Large complex optical-mechanical system integrated space pose positioning method and system

Abstract

The invention discloses a large-scale complex optical-mechanical system integrated space pose positioning method and system, which are used for solving the problems of poor initial positioning precision and low efficiency caused by a built-in optical element and no exposed measurement basis in a modularized optical system. The method comprises the following steps: measuring a reference surface of an optical machine main body through a laser tracker to establish a global space coordinate system, and aiming through at least two auto-collimation theodolites and establishing a global angle coordinate system according to a global accurate measurement mirror; the method comprises the following steps: arranging a plurality of cooperative target seats and accurate measurement mirrors on a target module, and respectively acquiring actual spatial positions and angle postures of the target module under a global coordinate system; and comparing the actually measured pose with the theoretically designed pose, and manually adjusting the target module by using a six-degree-of-freedom adjusting mechanism until the pose deviation meets the tolerance requirement, thereby finally realizing rapid and accurate initial positioning. The method does not depend on an exposed optical surface of the module, and the installation and adjustment efficiency and reliability are remarkably improved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of complex optical-mechanical system integration, and relates to a spatial pose positioning method and system for large complex optical-mechanical system integration. BACKGROUND

[0002] With the rapid development of optical technology, the demand for large complex optical-mechanical systems (such as space telescopes and high-resolution earth observation cameras) is increasing. Such systems usually adopt a modular design and integration assembly mode, that is, functionally independent optical, mechanical, electronic and other subsystems are pre-integrated into independent modules, and finally precise docking is performed in the final assembly stage to form a complete system. In this system integration and assembly stage, how to efficiently and accurately position each target module (especially the core optical module) to the designed theoretical pose is a key link to determine the final performance of the entire system.

[0003] At present, the initial positioning method of the optical module in the system integration and assembly stage of the large complex optical-mechanical system still relies on the original screw hole position and the approximate position of the observed target module. This method relies too much on the experience of the assembly personnel when the optical system is integrated and docked, and often results in too much assembly time in the initial positioning stage of the optical system assembly, that is, the target module docking and image finding stage. For example, the patent with the patent number CN 117948882A and the patent name "A combined measurement method for initial assembly and adjustment of an optical-mechanical system" proposes an initial assembly and adjustment measurement method for an optical-mechanical system. In the positioning process, the target module contains a mirror, the spatial position coordinates of the target curvature center are used to determine the position of the PSM assembly microscope, the module is adjusted, the position of the target module is determined by the PSM assembly microscope, and then a theodolite is used to establish a global measurement network to determine the final pose of the target module. This method is suitable for the assembly of mirror modules, but in the integration operation of large complex optical-mechanical systems, lenses are hidden inside the modules, only the structural frame is on the outer layer of the module, and the curvature center cannot be positioned using the PSM assembly microscope. In addition, large complex optical-mechanical systems are modularly assembled, and the modules have the characteristics of large size, compact space, and complex optical path intersection, so the existing method is difficult to apply to the initial positioning of pure structure modules or optical element built-in modules without exposed optical measurement reference in large complex optical-mechanical systems. SUMMARY

[0004] In order to solve the problem of initial positioning of large complex optical-mechanical system modules, the application proposes a spatial pose positioning method for large complex optical-mechanical system integration. Using this method, the initial pose of the module in the large complex optical-mechanical system can be quickly and initially positioned, so that the optical receiving equipment can quickly identify the optical test target, and the assembly and adjustment quality and efficiency are improved.

[0005] This invention is achieved through the following technical solution: A spatial pose localization method for a large-scale, complex optomechanical system integration includes: Establish a global coordinate system; the global coordinate system includes a global spatial coordinate system and a global angular coordinate system. The actual spatial pose of each cooperative target in the global spatial coordinate system is calibrated, and the actual spatial pose of the cooperative target is transformed by coordinate transformation to obtain the actual spatial position of the target module in the global spatial coordinate system; wherein, the cooperative target is deployed on the optomechanical body based on the laser tracker; A precision measuring mirror is set on the target module to obtain the actual angle and attitude of the target module in the global angle coordinate system. The actual pose of the target module in the global coordinate system is determined by the actual spatial position and actual angular attitude of the target module. Adjust the actual pose according to the theoretical pose to complete the spatial pose positioning of the target module.

[0006] Preferably, a global coordinate system is established, specifically including: A laser tracker is used to measure the reference plane of the optomechanical body, and a global spatial coordinate system is established based on the reference plane of the optomechanical body; At least two autocollimating theodolites are used to guide out the optical axis of the main body of the optical engine. The conversion between the optical axis of the main body of the optical engine and the angular pose of the target module is achieved through mutual aiming between the autocollimating theodolites, thereby establishing global angular coordinates.

[0007] Preferably, the actual pose of the target module in the global coordinate system is obtained as follows: Using a laser tracker, cooperative target mounts are deployed and measured on the optomechanical body, and the actual spatial poses of each cooperative target mount in the global spatial coordinate system are calibrated. The actual spatial poses of the cooperative target mounts are then transformed to obtain the actual spatial position of the target module in the global spatial coordinate system. The actual angular attitude of the target module in the global angular coordinate system is obtained by using an autocollimating theodolite; The actual pose of the target module in the global coordinate system is obtained by using the actual spatial position and actual angle of the target module.

[0008] Preferably, obtaining the actual spatial position of the target module in the global coordinate system includes: Multiple laser trackers are deployed on the target module as cooperative target points for measurement. Before assembly, the relative positional relationship between each measurement point and the reference point of the target module is pre-calibrated; When the target module enters the optomechanical body and its reference point cannot be directly measured, the actual spatial position of the target module's reference point in the global spatial coordinate system is calculated by measuring the measurement point and combining it with the relative positional relationship.

[0009] Preferably, the actual angular pose of the target module in the global angular coordinate system is obtained as follows: A precision measuring mirror is set on the target module to derive the normal direction of its reference plane or imaging plane. The actual angle of the reflected beam of the precision measuring mirror is measured by an autocollimating theodolite to obtain the actual angular pose of the target module in the global angular coordinate system.

[0010] Preferably, when the initial precision measuring mirror arranged on the target module is blocked during the assembly and adjustment process, the angle is measured by using a spare precision measuring mirror that is pre-fixed in another position on the target module; wherein the relative angle relationship between the spare precision measuring mirror and the initial precision measuring mirror has been pre-calibrated and recorded.

[0011] Preferably, the actual pose is adjusted according to the theoretical pose to complete the spatial pose localization of the target module, specifically as follows: The theoretical pose of the target module's reference point in the global coordinate system is obtained based on the theoretical design model. The actual pose is compared with the theoretical pose to obtain the six-degree-of-freedom deviation. The pose of the target module is adjusted by six degrees of freedom deviation until the deviation between the actual pose and the theoretical pose of the target module's reference point is within the assembly tolerance range, thus completing the initial spatial pose positioning of the target module.

[0012] Preferably, the assembly tolerance is within 0.05 mm.

[0013] Preferred options also include: After the spatial pose positioning of the target module is completed, the target module is manually adjusted again using a six-degree-of-freedom adjustment mechanism based on the optical indicators measured in real time by the optical receiving equipment until the optical indicators meet the preset requirements. Then, the final docking and integration of the target module and the optomechanical body is completed.

[0014] A spatial pose positioning system integrating a large and complex optomechanical system includes: The coordinate system establishment module is used to establish a global coordinate system; the global coordinate system includes a global spatial coordinate system and a global angular coordinate system. The actual pose of the target module in the global coordinate system is used to calibrate the actual spatial pose of each cooperative target in the global spatial coordinate system. The actual spatial pose of the cooperative target is transformed by coordinate transformation to obtain the actual spatial position of the target module in the global spatial coordinate system. The cooperative target is deployed on the optomechanical body based on the laser tracker. Obtain the actual angular attitude of the target module in the global angular coordinate system; The actual pose of the target module in the global coordinate system is determined by the actual spatial position and actual angular attitude of the target module. The spatial pose localization module is used to adjust the actual pose according to the theoretical pose to complete the spatial pose localization of the target module.

[0015] Compared with the prior art, the present invention has the following beneficial technical effects: The spatial pose positioning method provided by this invention establishes a global coordinate system including a global spatial coordinate system and a global angular coordinate system. It utilizes a cooperative target and a precision measuring mirror deployed on the module as measurement benchmarks, providing a unified reference for measuring the spatial position and angular attitude of the target module. This avoids the accumulation of errors from dispersed measurements and achieves rapid and accurate quantitative positioning of the initial pose of the target module in a large and complex optomechanical system. By calibrating the cooperative target on the optomechanical body using a laser tracker and obtaining the actual spatial position of the target module through coordinate transformation, it eliminates the need for exposed optical measurement benchmarks. This method is suitable for the initial positioning of purely structural modules and modules with built-in optical elements in large and complex optomechanical systems, overcoming the limitations of existing technologies that rely on modules with exposed mirror surfaces. Simultaneously, by synchronously acquiring the actual angular attitude of the target module in the global angular coordinate system and combining it with the actual spatial position, its global actual pose is completely determined. Then, precise adjustments are made based on the theoretical pose, reducing reliance on the experience of assembly personnel and shortening the initial positioning time. This expands the applicability of the method while ensuring positioning accuracy, providing a universal, efficient, and accurate pose positioning solution for the modular integration and assembly of large and complex optomechanical systems. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 A flowchart of a spatial pose localization method for a large and complex optomechanical system integration; Figure 2 This is a schematic diagram of a large and complex optomechanical system according to an embodiment of the present invention.

[0018] Figure 3 This is a schematic diagram showing the cooperative target position of the optomechanical main body and the external laser tracker of the target module in an embodiment of the present invention.

[0019] Figure 4This is a schematic diagram illustrating the establishment of a global coordinate system using a laser tracker and a theodolite in an embodiment of the present invention.

[0020] Figure 5 This is a schematic diagram illustrating the use of a six-degree-of-freedom adjustment mechanism to adjust the pose of the target module according to an embodiment of the present invention. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0022] A spatial pose localization method for large-scale complex optomechanical system integration, such as Figure 1 As shown, it includes: Establish a global coordinate system; the global coordinate system includes a global spatial coordinate system and a global angular coordinate system. The actual spatial pose of each cooperative target in the global spatial coordinate system is calibrated, and the actual spatial pose of the cooperative target is transformed by coordinate transformation to obtain the actual spatial position of the target module in the global spatial coordinate system; wherein, the cooperative target is deployed on the optomechanical body based on the laser tracker; A precision measuring mirror is set on the target module to obtain the actual angle and attitude of the target module in the global angle coordinate system. The actual pose of the target module in the global coordinate system is determined by the actual spatial position and actual angular attitude of the target module. Adjust the actual pose according to the theoretical pose to complete the spatial pose positioning of the target module.

[0023] The theoretical pose of the target module's reference point in the global coordinate system is obtained based on the theoretical design model. The actual pose is compared with the theoretical pose to obtain the six-degree-of-freedom deviation. The pose of the target module is adjusted by six degrees of freedom deviation until the deviation between the actual pose and the theoretical pose of the target module's reference point is within the assembly tolerance range, which is within 0.05mm, thus completing the initial spatial pose positioning of the target module.

[0024] A laser tracker is used to measure the reference plane of the optomechanical body, and a global spatial coordinate system is established based on the reference plane of the optomechanical body; specifically: A laser tracker is used to measure a pre-selected reference plane on the optomechanical body. At least three laser tracker cooperative targets are arranged on the reference plane as measurement points to accurately obtain the three-dimensional coordinate data of these points in the tracker's own coordinate system. The spatial equation of the reference plane is fitted using the coordinates of these points, and a global spatial coordinate system is established with this plane as a reference.

[0025] This invention provides a spatial pose positioning method for large-scale complex optomechanical system integration. It proposes establishing a global coordinate system, deriving a reference point from the target module, determining the pose of the reference point in the global coordinate system, and using a six-degree-of-freedom adjustment mechanism to adjust the target module's position. Then, an autocollimating theodolite is used to derive the reference optical axis of the global coordinate system. Through interactive aiming between the theodolites, the reference optical axis of the global coordinate system is converted to the direction of the precision measuring mirror on the target module. The angle pose of the target module is adjusted using the six-degree-of-freedom adjustment mechanism based on the relationship between the precision measuring mirror's direction and the module's reference / image plane. Finally, an optical receiving device is used to detect the optical parameters of the target module, and the six-degree-of-freedom adjustment mechanism is used to precisely adjust the module's pose based on the detected optical parameter values.

[0026] As one of the preferred embodiments, multiple cooperative target measurement points are set up on the target module (to facilitate coordinate system transformation, there should be at least 3 target measurement points) to establish the target module coordinate system and determine the relative positional relationship between the reference point and the measurement points.

[0027] The three-dimensional spatial coordinates of all cooperative target measurement points (no less than 3) on the target module and the optical reference points (such as mirror apex, mechanical interface center, etc.) in the target module design theory are measured.

[0028] By using a spatial coordinate system transformation algorithm (such as rigid body transformation based on the least squares method), a set of optimal transformation parameters (including translation and rotation matrices) is calculated. This set of parameters can transform the measured coordinates of all measurement points to the theoretical module coordinate system centered on the target module's reference point.

[0029] Record and store the calibrated transformation parameters and the fixed coordinate values ​​of each measurement point in the target module coordinate system.

[0030] As one of the preferred embodiments, when the reference point cannot be measured after the target module is installed in the optomechanical body, an external measurement point can be used to characterize the spatial coordinate position of the reference point in any coordinate system. The reference point position can be converted between the module coordinate system and the global coordinate system through coordinate system transformation. The position of the reference point is monitored by a laser tracker, and the pose of the target module is manually adjusted by a six-degree-of-freedom adjustment mechanism based on the feedback value of the laser tracker.

[0031] As one of the preferred implementation methods, multiple sets (at least 3) of autocollimating theodolites are used to respectively lead out the reference optical axis of the global coordinate system and the target module precision measuring mirror. Through the interactive aiming between the theodolites, the conversion between the optical axis pointing of the global coordinate system and the angular pose of the target module is realized.

[0032] As one preferred embodiment, the method includes using a precision measuring mirror on the target module to extract the angular pose of its reference plane / imaging plane, obtaining the angular position of the target module in the global coordinate system based on the theoretical design model, and using at least two autocollimating theodolites to measure and monitor the actual angular position of the target module in the global angular coordinate system. Based on the feedback values ​​from the autocollimating theodolites, the angle of the target module is continuously and manually adjusted using a six-degree-of-freedom adjustment mechanism until the actual pose of the target module in the global angular coordinate system and the theoretical deviation meet the assembly tolerance.

[0033] As one of the preferred embodiments, when the precision measuring mirror of the target module is blocked and cannot be autocollimated with the autocollimating theodolite, the precision measuring mirror 2 is fixed at other positions of the module and the relative angle relationship between the precision measuring mirror 2 and the initial precision measuring mirror is calibrated and recorded. The precision measuring mirror 2 can also characterize the current angular pose of the target module in any coordinate system.

[0034] As one of the preferred embodiments, after the target module is initially positioned, an optical receiving device is connected, and the pose of the target module is manually adjusted using a six-degree-of-freedom adjustment mechanism based on the optical parameters measured by the optical receiving device until all optical parameters of the target module meet the requirements.

[0035] The optomechanical system integration assembly mainly includes the following core components: the main optomechanical structure serving as the carrier and reference body; the target module to be positioned and integrated (containing optical mirror groups, mechanical frames, etc.); the laser tracker for spatial coordinate measurement and its cooperative target mounts deployed in various locations; the autocollimating theodolite for establishing and measuring angular references and the global precision measuring mirror serving as the angular origin; the six-degree-of-freedom adjustment mechanism for performing attitude adjustment; and the optical receiving equipment for final optical performance verification. The entire system achieves a closed-loop assembly process from measurement and calculation to adjustment through the coordinated work of these components.

[0036] The six-degree-of-freedom adjustment mechanism is a six-dimensional series adjustment mechanism.

[0037] The technical solution of the present invention will be clearly and completely described below. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0038] Example 1 Specific Implementation Method 1: Combination Figures 2 to 4 This embodiment aims to use the spatial pose positioning method for large and complex optomechanical system integration described above to complete the assembly and adjustment of the target module.

[0039] like Figure 2 As shown in the figure, a schematic diagram of a large and complex optomechanical system is presented. The global precision measuring mirror represents the direction of the main optical axis (Z direction) of the system. The global precision measuring mirror is the main angular reference for the assembly of all back-end modules. All assembly and adjustment angular references are derived from the global precision measuring mirror, and all assembly and adjustment position references are derived from the global coordinate system.

[0040] The global precision measuring mirror is a high-precision optical plane mirror fixed at a key position on the optomechanical main body, serving as the sole physical origin for establishing and transmitting the angular reference of the entire system. At the initial stage of system integration, multiple autocollimating theodolites are used to mutually aim and measure this mirror surface, establishing its normal direction as the reference axis of the global angular coordinate system for the entire assembly process. The theoretical angular poses of all subsequent modules must be converted and calibrated based on this reference. During assembly and adjustment, this mirror surface serves as the common reference starting point for all angle measurements. The autocollimating theodolites first aim at it to establish the reference direction before measuring the mirror surface on the target module, thereby achieving reliable transmission of the global angular reference.

[0041] like Figure 3 , Figure 4 As shown, a global coordinate system is established by measuring the reference plane of the main optomechanical system and the cooperative target of the system laser tracker using a laser tracker. The cooperative target of the laser tracker is fixed on the target module, and the position of the cooperative target is measured using a laser tracker to obtain the actual position information of the target module in the global coordinate system. The position of the target module is adjusted using a six-degree-of-freedom adjustment mechanism, and the position of the target ball is monitored in real time until the deviation between the position of the target module and the theoretical position meets the assembly tolerance, thus completing the initial positioning of the target module. like Figure 4 , Figure 5As shown, autocollimating theodolites 1 and 2 are used with the horizontal as the reference to derive the Z and X directions of the precision measuring mirror of the main optical system. The Z direction represents the direction of the main optical axis of the system. Based on the design position of the target module, the pose information of the target module relative to the global coordinate system in terms of the Z and X directions is obtained. Autocollimating theodolites 1, 2, 3, and 4 are used to align with each other to transmit the pointing information of the theodolites to autocollimating theodolites 3 and 4. Autocollimating theodolites 3 and 4 are used to monitor the actual pose of the target module in the global coordinate system. The pose of the target module is manually adjusted using a six-degree-of-freedom adjustment mechanism until the angular deviation between the pose of the target module and the theoretical pose meets the assembly tolerance range, thus completing the initial pose positioning of the target module.

[0042] After the initial pose of the target module is determined, the target module receives the image formed by the target plate, acquires images through optical receiving equipment and analyzes images from ground inspection equipment, and evaluates various optical indicators. Based on the feedback values ​​of the optical indicators, the target module is re-adjusted using a six-degree-of-freedom adjustment mechanism until the optical indicators fully meet the requirements, and then the assembly and adjustment of the target module and the main system are completed.

[0043] This method enables rapid initial positioning of multiple modules in a large, complex optomechanical system, allowing optical receiving equipment to quickly identify optical test targets and improving assembly quality and efficiency. The invention includes establishing a global spatial coordinate system using a laser tracker and a global angular coordinate system using an autocollimating theodolite. Within the global coordinate system (space and angle), the laser tracker acquires the position and angular deviations of one or more references of the target module in the global coordinate system. Based on real-time monitoring results, a six-degree-of-freedom adjustment mechanism is used to manually adjust the actual pose of the target module, completing the initial positioning of the target module during assembly. Subsequently, based on real-time measurements of the target module by the optical receiving equipment, the six-degree-of-freedom adjustment mechanism is used to perform multiple pose adjustments and iterations on the target module until all optical indicators fully meet the requirements, completing the docking and integration of the target module with the main optomechanical system.

[0044] It should be understood that, when used in this specification and the appended claims, the terms "comprising" and "including" indicate the presence of the described features, integrals, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or collections thereof.

[0045] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0046] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Those skilled in the art can readily implement the present invention based on the accompanying drawings and the above description. However, any modifications, alterations, or variations made by those skilled in the art without departing from the scope of the present invention, utilizing the disclosed technical content, are equivalent embodiments of the present invention. Furthermore, any modifications, alterations, or variations made to the above embodiments based on the essential technology of the present invention are still within the protection scope of the present invention.

Claims

1. A spatial pose positioning method for a large-scale, complex optomechanical system integration, characterized in that, include: Establish a global coordinate system; the global coordinate system includes a global spatial coordinate system and a global angular coordinate system. The actual spatial pose of each cooperative target in the global spatial coordinate system is calibrated, and the actual spatial pose of the cooperative target is transformed by coordinate transformation to obtain the actual spatial position of the target module in the global spatial coordinate system; wherein, the cooperative target is deployed on the optomechanical body based on the laser tracker; A precision measuring mirror is set on the target module to obtain the actual angle and attitude of the target module in the global angle coordinate system. The actual pose of the target module in the global coordinate system is determined by the actual spatial position and actual angular attitude of the target module. Adjust the actual pose according to the theoretical pose to complete the spatial pose positioning of the target module.

2. The spatial pose positioning method for a large-scale complex optomechanical system integration according to claim 1, characterized in that, Establishing a global coordinate system specifically includes: A laser tracker is used to measure the reference plane of the optomechanical body, and a global spatial coordinate system is established based on the reference plane of the optomechanical body; At least two autocollimating theodolites are used to guide out the optical axis of the main body of the optical engine. The conversion between the optical axis of the main body of the optical engine and the angular pose of the target module is achieved through mutual aiming between the autocollimating theodolites, thereby establishing global angular coordinates.

3. The spatial pose positioning method for a large-scale complex optomechanical system integration according to claim 1, characterized in that, The actual pose of the target module in the global coordinate system is obtained as follows: Using a laser tracker, cooperative target mounts are deployed and measured on the optomechanical body, and the actual spatial poses of each cooperative target mount in the global spatial coordinate system are calibrated. The actual spatial poses of the cooperative target mounts are then transformed to obtain the actual spatial position of the target module in the global spatial coordinate system. The actual angular attitude of the target module in the global angular coordinate system is obtained by using an autocollimating theodolite; The actual pose of the target module in the global coordinate system is obtained by using the actual spatial position and actual angle of the target module.

4. The spatial pose positioning method for a large-scale complex optomechanical system integration according to claim 3, characterized in that, Obtain the actual spatial position of the target module in the global coordinate system, including: Multiple laser trackers are deployed on the target module as cooperative target points for measurement. Before assembly, the relative positional relationship between each measurement point and the reference point of the target module is pre-calibrated; When the target module enters the optomechanical body and its reference point cannot be directly measured, the actual spatial position of the target module's reference point in the global spatial coordinate system is calculated by measuring the measurement point and combining it with the relative positional relationship.

5. The spatial pose positioning method for a large-scale complex optomechanical system integration according to claim 3, characterized in that, The actual angular pose of the target module in the global angular coordinate system is obtained as follows: A precision measuring mirror is set on the target module to derive the normal direction of its reference plane or imaging plane. The actual angle of the reflected beam of the precision measuring mirror is measured by an autocollimating theodolite to obtain the actual angular pose of the target module in the global angular coordinate system.

6. The spatial pose positioning method for a large-scale complex optomechanical system integration according to claim 5, characterized in that, When the initial precision measuring mirror placed on the target module is blocked during the assembly and adjustment process, the angle is measured by using a spare precision measuring mirror that is pre-fixed in another position on the target module; wherein the relative angle relationship between the spare precision measuring mirror and the initial precision measuring mirror has been pre-calibrated and recorded.

7. The spatial pose positioning method for a large-scale complex optomechanical system integration according to claim 1, characterized in that, Adjusting the actual pose based on the theoretical pose completes the spatial pose localization of the target module, specifically: The theoretical pose of the target module's reference point in the global coordinate system is obtained based on the theoretical design model. The actual pose is compared with the theoretical pose to obtain the six-degree-of-freedom deviation. The pose of the target module is adjusted by six degrees of freedom deviation until the deviation between the actual pose and the theoretical pose of the target module's reference point is within the assembly tolerance range, thus completing the initial spatial pose positioning of the target module.

8. The spatial pose positioning method for a large-scale complex optomechanical system integration according to claim 7, characterized in that, The assembly tolerance is within 0.05m.

9. The spatial pose positioning method for a large-scale complex optomechanical system integration according to claim 1, characterized in that, Also includes: After the spatial pose positioning of the target module is completed, the target module is manually adjusted again using a six-degree-of-freedom adjustment mechanism based on the optical indicators measured in real time by the optical receiving equipment until the optical indicators meet the preset requirements. Then, the final docking and integration of the target module and the optomechanical body is completed.

10. A spatial pose positioning system for a large-scale complex optomechanical system integration, based on the spatial pose positioning method for a large-scale complex optomechanical system integration as described in any one of claims 1-9, characterized in that... include: The coordinate system establishment module is used to establish a global coordinate system; the global coordinate system includes a global spatial coordinate system and a global angular coordinate system. The actual pose of the target module in the global coordinate system is used to calibrate the actual spatial pose of each cooperative target in the global spatial coordinate system. The actual spatial pose of the cooperative target is transformed by coordinate transformation to obtain the actual spatial position of the target module in the global spatial coordinate system. The cooperative target is deployed on the optomechanical body based on the laser tracker. Obtain the actual angular attitude of the target module in the global angular coordinate system; The actual pose of the target module in the global coordinate system is determined by the actual spatial position and actual angular attitude of the target module. The spatial pose localization module is used to adjust the actual pose according to the theoretical pose to complete the spatial pose localization of the target module.

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