A target layout and scanning method based on aircraft omni-direction

Abstract

The application discloses a target layout and scanning method based on aircraft omni-direction, which uses special feature point marking of the aircraft belly, and then places the target according to the infrared irradiation feature point of the target, so that the target is placed to form a polygon with dislocation.Combined with laser radar positioning software, all local measurement point map information of the whole machine is accurately collected.The application ensures the accurate coordinate information of the aircraft omni-direction scanning, solves the problem that the aircraft can use the last coordinate system positioning demand as long as the feature point is unchanged in any field replacement, and is applicable to the transfer demand of the aircraft and other large equipment, and has the advantages of simple operation, high positioning precision, etc.

Description

Technical Field

[0001] This invention relates to aircraft local positioning technology, specifically, a method for target layout using aircraft feature points, and for omnidirectional positioning scanning using lidar under this layout. Background Technology

[0002] Existing local scanning positioning methods typically rely on manual marking, which has several drawbacks. First, due to manual operation, the repeatability of positions is low, making the scanning results susceptible to operational errors. Second, this method is time-consuming, as operators need to pre-mark complex positions and then manually move the measuring equipment to the measurement point.

[0003] Existing positioning technologies typically operate within a fixed coordinate system. Once the target changes location, the coordinate system shifts, necessitating repositioning and recalibration. This limits the application scenarios where the target's location needs to change while maintaining the same coordinate system.

[0004] However, some large equipment, especially large equipment such as aircraft, often need to be moved to different locations for subsequent installation and testing in different factories. If the aircraft changes location, existing local positioning technology cannot maintain the original coordinate system and it is necessary to recreate the coordinate system, which increases measurement time and workload and reduces efficiency.

[0005] Therefore, how to handle the relocation of large equipment and quickly establish a coordinate system to facilitate subsequent testing has become a technical problem that needs to be solved by existing technologies. Summary of the Invention

[0006] To address the above problems, the present invention aims to propose a target layout and scanning method based on aircraft omnidirectional scanning. This method utilizes feature points on the aircraft's belly to place laser targets, ensuring the laser targets are aligned with these feature points. This guarantees accurate coordinate information for omnidirectional scanning of the aircraft.

[0007] To achieve this objective, the present invention adopts the following technical solution:

[0008] A target layout and scanning method based on aircraft omnidirectional orientation includes the following steps:

[0009] Feature point labeling step S110:

[0010] Locate and mark fixed, unchanging feature points on the belly of the aircraft; these feature points are points with fixed, unchanging physical characteristics.

[0011] Target placement step S120:

[0012] The aircraft under test is suspended in the air, and the target is placed on the ground, vertically aligned with the marked feature points on the belly of the aircraft. Multiple targets are placed in sequence to form the target layout for the aircraft under test.

[0013] Aircraft omnidirectional scanning step S130:

[0014] The LiDAR scanner moves around the aircraft under test to scan and locate the positioned area.

[0015] Optionally, in step S110,

[0016] The points with fixed physical characteristics include: specific structural points on the belly of the aircraft, or points with special graphic markings.

[0017] Optionally, in step S120,

[0018] The target is a circular target with infrared rays. After turning on the infrared rays, it is aimed at the characteristic points on the belly of the aircraft.

[0019] Optionally, in step S120,

[0020] The targets are placed at staggered angles to avoid forming equilateral triangles.

[0021] Optionally, in step S120,

[0022] After the targets are placed, use measuring tools to measure the distance between the targets to avoid them being equal. If equal distances are found, adjust the target positions.

[0023] Optionally, in step S120,

[0024] There are 5-9 targets after they are placed.

[0025] Optionally, step S120 specifically includes:

[0026] Place target 1, turn on the infrared beam of the cylindrical target and align it with the marked feature point on the belly of the aircraft. The infrared beam of the target is perpendicular to the feature point of the aircraft to determine the relative positional relationship between the feature point and the target.

[0027] Place target 2, turn on the infrared beam of the cylindrical target and aim it at the second feature point on the belly of the aircraft.

[0028] Place target 3, and align the cylindrical target with infrared rays to illuminate the third feature point on the aircraft's belly.

[0029] The angles of targets 1, 2, and 3 are staggered to avoid forming an equilateral triangle.

[0030] Multiple targets are placed in sequence to form the target layout for the aircraft to be tested.

[0031] The present invention has the following advantages:

[0032] This invention utilizes special feature point markings on the aircraft's belly, and then arranges the targets according to the infrared illumination of these feature points, forming a staggered polygon. Combined with lidar positioning software, it accurately collects map information of all local measurement points on the entire aircraft. This method ensures precise coordinate information for omnidirectional scanning of the aircraft, solving the requirement that the aircraft can use the previous coordinate system for positioning even when changing locations, as long as the feature points remain unchanged. The lidar, starting from stealth measurement requirements, analyzes the aircraft's external digital model to obtain n structural feature points and their coordinates (X1, Y1...Xn, Yn) in the application system's coordinate system, achieving comprehensive scanning. Attached Figure Description

[0033] Figure 1 This is a flowchart of a target layout method according to a specific embodiment of the present invention;

[0034] Figure 2 This is a schematic diagram showing the location of feature points under the belly of an aircraft according to a specific embodiment of the present invention;

[0035] Figure 3 This is a schematic diagram illustrating the relationship between the target, feature points, and lidar according to a specific embodiment of the present invention.

[0036] Figure 4 This is a schematic diagram of an aircraft omnidirectional positioning scan according to a specific embodiment of the present invention. Detailed Implementation

[0037] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0038] The main feature of this invention is the use of special feature point markers on the aircraft's underside to place laser targets. These targets are aligned with the feature points, forming a misaligned polygon. Combined with lidar positioning software, the coordinate information of the targets under the aircraft is accurately collected. Therefore, this invention is applicable to the relocation needs of large equipment such as aircraft, is simple and convenient to operate, has high positioning accuracy, and can be used in various situations such as aircraft stealth testing.

[0039] For details, see Figure 1 The flowchart illustrates a target layout and scanning method based on an aircraft omnidirectional orientation according to a specific embodiment of the present invention. Figures 2-4A schematic diagram illustrating the omnidirectional scanning of an aircraft using this method is shown. The specific steps of this method are as follows:

[0040] Feature point labeling step S110:

[0041] See Figure 1 Locate and mark fixed, unchanging feature points on the belly of the aircraft. These feature points are points with fixed, unchanging physical characteristics.

[0042] Points with fixed physical characteristics include, but are not limited to: specific structural points on the belly of an aircraft, such as the location of aircraft screws; or points with special graphic markings, such as manually drawn or attached scanned feature graphic points.

[0043] In this invention, in order to facilitate the layout of the target, the corresponding feature points are preferably points where there are no obstacles between them and the ground, thereby facilitating the alignment between the target and the feature points.

[0044] Target placement step S120:

[0045] See Figure 2 This allows the aircraft under test to be suspended in the air, while the target is placed on the ground, vertically aligned with the marked feature points on the aircraft's belly. Multiple targets are then placed in sequence to form the target layout for the aircraft under test.

[0046] Furthermore, the target is a circular target equipped with infrared rays, which are then turned on and aimed at a feature point on the aircraft's belly. However, the invention is not limited to this; a visible laser can also be used to align the target with the aircraft's belly, thereby achieving target alignment.

[0047] The targets are placed at staggered angles to avoid forming equilateral triangles.

[0048] For example, target 1 is placed, and the cylindrical target with infrared rays is turned on and aimed at the marked feature point on the belly of the aircraft. The infrared rays of the target are perpendicularly illuminating the feature point of the aircraft, which can determine the relative positional relationship between the feature point and the target.

[0049] Place target 2, turn on the infrared beam of the cylindrical target and aim it at the second feature point on the belly of the aircraft.

[0050] And place target 3, aligning the infrared-emitting cylindrical target with the infrared beam to illuminate the third feature point on the aircraft's belly. The angles of targets 1, 2, and 3 are staggered to avoid forming an equilateral triangle.

[0051] Multiple targets are placed in sequence to form the target layout for the aircraft to be tested.

[0052] Furthermore, after the targets are placed, use measuring tools, such as a tape measure or a measuring tape, to measure the distance between the targets to avoid them being equal. If equal distances are found, the target positions need to be adjusted.

[0053] In this step, the number of targets placed is 5-9, preferably 7.

[0054] However, this invention is not limited to this; it is possible to use lidar to locate the object being measured.

[0055] from Figure 2 As can be seen, in this invention, the relationship between the aircraft, the target, and the lidar is such that after the laser target illuminates a feature point on the aircraft's belly, the target's placement position can be determined. The lidar then illuminates the target to achieve omnidirectional positioning of the aircraft both indoors and outdoors. Positioning can be achieved as long as the lidar can illuminate three of the targets from any angle on the aircraft.

[0056] Aircraft omnidirectional scanning step S130:

[0057] See Figure 3 The system uses a lidar to move around the aircraft under test, scans and positions the aircraft, and can use the previous coordinate system for positioning after scanning.

[0058] Figure 3 The omnidirectional scanning motion trajectory of an embodiment of the present invention is shown, illustrating that the aircraft can achieve omnidirectional positioning and scanning under the target layout method.

[0059] The present invention has the following advantages:

[0060] This invention utilizes special feature point markings on the aircraft's belly, and then arranges the targets according to the infrared illumination of these feature points, forming a staggered polygon. Combined with lidar positioning software, it accurately collects map information of all local measurement points on the entire aircraft. This method ensures precise coordinate information for omnidirectional scanning of the aircraft, solving the requirement that the aircraft can use the previous coordinate system for positioning even when changing locations, as long as the feature points remain unchanged. The lidar, starting from stealth measurement requirements, analyzes the aircraft's external digital model to obtain n structural feature points and their coordinates (X1, Y1...Xn, Yn) in the application system's coordinate system, achieving comprehensive scanning.

[0061] The above description is a further detailed explanation of the present invention in conjunction with specific preferred embodiments. It should not be considered that the specific embodiments of the present invention are limited to this. For those skilled in the art, several simple deductions or substitutions can be made without departing from the concept of the present invention, and all such deductions or substitutions should be considered to fall within the scope of protection of the present invention as defined by the submitted claims.

Claims

1. A target layout and scanning method based on aircraft omnidirectional orientation, characterized in that, Includes the following steps: Feature point labeling step S110: Locate and mark fixed, unchanging feature points on the belly of the aircraft; these feature points are points with fixed, unchanging physical characteristics. Target placement step S120: The aircraft under test is suspended in the air, and the target is placed on the ground, vertically aligned with the marked feature points on the belly of the aircraft. Multiple targets are placed in sequence to form the target layout for the aircraft under test. Aircraft omnidirectional scanning step S130: The LiDAR scanner moves around the aircraft under test to scan and locate the positioned area.

2. The target layout and scanning method according to claim 1, characterized in that: In step S110, The points with fixed physical characteristics include: specific structural points on the belly of the aircraft, or points with special graphic markings.

3. The target layout and scanning method according to claim 2, characterized in that: In step S120, The target is a circular target with infrared rays. After turning on the infrared rays, it is aimed at the characteristic points on the belly of the aircraft.

4. The target layout and scanning method according to claim 2, characterized in that: In step S120, The targets are placed at staggered angles to avoid forming equilateral triangles.

5. The target layout and scanning method according to claim 2, characterized in that: In step S120, After the targets are placed, use measuring tools to measure the distance between the targets to avoid them being equal. If equal distances are found, adjust the target positions.

6. The target layout and scanning method according to claim 2, characterized in that: In step S120, There are 5-9 targets after they are placed.

7. The target layout and scanning method according to claim 3, characterized in that: Step S120 specifically includes: Place target 1, turn on the infrared beam of the cylindrical target and align it with the marked feature point on the belly of the aircraft. The infrared beam of the target is perpendicular to the feature point of the aircraft to determine the relative positional relationship between the feature point and the target. Place target 2, turn on the infrared beam of the cylindrical target and aim it at the second feature point on the belly of the aircraft. Place target 3, and align the cylindrical target with infrared rays to illuminate the third feature point on the aircraft's belly. The angles of targets 1, 2, and 3 are staggered to avoid forming an equilateral triangle. Multiple targets are placed in sequence to form the target layout for the aircraft to be tested.

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