordinate system, with the origin set at the center point of the cube, and each coordinate axis is perpendicular to the measurement surface it intersects with. S12. The theodolite A1 is collimated to surface 1 of the reference mirror, and the theodolite A2 is collimated to surface 2 of the reference mirror. The normals of surface 1 and surface 2 are obtained by reading the azimuth and elevation angles of the theodolite. The normals of surface 1 and surface 2 are set as the directions of the first and second coordinate axes of the reference mirror coordinate system, respectively. The direction of the third coordinate axis is determined by the right-hand rule. The coordinates of the center point of the crosshairs on any measurement surface are measured. The center point is translated 10mm inward along the normal direction into the reference mirror to obtain the origin position of the reference mirror coordinate system. In step S2, the reference mirror coordinate system is calibrated, including: S21. Establish a theodolite testing system and generate a measurement coordinate system O2 (X, Y, Z). S22. Generate satellite coordinate system O1 (X, Y, Z); S23. Generate the reference mirror LJ coordinate system O3 (X, Y, Z); S24. Set the satellite coordinate system O1 (X, Y, Z) as the current coordinate system, obtain the displacement and rotation relationship between the reference mirror LJ coordinate system O3 (X, Y, Z) and the satellite coordinate system, and generate the transformation matrix between the satellite coordinate system O1 (X, Y, Z) and the reference mirror LJ coordinate system O3 (X, Y, Z). S25. Using steps S21 to S24, calibrate the theoretical transformation relationship between the reference mirror LJ1 coordinate system and the satellite coordinate system O1 (X, Y, Z), and calibrate the theoretical transformation relationship between the reference mirror LJ2 coordinate system and the satellite coordinate system O1 (X, Y, Z). In step S22, the satellite coordinate system O1 (X, Y, Z) is generated, including: S221. Test the reference hole or mounting hole of the physical object through the testing system to obtain the coordinate value of the reference hole or mounting hole in the measurement coordinate system. S222. By freely fitting the measured values ​​with the theoretical values, a satellite coordinate system O1 (X, Y, Z) is generated.

[0013] 9. A method for testing the installation accuracy of spaceborne products according to claim 8, characterized in that: in step S21, a theodolite testing system is established, and a measurement coordinate system O2 (X, Y, Z) is generated, including: The origin O2 of the measurement coordinate system is set as the horizontal center point of the theodolite A1, the X-axis is set as the projection of the optical line from theodolite A1 to theodolite A2 onto the horizontal plane of theodolite A1, and the Z-axis is set as the horizontal center normal of theodolite A1, which is vertically upward. In step S23, the reference mirror LJ coordinate system O3 (X, Y, Z) is generated, including: S231. Record the azimuth angle α1 from the theodolite A1 to the theodolite A2, record the azimuth angle α2 from theodolite A1 to theodolite A3, record the azimuth angle α3 from theodolite A3 to theodolite A1, and record the azimuth angle α4 when the theodolite A3 is collimated to the reference mirror LJ. Calculate the angle ∠1 between the directions from A1 to A2 and from A1 to A3, which is α2-α1, and the angle ∠2 between the directions from A3 to A1 and from A3 to the reference mirror LJ, which is α4-α3. S232. Record the elevation angle values ​​of the collimating reference mirror LJ of the theodolite A3, the elevation angle β1 value of plane I, and the elevation angle β2 value of plane II. Record the elevation angle values ​​of the collimating reference mirror LJ of the theodolite A4, the elevation angle β3 value of plane I, and the elevation angle β4 value of plane II. Calculate the angles ∠3 and ∠4 between the normals of the two planes of the reference mirror LJ and the horizontal plane, respectively. ∠3 = ((β2-β1) / 2)-90°, ∠4 = ((β4-β3) / 2)-90°. S233. The angle between the first coordinate axis and the second coordinate axis is ∠5 = 180° - arcos(tan∠3 × tan∠4). S234. In the measurement coordinate system O2(X,Y,Z), rotate the measurement coordinate system O2(X,Y,Z) around the Z-axis according to the right-hand rule by -(∠1+∠2), and around the Y-axis according to the right-hand rule by ∠3 to obtain the X-axis direction of the reference mirror LJ coordinate system. Rotate the measurement coordinate system O2(X,Y,Z) around the Z-axis according to the right-hand rule by ∠5-(∠1+∠2), and around the Y-axis according to the right-hand rule by ∠4 to obtain the Z-axis direction of the reference mirror LJ coordinate system. Automatically generate the Y-axis direction of the reference mirror LJ coordinate system using the right-hand rule of the rectangular coordinate system, and obtain a coordinate system CS1 with the same direction as the reference mirror LJ coordinate system and the origin at the origin of the measurement coordinate system. S235. Place the origin of coordinate system CS1 at the center point of the crosshairs on the measurement surface of the reference mirror to obtain coordinate system CS2. Translate coordinate system CS2 10mm inward along the vertical direction of the mirror surface into the reference mirror LJ to obtain the coordinate system O3 (X, Y, Z) of the reference mirror LJ.

[0014] 10. A method for testing the installation accuracy of a spaceborne product according to claim 8, characterized in that: in step S3, testing the installation accuracy includes: S31. Establish a theodolite testing system: Use theodolites A1 and A2 to establish a testing system and test the crosshairs of the reference mirror. Align theodolites A3 and A4 with the two intersecting surfaces of the reference mirror of the reference mirror LJ1 component. Align theodolites A5 and A6 with the two intersecting surfaces of the reference mirror of the reference mirror LJ2 component. S32. Use step S2 to generate the LJ1 coordinate system and the LJ2 coordinate system of the reference mirror, and calibrate the reference mirror coordinate system; S33. Analyze installation errors: Calculate the satellite coordinate system by using the LJ2 coordinate system of the reference mirror. Under the satellite coordinate system, calculate the position and rotation relationship values ​​of the LJ1 coordinate system of the reference mirror. Subtract the calibration value from this value to calculate the installation accuracy of the product.

[0015] Compared with existing technologies, the spaceborne product installation accuracy testing device and method described in this invention have the following advantages: (1) Improved the testing accuracy of spaceborne products, with position accuracy ≤0.05mm and angle accuracy ≤0.01°.

[0016] (2) The test is simple. Only the reference mirrors of the satellite body and the onboard products need to be tested to quickly provide the assembly accuracy of the products.

[0017] (3) The coordinate system of the reference mirror is generated by using the collimation method of the theodolite. This not only avoids the inherent error of the theodolite system, but also avoids the machining error of the reference mirror by calculating the angle between the coordinate systems, thus improving the calibration accuracy of the reference mirror.

[0018] (4) Compared with the traditional test accuracy adjustment, a simple calculation method based on Euler angle is proposed, which can realize the assembly accuracy analysis of the product and determine the actual offset direction of the product based on the sign of the solution result.

[0019] (5) A method for adjusting spaceborne products is proposed, which can accurately give the adjustment amount of each installation point of the product, making it easy to adjust quickly. Attached Figure Description

[0020] The accompanying drawings, which constitute part of the present invention, are intended to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are intended to explain the present invention and do not constitute an undue limitation of the present invention. In the accompanying drawings: Figure 1 This is a schematic diagram of the overall structure according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the satellite platform described in an embodiment of the present invention; Figure 3 This is a schematic diagram of the reference mirror assembly according to an embodiment of the present invention; Figure 4 This is a schematic diagram of the base plate according to an embodiment of the present invention; Figure 5 This is a schematic diagram of the angular reference hole group according to an embodiment of the present invention; Figure 6 This is a schematic diagram of the edge center reference hole group according to an embodiment of the present invention; Figure 7 This is a schematic diagram of the pin-positioning satellite platform according to an embodiment of the present invention; Figure 8 This is a schematic diagram of the reference mirror described in an embodiment of the present invention; Figure 9 This is a schematic diagram illustrating the definition of the reference mirror coordinate system according to an embodiment of the present invention; Figure 10 This is a schematic diagram illustrating the generation of the reference mirror coordinate system according to an embodiment of the present invention; Figure 11 This is a schematic diagram of the overall calibration of the reference mirror coordinate system according to an embodiment of the present invention; Figure 12 This is a top view schematic diagram of the calibration of the reference mirror coordinate system according to an embodiment of the present invention; Figure 13 This is a schematic diagram of the installation accuracy test of the spaceborne product according to an embodiment of the present invention; Figure 14 This is a schematic diagram of the LJ2 coordinate system CS2 of the reference mirror according to an embodiment of the present invention; Figure 15 This is a schematic diagram of the satellite coordinate system CS1' as described in an embodiment of the present invention; Figure 16 This is a schematic diagram showing the coordinate values ​​of the origin of coordinate system CS2 in coordinate system CS1' according to an embodiment of the present invention.

[0021] Explanation of reference numerals in the attached figures: 1. Standalone product; 2. Satellite platform; 21. Base plate; 211. Corner reference hole group; 2111. Corner reference hole one; 2112. Corner reference hole two; 2113. Corner reference hole three; 212. Side center reference hole group; 2121. Side center reference hole one; 2121. Side center reference hole two; 22. South side plate; 23. Transverse plate; 24. West side plate; 25. West center plate; 26. Top plate; 27. North side plate; 28. East center plate; 29. ​​East side plate; 3. Reference mirror LJ1 assembly; 4. Reference mirror LJ2 assembly; 41. Support base; 42. Base; 43. Reference mirror; 431. Mounting surface; 432. Measuring surface; 5. Pin one; 6. Pin two. Detailed Implementation

[0022] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0023] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0024] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art will understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0025] The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments.

[0026] like Figures 1 to 16 As shown, a spaceborne product installation accuracy testing device includes a single-unit product 1, a reference mirror LJ1 assembly 3, a satellite platform 2, and a reference mirror LJ2 assembly 4. The single-unit product 1 is installed on the satellite platform 2, and the single-unit product 1 and the satellite platform 2 are connected by screws, and the two are rigidly connected. The reference mirror LJ1 assembly 3 is installed on the single-unit product 1, and the reference mirror LJ2 assembly 4 is installed at the bottom of the satellite platform 2. The reference mirror LJ1 assembly 3 and the reference mirror LJ2 assembly 4 have the same structure.

[0027] The specific implementation method is as follows: In a preferred embodiment of the present invention, the stand-alone product 1 is positioned on the satellite platform 2 by pin 5 and pin 6, pin 5 and pin 6 being diagonally distributed. Pin 5 is installed using a circular positioning hole, and pin 6 is installed using a strip-shaped positioning hole. The satellite platform 2 includes a base plate 21, an east side plate 29, a south side plate 22, a west side plate 24, a north side plate 27, an east center plate 28, a west center plate 25, a transverse plate 23, and a top plate 26. The base plate 21 is connected to the east side plate 29, south side plate 22, west side plate 24, north side plate 27, east center plate 28, west center plate 25, and transverse plate 23. The east center plate 28 and the transverse plate 23 are connected by screws via a 90-degree connecting angle plate, and the west center plate 25 and the transverse plate 23 are connected by a 90-degree connecting angle plate. The top plate 26 is connected to the east side plate 29, south side plate 22, west side plate 24, north side plate 27, east center plate 28, west center plate 25, and transverse plate 23 by screws. The bottom plate 21, east side plate 29, south side plate 22, west side plate 24, north side plate 27, east center plate 28, west center plate 25, transverse plate 23, and top plate 26 all have mounting pin holes. The reference mirror LJ2 assembly 4 includes a support base 41, a base 42, and a reference mirror 4. 3. The support base 41 is installed on the base plate 21 of the satellite platform 2, and the base 42 is installed on the support base 41. The base 42 and the support base 41 are connected by screws, and the reference mirror 43 is installed on the base 42 by adhesive bonding. An edge reference hole group 211 is formed at the corner of the base plate 21, and an edge center reference hole group 212 is formed at the center of the edge of the base plate 21. The edge reference hole group 211 includes an edge reference hole one 2111, an edge reference hole two 2112, and an edge reference hole three 2113. The edge reference hole one 2111 is formed on the mounting surface of the base plate 21. Hole 2112 and corner reference hole 3 2113 are respectively opened on two adjacent surfaces of the mounting surface of the base plate 21; the edge center reference hole group 212 includes edge center reference hole 1 2121 and edge center reference hole 2 2121, the edge center reference hole 1 2121 is opened on the mounting surface of the base plate 21, and the edge center reference hole 2 2121 is opened on the adjacent surface of the mounting surface of the base plate 21; the reference mirror 43 is a cubic structure, the reference mirror 43 includes one mounting surface 431 and five measuring surfaces 432, and each measuring surface 432 of the reference mirror 43 is engraved with a cross line, the intersection of the cross lines is the center of the measuring surface 432. In this embodiment, the initial installation of the single-unit product 1 adopts the pin positioning method, which can better meet the installation accuracy requirements; the reference mirror 43 is a cubic structure with a side length of 20mm. The surface accuracy requirement of the mounting surface 431 of the reference mirror 43 is Ra≥3.2. The reference mirror 43 is generally made of glass. For special applications (such as high and low temperature tests, thermal vacuum tests, etc.) where glass materials may be damaged, steel materials are selected.

[0028] A method for testing the installation accuracy of spaceborne products includes the following steps: S1. Define the reference mirror coordinate system; S2, Calibrate the reference mirror coordinate system; S3. Test installation accuracy.

[0029] The details are as follows: like Figure 9 As shown, the coordinate system is a rectangular coordinate system, and the coordinate axes are determined by the right-hand rule. The origin O1 of the coordinate system is the center point of the cube, and each coordinate axis (X, Y, Z) is perpendicular to the three intersecting measurement surfaces.

[0030] like Figure 10 As shown, the coordinate system is generated using a theodolite system. Surface 1 and Surface 2 in the reference mirror are two intersecting surfaces of the reference mirror cube. Theodolite A1 is collimated to surface 1, and theodolite A2 is collimated to surface 2. The normal directions of surfaces 1 and 2 can be obtained by reading the azimuth and elevation angles of the theodolite. The normal directions of surfaces 1 and 2 are the directions of the first and second coordinate axes of the reference mirror coordinate system. The direction of the third coordinate axis of the coordinate system is then determined by the right-hand rule. The coordinates of the center point of the crosshairs on any of the measurement surfaces are measured, and then the reference mirror is translated 10mm in the direction of the normal direction of the measurement surface to obtain the origin position of the reference mirror coordinate system.

[0031] like Figure 11 and Figure 12 As shown, coordinate system O1 (X, Y, Z) is the satellite coordinate system (this is a schematic coordinate system, and the coordinate system directions are assumed); coordinate system O2 (X, Y, Z) is the measurement coordinate system of the theodolite testing system; coordinate system O3 (X, Y, Z) is the reference mirror LJ coordinate system; generally, the coordinate axis directions of the reference mirror LJ coordinate system are basically consistent with the satellite coordinate system; the theodolite testing system consists of theodolite A1 and theodolite A2, and theodolite A3 and theodolite A4 are collimated to the two intersecting surfaces of the reference mirror LJ; the calibration process of the reference mirror coordinate system is as follows: 1. Establish a theodolite testing system and generate a measurement coordinate system. A testing system is established using theodolites A1 and A2. The overall measurement accuracy error (RMS) of the testing system is set to 0.05, with point position measurement deviation ≤ 0.05 mm and angle deviation ≤ 0.01°. The measurement coordinate system is defined as follows: the origin O2 is the horizontal center point of theodolite A1; the X-axis is the projection of the optical line from theodolite A1 to theodolite A2 onto the horizontal plane of theodolite A1; the Z-axis is the horizontal center normal of theodolite A1, vertically upwards. Figure 11 As shown, the measurement coordinate system is O2 (X, Y, Z).

[0032] 2. Generate a satellite coordinate system. By testing the reference holes or mounting holes of the physical object using a testing system (these holes, in their design state, have coordinate values ​​for each hole position or point in the theoretical satellite coordinate system), the coordinate values ​​of the reference holes or mounting holes in the measurement coordinate system are obtained. Through free fitting between the measured values ​​and the theoretical values, the satellite coordinate system of the physical object can be generated. Figure 11 As shown, the satellite coordinate system is O1 (X, Y, Z).

[0033] 3. Generate the LJ coordinate system for the reference mirror. This is achieved by measuring the corresponding rotations and translations of the coordinate system, including the generation of the first and second coordinate axes and the transformation of the origin. The specific process is as follows: Record the azimuth angle α1 from the theodolite A1 to the theodolite A2, record the azimuth angle α2 from the theodolite A1 to the theodolite A3, record the azimuth angle α3 from the theodolite A3 to the theodolite A1, and record the azimuth angle α4 when the theodolite A3 is collimated to the reference mirror LJ. Then it can be calculated as follows Figure 12 ∠1 and ∠2 are shown in the diagram; ∠1 = α2 - α1; ∠2 = α4 - α3; Record the elevation angle values ​​of the collimating reference mirror LJ of the theodolite A3. There are two elevation planes: elevation angle β1 on plane I and elevation angle β2 on plane II. Record the elevation angle values ​​of the collimating reference mirror LJ of the theodolite A4: elevation angle β3 on plane I and elevation angle β4 on plane II. Calculate the angles between the normals of the two planes of the reference mirror LJ and the horizontal plane. ∠3=((β2-β1) / 2)-90°; ∠4=((β4-β3) / 2)-90°; To avoid errors introduced by the machining plane of the reference mirror LJ, the angle between the first and second coordinate axes of the generated coordinate system is calculated as follows: ∠5=180°-arcos(tan∠3×tan∠4); After obtaining the above data, in the measurement coordinate system O2(X,Y,Z), rotate the measurement coordinate system O2(X,Y,Z) around the Z-axis according to the right-hand rule by -(∠1+∠2), and then rotate it around the Y-axis according to the right-hand rule by ∠3 to obtain the X-axis direction of the reference mirror LJ coordinate system. Similarly, rotate the measurement coordinate system O2(X,Y,Z) around the Z-axis according to the right-hand rule by ∠5-(∠1+∠2), and then rotate it around the Y-axis according to the right-hand rule by ∠4 to obtain the Z-axis direction of the reference mirror LJ coordinate system. By automatically generating the Y-axis direction of the reference mirror LJ coordinate system using the right-hand rule of the rectangular coordinate system, a coordinate system CS1 with the same direction as the reference mirror LJ coordinate system and whose origin is at the origin of the measurement coordinate system can be obtained. Next, place the origin of the generated CS1 coordinate system onto the center point of the crosshair on the surface of the test reference mirror to obtain the CS2 coordinate system on the mirror surface. Then, translate the CS2 coordinate system 10mm along the inner side of the reference mirror LJ in the direction perpendicular to the mirror surface to obtain the final reference mirror LJ coordinate system. Figure 11 and Figure 12 As shown, the measurement surface is the -Z plane of the reference mirror LJ. Then, by translating the coordinate system CS2 along the +Z axis by +10mm, the coordinate system O3 (X, Y, Z) of the reference mirror LJ can be obtained.

[0034] 4. By setting the satellite coordinate system O1 (X, Y, Z) as the current coordinate system, the displacement and rotation relationship between the reference mirror LJ coordinate system O3 (X, Y, Z) and the satellite coordinate system can be obtained based on the satellite coordinate system. The transformation matrix between the satellite coordinate system O1 (X, Y, Z) and the reference mirror LJ coordinate system O3 (X, Y, Z) can also be generated. By using steps 1-4 above, the theoretical transformation relationship between the product reference mirror LJ1 coordinate system and the satellite coordinate system O1 (X, Y, Z) and the satellite reference mirror LJ2 coordinate system O1 (X, Y, Z) can be calibrated. Hereinafter, this transformation relationship will be referred to as the calibration value.

[0035] like Figure 13 As shown, the main instruments include theodolites A1, A2, A3, A4, A5, and A6. Theodolites A1 and A2 are used to establish the test system and test the crosshairs of the reference mirror. Theodolites A3 and A4 are used to collimate the two junction surfaces of the reference mirror LJ1 of the spaceborne product 1. Theodolites A5 and A6 are used to collimate the two junction surfaces of the reference mirror LJ2 of the satellite 2. The measurement surface is the crosshair surface of the reference mirror that can be measured by the theodolite test system.

[0036] Example 1: Step 1: Perform installation accuracy testing on the spaceborne products, establish a theodolite testing system, and obtain the reference mirror LJ1 coordinate system and reference mirror LJ2 coordinate system under the measurement coordinate system according to the coordinate system calibration process. Define the reference mirror LJ1 coordinate system as coordinate system CS1, and define the reference mirror LJ2 coordinate system as coordinate system CS2. The coordinate systems are as follows: Figure 14 As shown.

[0037] Step 2: Using the calibration results of the reference mirror coordinate system, calculate the satellite coordinate system CS1' from coordinate system CS1 using theoretical transformation relationships, and use the satellite coordinate system CS1' as the current coordinate system. Figure 15 As shown.

[0038] Step 3: Under the current coordinate system, examine the transformation relationship of coordinate system CS2. This will yield the rotation angles Rx (around the X-axis), Ry (around the Y-axis), and Rz (around the Z-axis), as well as the coordinates of the origin of coordinate system CS2 in coordinate system CS1' (X, Y, Z). This data represents the measured values ​​of its installation accuracy. Figure 16 As shown (the data in the figure are hypothetical values).

[0039] Step 4: Calculate the rotation angle deviation and displacement deviation. Subtract the measured values ​​from the calibrated values ​​to obtain the satellite mounting accuracy of the onboard products. The specific calculation is as follows: ΔRx = Rx1 - Rx2; ΔRy = Ry1 - Ry2; ΔRz = Rz1 - Rz2; ΔX = X1 - X2; ΔY = Y1 - Y2; ΔZ = Z1 - Z2; In the formula, ΔRx is the rotation angle deviation around the X-axis; ΔRy is the rotation angle deviation around the Y-axis; ΔRz is the rotation angle deviation around the Z-axis; ΔX is the displacement deviation along the X-direction; ΔY is the displacement deviation along the Y-direction; ΔZ is the displacement deviation along the Z-direction; Rx1, Ry1, Rz1, X1, Y1, and Z1 are the measured values ​​in step 3 above; Rx2, Ry2, Rz2, X2, Y2, and Z2 are the calibration values ​​of its spaceborne products.

[0040] Step 5: Onboard Product Adjustment. Based on the calculation results in Step 4 above, check whether the satellite mounting accuracy requirements are met. If not, adjust the product installation status. The specific adjustment method is as follows: Displacement adjustment: The values ​​of ΔX, ΔY, and ΔZ represent the adjustment amount in the direction of displacement. Their positive and negative values ​​indicate the actual deviation direction. During adjustment, the product only needs to be translated in the opposite direction to adjust it to the correct position. That is, if it is a negative value, it should be moved by the same amount in the positive direction of the axis in the satellite coordinate system CS1'. Angle Adjustment: The values ​​ΔRx, ΔRy, and ΔRz represent the adjustment amount in the rotation direction. Their positive and negative signs indicate the actual deviation direction. Using the right-hand rule of rotation, facing the positive direction of the coordinate axis, counterclockwise is the positive direction of rotation, and clockwise is the negative direction. When adjusting the angle, the actual deviation value must be calculated according to the rotation axis. The adjustment amount is calculated as follows: Using one mounting hole of the spaceborne product as the adjustment origin (generally the circular pin hole of the product as the origin), multiply the distance L from other mounting points to the adjustment origin by the sine or tangent of the adjustment amount in the direction of rotation: Lt=L*tan(ΔRθ)or Lt=L*sin(ΔRθ); In the formula, Lt represents the actual adjustment amount at each installation point; ΔRθ is the rotational deviation value of each coordinate axis calculated. In actual adjustments, displacement and angle adjustments often affect each other. Therefore, positive and negative signs are used to determine whether the actual adjustment direction is mutual increase or decrease. This method can quickly and accurately adjust the spaceborne products into place.

[0041] Perform the tests as described in steps 1-5 above until the satellite installation test data meets the relevant indicator requirements.

[0042] The advantages and beneficial effects of this invention are as follows: (1) Improved the testing accuracy of spaceborne products, with position accuracy ≤0.05mm and angle accuracy ≤0.01°.

[0043] (2) The test is simple. Only the reference mirrors of the satellite body and the onboard products need to be tested to quickly provide the assembly accuracy of the products.

[0044] (3) The coordinate system of the reference mirror is generated by using the collimation method of the theodolite. This not only avoids the inherent error of the theodolite system, but also avoids the machining error of the reference mirror by calculating the angle between the coordinate systems, thus improving the calibration accuracy of the reference mirror.

[0045] (4) Compared with the traditional test accuracy adjustment, a simple calculation method based on Euler angle is proposed, which can realize the assembly accuracy analysis of the product and determine the actual offset direction of the product based on the sign of the solution result.

[0046] (5) A method for adjusting spaceborne products is proposed, which can accurately give the adjustment amount of each installation point of the product, making it easy to adjust quickly.

[0047] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A spaceborne product installation accuracy testing device, characterized in that: It includes a single unit product (1), a reference mirror LJ1 component (3), a satellite platform (2), and a reference mirror LJ2 component (4); The single-unit product (1) is installed on the satellite platform (2). The single-unit product (1) and the satellite platform (2) are connected by screws and are rigidly connected. The reference mirror LJ1 component (3) is installed on the single-unit product (1). The reference mirror LJ2 component (4) is installed at the bottom of the satellite platform (2). The reference mirror LJ1 component (3) and the reference mirror LJ2 component (4) have the same structure. The single-unit product (1) is positioned on the satellite platform (2) by pin one (5) and pin two (6). Pin one (5) and pin two (6) are diagonally distributed. Pin one (5) is installed with a circular positioning hole, and pin two (6) is installed with a strip positioning hole.

2. The spaceborne product installation accuracy testing device according to claim 1, characterized in that: The satellite platform (2) includes a base plate (21), an east side plate (29), a south side plate (22), a west side plate (24), a north side plate (27), an east center plate (28), a west center plate (25), a transverse plate (23), and a top plate (26). The base plate (21) is connected to the east side plate (29), south side plate (22), west side plate (24), north side plate (27), east center plate (28), west center plate (25), and transverse plate (23) by screws. The east center plate (28) is connected to the transverse plate (23) by a 90-degree connecting corner piece. The west center plate (25) and the transverse plate (23) are connected by a 90-degree connecting corner piece. The top plate (26) is connected to the east side plate (29), south side plate (22), west side plate (24), north side plate (27), east center plate (28), west center plate (25), and transverse plate (23) by screws. The bottom plate (21), east side plate (29), south side plate (22), west side plate (24), north side plate (27), east center plate (28), west center plate (25), transverse plate (23), and top plate (26) are all provided with mounting pin holes.

3. The spaceborne product installation accuracy testing device according to claim 1, characterized in that: The reference mirror LJ2 assembly (4) includes a support base (41), a base (42), and a reference mirror (43). The support base (41) is mounted on the base plate (21) of the satellite platform (2). The base (42) is mounted on the support base (41). The base (42) and the support base (41) are connected by screws. The reference mirror (43) is mounted on the base (42) by adhesive bonding.

4. The spaceborne product installation accuracy testing device according to claim 2, characterized in that: The base plate (21) has a set of corner reference holes (211) at its corners and a set of side center reference holes (212) at the center of its sides.

5. The spaceborne product installation accuracy testing device according to claim 4, characterized in that: The angular reference hole group (211) includes angular reference hole one (2111), angular reference hole two (2112) and angular reference hole three (2113). Angular reference hole one (2111) is opened on the mounting surface of the base plate (21), and angular reference hole two (2112) and angular reference hole three (2113) are respectively opened on two adjacent surfaces of the mounting surface of the base plate (21).

6. The spaceborne product installation accuracy testing device according to claim 4, characterized in that: The edge center reference hole group (212) includes edge center reference hole one (2121) and edge center reference hole two (2121). The edge center reference hole one (2121) is opened on the mounting surface of the base plate (21), and the edge center reference hole two (2121) is opened on the adjacent surface of the mounting surface of the base plate (21).

7. The spaceborne product installation accuracy testing device according to claim 3, characterized in that: The reference mirror (43) has a cubic structure with a side length of 20 mm. The reference mirror (43) includes a mounting surface (431) and five measuring surfaces (432). The accuracy of the mounting surface (431) is Ra≥3.

2. The measuring surfaces (432) of the reference mirror (43) are all engraved with cross lines, and the intersection of the cross lines is the center of the measuring surface (432).

8. A method for testing the installation accuracy of spaceborne products, applied to the spaceborne product installation accuracy testing device according to any one of claims 1-7, characterized in that: Includes the following steps: S1. Define the reference mirror coordinate system; S2, Calibrate the reference mirror coordinate system; S3. Test installation accuracy; In step S1, the reference mirror coordinate system is defined, including: S11. The coordinate system is set as a rectangular coordinate system, with the origin set at the center point of the cube, and each coordinate axis is perpendicular to the measurement surface it intersects with. S12. The theodolite A1 is collimated to surface 1 of the reference mirror, and the theodolite A2 is collimated to surface 2 of the reference mirror. The normals of surface 1 and surface 2 are obtained by reading the azimuth and elevation angles of the theodolite. The normals of surface 1 and surface 2 are set as the directions of the first and second coordinate axes of the reference mirror coordinate system, respectively. The direction of the third coordinate axis is determined by the right-hand rule. The coordinates of the center point of the crosshairs on any measurement surface are measured. The center point is translated 10mm inward along the normal direction into the reference mirror to obtain the origin position of the reference mirror coordinate system. In step S2, the reference mirror coordinate system is calibrated, including: S21. Establish a theodolite testing system and generate a measurement coordinate system O2 (X, Y, Z). S22. Generate satellite coordinate system O1 (X, Y, Z); S23. Generate the reference mirror LJ coordinate system O3 (X, Y, Z); S24. Set the satellite coordinate system O1 (X, Y, Z) as the current coordinate system, obtain the displacement and rotation relationship between the reference mirror LJ coordinate system O3 (X, Y, Z) and the satellite coordinate system, and generate the transformation matrix between the satellite coordinate system O1 (X, Y, Z) and the reference mirror LJ coordinate system O3 (X, Y, Z). S25. Using steps S21 to S24, calibrate the theoretical transformation relationship between the reference mirror LJ1 coordinate system and the satellite coordinate system O1 (X, Y, Z), and calibrate the theoretical transformation relationship between the reference mirror LJ2 coordinate system and the satellite coordinate system O1 (X, Y, Z). In step S22, the satellite coordinate system O1 (X, Y, Z) is generated, including: S221. Test the reference hole or mounting hole of the physical object through the testing system to obtain the coordinate value of the reference hole or mounting hole in the measurement coordinate system. S222. By freely fitting the measured values ​​with the theoretical values, a satellite coordinate system O1 (X, Y, Z) is generated.

9. The method for testing the installation accuracy of spaceborne products according to claim 8, characterized in that: In step S21, a theodolite testing system is established, and a measurement coordinate system O2 (X, Y, Z) is generated, including: The origin O2 of the measurement coordinate system is set as the horizontal center point of the theodolite A1, the X-axis is set as the projection of the optical line from theodolite A1 to theodolite A2 onto the horizontal plane of theodolite A1, and the Z-axis is set as the horizontal center normal of theodolite A1, which is vertically upward. In step S23, the reference mirror LJ coordinate system O3 (X, Y, Z) is generated, including: S231. Record the azimuth angle α1 from the theodolite A1 to the theodolite A2, record the azimuth angle α2 from theodolite A1 to theodolite A3, record the azimuth angle α3 from theodolite A3 to theodolite A1, and record the azimuth angle α4 when the theodolite A3 is collimated to the reference mirror LJ. Calculate the angle ∠1 between the directions from A1 to A2 and from A1 to A3, which is α2-α1, and the angle ∠2 between the directions from A3 to A1 and from A3 to the reference mirror LJ, which is α4-α3. S232. Record the elevation angle values ​​of the collimating reference mirror LJ of the theodolite A3, the elevation angle β1 value of plane I, and the elevation angle β2 value of plane II. Record the elevation angle values ​​of the collimating reference mirror LJ of the theodolite A4, the elevation angle β3 value of plane I, and the elevation angle β4 value of plane II. Calculate the angles ∠3 and ∠4 between the normals of the two planes of the reference mirror LJ and the horizontal plane, respectively. ∠3 = ((β2-β1) / 2)-90°, ∠4 = ((β4-β3) / 2)-90°. S233. The angle between the first coordinate axis and the second coordinate axis is ∠5 = 180° - arcos(tan∠3 × tan∠4). S234. In the measurement coordinate system O2(X,Y,Z), rotate the measurement coordinate system O2(X,Y,Z) around the Z-axis according to the right-hand rule by -(∠1+∠2), and around the Y-axis according to the right-hand rule by ∠3 to obtain the X-axis direction of the reference mirror LJ coordinate system. Rotate the measurement coordinate system O2(X,Y,Z) around the Z-axis according to the right-hand rule by ∠5-(∠1+∠2), and around the Y-axis according to the right-hand rule by ∠4 to obtain the Z-axis direction of the reference mirror LJ coordinate system. Automatically generate the Y-axis direction of the reference mirror LJ coordinate system using the right-hand rule of the rectangular coordinate system, and obtain a coordinate system CS1 with the same direction as the reference mirror LJ coordinate system and the origin at the origin of the measurement coordinate system. S235. Place the origin of coordinate system CS1 at the center point of the crosshairs on the measurement surface of the reference mirror to obtain coordinate system CS2. Translate coordinate system CS2 10mm inward along the vertical direction of the mirror surface into the reference mirror LJ to obtain the coordinate system O3 (X, Y, Z) of the reference mirror LJ.

10. A method for testing the installation accuracy of spaceborne products according to claim 8, characterized in that: In step S3, the installation accuracy is tested, including: S31. Establish a theodolite testing system: Use theodolites A1 and A2 to establish a testing system and test the crosshairs of the reference mirror. Align theodolites A3 and A4 with the two intersecting surfaces of the reference mirror of the reference mirror LJ1 component. Align theodolites A5 and A6 with the two intersecting surfaces of the reference mirror of the reference mirror LJ2 component. S32. Use step S2 to generate the LJ1 coordinate system and the LJ2 coordinate system of the reference mirror, and calibrate the reference mirror coordinate system; S33. Analyze installation errors: Calculate the satellite coordinate system by using the LJ2 coordinate system of the reference mirror. Under the satellite coordinate system, calculate the position and rotation relationship values ​​of the LJ1 coordinate system of the reference mirror. Subtract the calibration value from this value to calculate the installation accuracy of the product.

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