Satellite single-machine attitude automatic measurement device and measurement method

Abstract

The application provides a satellite single machine attitude automatic measurement device and a measurement method. The device comprises: a satellite automatic transfer positioning system for providing a satellite positioning reference; a multi-vision system for realizing mechanical arm hand-eye calibration, satellite pose positioning and cube mirror pose detection; a double mechanical arm measurement system for carrying and driving a autocollimation system to a measurement position; an autocollimation system for completing cube mirror collimation measurement; a fixed reference system for establishing a unified reference coordinate system and unifying measurement data; a cube mirror positioning tool for assisting in cube mirror pose identification; a multi-vision system acquires positioning information, combined with path planning, and the double mechanical arm drives the autocollimation system to move according to the planned trajectory, realizing the automation of the cube mirror collimation measurement. The application realizes full-process automatic measurement by multi-vision and double mechanical arm cooperation, special tooling, double-mode positioning and optimal path planning, and shortens the measurement time.

Description

Technical Field

[0001] This invention relates to the field of satellite measurement technology, specifically to an automated satellite attitude measurement device and method. More particularly, it relates to an automated satellite attitude measurement device based on multi-view vision and robotic arm collaboration. Background Technology

[0002] During satellite development, precise measurement of the attitude parameters of onboard components is crucial for providing attitude control, orbit confirmation, and pointing accuracy assurance during on-orbit operation, thereby ensuring the satellite's functionality and mission effectiveness. Each onboard component uses a cube mirror as its optical reference, with the mirror's normal representing the coordinate axes of its coordinate system. Traditional satellite cube mirror measurement methods largely rely on manual operation, requiring manual adjustment of instruments such as autocollimators and theodolites to align with the cube mirror before data recording and processing.

[0003] However, this manual measurement method has many limitations: First, it is inefficient. The satellite has a large number of cubic mirrors with complex distribution, and manually adjusting the instrument to align with each cubic mirror takes a lot of time, making it difficult to meet the needs of mass production and rapid development of satellites. Second, the measurement accuracy is significantly affected by human factors. The operator's experience and operational stability can lead to measurement errors, and the consistency of multiple measurements is poor. Third, the measurement process requires manual avoidance of the complex structure on the satellite, which is difficult to operate and can easily damage satellite components or measuring instruments due to collisions. Fourth, it is difficult to achieve real-time unification and integration of measurement data. The measurement data of different cubic mirrors are based on different temporary coordinate systems, which require tedious post-processing to unify them into a reference coordinate system, further reducing measurement efficiency and accuracy.

[0004] With the continuous development of satellite technology, the industry has increasingly urgent requirements for the automation, high stability and high efficiency of cube mirror measurement. Traditional manual measurement methods can no longer meet the needs of modern satellite development. Therefore, there is an urgent need for a device that can realize high-precision automated measurement of satellite cube mirrors.

[0005] Patent document CN107543495A discloses an automatic collimation measurement system, collimation method, and measurement method for spacecraft equipment. Its core technical solution involves using a single robot to carry a theodolite, combined with a laser tracker, a laser tracking target, a visual search camera, an auxiliary precision alignment camera, and a precision turntable to form a measurement system. The laser tracker completes the calibration of each coordinate system and unifies the measurement results. The precision turntable carries and rotates the spacecraft under test. The visual search camera and the auxiliary precision alignment camera respectively achieve coarse and fine alignment of the cube mirror. The measurement position is determined based on the prior position data of the spacecraft's cube mirror, ultimately completing the collimation measurement of the spacecraft equipment's cube mirror. However, patent document CN107543495A uses a single robot carrying the theodolite design, rather than the dual-robotic arm collaborative architecture of this patent. For multiple cube mirrors distributed complexly and scattered on a satellite, the single robot's motion coverage and operational flexibility are insufficient, making it difficult to efficiently complete continuous measurements of cube mirrors at multiple locations. Its adaptability is limited to measurement scenarios with simply distributed cube mirrors. Summary of the Invention

[0006] To address the shortcomings of existing technologies, the purpose of this invention is to provide an automated satellite attitude measurement device and method.

[0007] An automated attitude measurement device for a single satellite provided by the present invention includes: an automatic satellite transfer and positioning system, a multi-view vision system, an autocollimation system, a dual-robotic arm measurement system, a fixed reference system, and a cubic mirror positioning fixture. The satellite automatic transfer and positioning system is used for satellite parking, transfer, and one-dimensional rotation, and converts the satellite's virtual coordinate system into coded point coordinates, thereby realizing the measurement and positioning of the satellite coordinate system; The multi-view vision system is used for robotic arm hand-eye calibration, satellite coordinate system measurement, and cube mirror pose measurement; the self-collimation system is used for automatic collimation and data acquisition of the satellite's single-unit cube mirror. The dual robotic arm measurement system is used to move the autocollimation system to the measurement position; The fixed reference system is used to unify the collimation data of the autocollimation system to the reference coordinate system; The cube mirror positioning fixture is used to convert the cube mirror coordinate system into the coordinates of the coded points on the fixture, thereby realizing the positioning of the cube mirror coordinate system.

[0008] Preferably, the satellite automatic transfer and positioning system is a satellite transfer device, and the surface of the transfer tool between the satellite and the satellite is affixed with coded points that can be captured by a multi-view vision system.

[0009] Preferably, the multi-view vision system consists of multiple cameras and a column, and is mainly used to construct a measurement field, monitor the coded points on each component in the field, obtain the component pose, and guide the system to achieve automatic measurement. The multiple cameras are mainly used to acquire images of the product under test and transmit the acquired images to the system software. The software calculates the three-dimensional coordinates of the coded points in the measurement field based on the acquired images. Using the coordinates of the coded points on the cubic mirror positioning fixture, satellite calibration data, and satellite parameters, the software automatically calculates the pose parameters of the normal to the surface of the cubic mirror under test in the measurement field, and transmits the pose information to the autocollimation system for autocollimation measurement. The cube mirror positioning fixture is a cube mirror calibration plate. Using the coordinates of the coded points on the cube mirror calibration plate and the calibration data of the cube mirror calibration plate, the software automatically calculates the current pose information of the cube mirror and transmits the pose information to the self-collimation system for self-collimation measurement.

[0010] Preferably, the column consists of a column body, a base, and a two-dimensional adjustment mechanism. The column body mainly provides an installation reference for the multi-camera system and the two-dimensional adjustment mechanism, ensuring the accurate transmission of the multi-camera system's accuracy. The base is mainly used to install the column and is fixed with anchor bolts. The two-dimensional adjustment mechanism is installed on the top of the column and connects the multi-camera system and the column body. The two-dimensional adjustment mechanism is mainly used to adjust the camera's field of view.

[0011] Preferably, the autocollimation system consists of an autocollimation theodolite and an automatic leveling mechanism, which can realize automatic alignment of the cube mirror and data acquisition; the autocollimation theodolite is installed at the end of the robotic arm and can be mutually aligned with the reference theodolite at any position, unifying the alignment data of the autocollimation theodolite to the reference coordinate system.

[0012] Preferably, the automatic leveling mechanism is mainly divided into two parts: electronic and structural. The electronic part includes a tilt sensor, a motor, a motor drive control circuit, a tilt limit detection, a communication interface with the theodolite, and a power supply interface. The structural part includes a universal tilting structure, a lead screw structure, a tilt limit detection structure, and a mechanical interface with the theodolite. Upon receiving the leveling command, the tilt sensor is read to obtain the current leveling base status. The software then adjusts the base according to the measurement values ​​of the servo system until it meets the actual leveling requirements.

[0013] Preferably, the dual-arm measurement system includes: a robotic arm, a base, and a clamping device; The robotic arm is used to carry the self-collimation system and move the self-collimation theodolite to the theoretical position of the normal to the cube mirror, so as to realize the collimation measurement of the cube mirror. The base is fixed to the ground with anchor bolts, which are mainly used to fix the main body of the robotic arm; The clamping device is L-shaped and made of austenitic stainless steel. It is installed at the end of the robotic arm and can fix the autocollimating theodolite on the robotic arm to meet the stability requirements of the autocollimating theodolite.

[0014] Preferably, the fixed reference system includes a reference theodolite and a reference column, mainly used to establish a unified reference coordinate system; the reference theodolite is mainly used for mutual aiming with the autocollimating theodolite, unifying the collimation data of the autocollimating theodolite under the reference coordinate system. The reference theodolite is deployed on both sides of the satellite and fixed on the ground by the reference column, enabling mutual aiming with the autocollimating theodolite at any position; the reference column and the column share a common design, which can be used to install multiple cameras.

[0015] Preferably, it also includes a relay cube mirror, which is a cube mirror on the satellite that can perform measurements before and after rotation, and is used to establish the coordinate relationship before and after satellite rotation; By calculating the transformation matrix of the reference cube mirror and the satellite unit cube mirror relative to the relay cube mirror, the reference coordinate system before and after rotation is unified, ensuring the comparability of the attitude relationship between the satellite unit cube mirror and the reference cube mirror before and after rotation.

[0016] A measurement method based on the automated attitude measurement device for a single satellite provided by the present invention includes the following steps: S1: Calibrate the coordinate systems of each subsystem component within the system and unify them to the reference coordinate system; S2: Select the positioning method based on the cubic mirror positioning fixture (6) or the satellite automatic transfer positioning system (1) to obtain the satellite and cubic mirror pose information; S3: Based on the satellite digital model, calibration parameters and measured pose parameters, simulate and generate the optimal motion trajectory of each component. When the satellite needs to rotate, plan the rotation angle and select the intermediate cubic mirror. S4: Drive each component to the measurement position. If the cubic mirror is within the field of view of the autocollimation system (3), measure directly. Otherwise, measure again after adjustment through the multi-view vision system (2). S5: The autocollimating theodolite (31) measures the cubic mirror, obtains the horizontal and vertical angles, and calculates the mirror normal transformation relationship; S6: The autocollimating theodolite (31) and the reference theodolite (51) are aligned with each other, the transformation relationship between the coordinate system of the autocollimating theodolite (31) and the reference coordinate system is calculated, and the measurement data is unified to the reference coordinate system; S7: Create the coordinate system transformation relationship between the reference cubic mirror and the cubic mirror under test; S8: Before and after the satellite rotation, calculate the transformation matrix of each cube mirror relative to the relay cube mirror, unify the coordinate system, and obtain the attitude relationship of the single cube mirror relative to the reference cube mirror. S9: Compare the measured value of the single-unit cubic mirror with the preset theoretical value, and calculate the included angle corresponding to the X-axis. The included angle corresponding to the Y-axis The included angle of the Z-axis To obtain the maximum included angle:

[0017] like If the attitude of a single machine is ≤ the preset target requirement, it is considered qualified; otherwise, it is considered unqualified. S10: Store measurement data, analyze data validity, accuracy and stability, and generate test reports containing information such as measurement results, measurement personnel, and measurement time.

[0018] Compared with the prior art, the present invention has the following beneficial effects: 1. This invention achieves full automation of the entire process from satellite positioning and path planning to collimation measurement by using a multi-view vision system and dual robotic arms in collaboration with a cubic mirror positioning fixture, combined with two flexibly selectable automatic satellite pose positioning methods and optimal path automatic planning based on a digital model. This eliminates the need for manual intervention, significantly shortens the measurement time in multi-cubic mirror and complex distribution scenarios, and meets the needs of mass production and rapid development of satellites.

[0019] 2. This invention eliminates errors caused by inconsistencies in coordinate systems by using a precise multi-device coordinate system calibration combined with a fixed reference system, thereby improving measurement consistency and accuracy.

[0020] 3. This invention can avoid complex structures in advance through path planning based on satellite digital models, and the precise motion control of the robotic arm replaces manual close-range operation, effectively reducing the risk of collision damage to satellite components or measuring instruments.

[0021] 4. This invention supports the measurement of cube mirror pose before and after satellite rotation, and realizes the coordinate system before and after rotation by using a relay cube mirror, so as to comprehensively obtain cube mirror pose change information. Attached Figure Description

[0022] Other features, objects, and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings: Figure 1 This is a layout diagram of the high-precision automated attitude measurement device that is the main feature of this invention; Figure 2 This is a schematic diagram illustrating the structure of the multi-view vision system, which is the main feature of this invention. Figure 3 This is a schematic diagram illustrating the structure of the dual-arm robotic measurement system and the self-collimation system, which are the main features of this invention. Figure 4 This is a schematic diagram illustrating the structure of the fixed reference system, which is the main feature of this invention. Figure 5 This is a schematic diagram illustrating the structure of the cubic mirror positioning fixture, which is the main feature of this invention. Figure 6This is a schematic diagram illustrating the measurement process of the present invention.

[0023] As shown in the figure: Detailed Implementation

[0024] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

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

[0026] like Figure 1 As shown, the automated attitude measurement device for a single satellite includes an automatic satellite transfer and positioning system 1, a multi-view vision system 2, an autocollimation system 3, a dual robotic arm measurement system 4, a fixed reference system 5, and a cubic mirror positioning fixture 6.

[0027] like Figure 2 As shown, the multi-view vision system 2 consists of multiple cameras 21 and a column 22. The multiple cameras 21 are used for hand-eye calibration of the robotic arm 41, satellite coordinate system measurement, and cubic mirror pose measurement. The column 22 includes a column body 221, a base 222, and a two-dimensional adjustment mechanism 223. The base 222 is fixed to the ground with anchor bolts, and the column body 221 is mounted on the base 222. The column body 221 mainly provides the installation reference for the multiple cameras 21 and the two-dimensional adjustment mechanism 223, ensuring the accurate transmission of the multi-camera system's accuracy. The two-dimensional adjustment mechanism 223 is mounted on top of the column body 221, and the multiple cameras 21 are connected to the column body 221 through the two-dimensional adjustment mechanism 223. The two-dimensional adjustment mechanism 223 adjusts the camera's field of view using an electric adjustment method. The multiple cameras 21 are also used to acquire images of the product under test and transmit the acquired images to the system software. The software calculates the three-dimensional coordinates of the coded points in the measurement field based on the acquired images. Using the coordinates of the coded points on the cube mirror positioning fixture 6, satellite calibration data, and satellite size parameters, the software automatically calculates the pose parameters of the normal to the cube mirror surface in the measurement field, and transmits the pose information to the autocollimation system 3 for autocollimation measurement.

[0028] like Figure 3As shown, the self-collimation system 3 consists of a self-collimating theodolite 31 and an automatic leveling mechanism 32. The self-collimating theodolite 31 is installed at the end of the robotic arm 41 of the dual robotic arm measurement system 4, and can be mutually aligned with the reference theodolite 51 of the fixed reference system 5 at any position, unifying the collimation data of the self-collimating theodolite 31 to the reference coordinate system. The automatic leveling mechanism 32 mainly includes electronic and structural parts. The electronic part includes a tilt sensor, a motor, a motor drive control circuit, a tilt limit detection, a communication interface with the theodolite, and a power supply interface; the structural part includes a universal tilt structure, a lead screw structure, a tilt limit detection structure, and a mechanical interface with the theodolite. After receiving a leveling command, the automatic leveling mechanism 32 reads the tilt sensor data to obtain the current leveling base status. Then, the software adjusts according to the measurement values ​​of the servo system until the leveling base meets the actual leveling requirements, realizing the automatic leveling function.

[0029] like Figure 3 As shown, the dual-arm measurement system 4 consists of a robotic arm 41, a base 42, and a clamping device 43. The base 42 is fixed to the ground with anchor bolts and is mainly used to fix the main body of the robotic arm 41. The robotic arm 41 is mounted on the base 42 and is used to support the autocollimation system 3, carrying the autocollimation theodolite 31 to the theoretical position of the cube mirror's normal, thus achieving cube mirror collimation measurement. The clamping device 43 is L-shaped, made of austenitic stainless steel, and installed at the end of the robotic arm 41. The clamping device 43 can fix the autocollimation theodolite 31 to the robotic arm 41, meeting the stability requirements of the autocollimation theodolite 31.

[0030] like Figure 4 As shown, the fixed reference system 5 consists of a reference theodolite 51 and a reference column 52, primarily used to establish a unified reference coordinate system. The reference theodolite 51 is deployed on both sides of the satellite and fixed to the ground via the reference column 52. It can be cross-aligned with the autocollimating theodolite 31 at any location, unifying the collimation data of the autocollimating theodolite 31 into the reference coordinate system. The reference column 52 shares a design with the column 22, allowing for the installation of multiple cameras 21, saving installation space and improving system integration.

[0031] like Figure 5 As shown, the cube mirror positioning fixture 6 can be a cube mirror calibration plate, used to convert the cube mirror coordinate system into the coordinates of coded points on the fixture, thereby realizing the positioning of the cube mirror coordinate system. Through the coordinates of the coded points on the cube mirror calibration plate and the calibration data, the system software can automatically calculate the current pose information of the cube mirror and transmit the pose information to the self-collimation system 3 for self-collimation measurement.

[0032] This device also includes a relay cube mirror, which is a cube mirror on the satellite that can perform measurements before and after rotation, and is used to establish the coordinate relationship before and after satellite rotation. By solving the transformation matrix of the reference cube mirror, the satellite's individual cube mirror, and the relay cube mirror, the reference coordinate system can be unified before and after rotation, ensuring the comparability of the attitude relationship between the satellite's individual cube mirror and the reference cube mirror before and after rotation.

[0033] like Figure 6 As shown, the detailed steps of the automated attitude measurement method for a single satellite are as follows: Step S1: Calibrate the coordinate systems of each subsystem component in the system, unifying the subsystem coordinate systems to a reference coordinate system. The subsystem coordinate systems include the camera coordinate system, autocollimator coordinate system, reference theodolite coordinate system, robotic arm coordinate system, satellite coordinate system, cube mirror coordinate system, and positioning fixture coordinate system. Through precise calibration, the accurate pose of each component under a unified reference coordinate system is obtained.

[0034] Step S2: Select either the cube mirror positioning fixture 6 or the satellite automatic transfer and positioning system 1 to locate the satellite's pose. If the first method is chosen, multiple cameras 21 of the multi-view vision system 2 simultaneously measure the coded dot matrix image on the surface of the cube mirror positioning fixture 6. A 3D point cloud reconstruction algorithm is then used to infer the cube mirror's spatial pose parameters, thereby obtaining the position information of the product under test. If the second method is chosen, multiple cameras 21 directly and simultaneously measure the coded points on the surface of the satellite automatic transfer and positioning system 1. Image feature matching and spatial coordinate calculation techniques are used to calculate the product's coordinates and pose information in the positioning fixture's coordinate system. Both positioning methods can be flexibly selected according to the actual scenario, improving positioning adaptability and accuracy.

[0035] Step S3: Based on the satellite's digital model, system calibration parameters, and actual satellite pose parameters, construct a digital model of the measurement field. Using the shortest time as the optimization objective and collision avoidance as the constraint, simulate the motion parameters of the robotic arm 41, the autocollimating theodolite 31, and the reference theodolite 51. Ensure that the robotic arm 41 does not collide with objects such as the satellite during its movement, that the autocollimating theodolite 31 and the reference theodolite 51 are mutually aligned without obstruction, and that they reach the measurement position via the shortest path. When all items cannot be measured at the same location, it is necessary to control the satellite's rotation, analyze the satellite's rotation angle, select a cube mirror on the satellite that can be measured both before and after rotation as a relay cube mirror, and plan the measurement path and motion parameters of each component after satellite rotation.

[0036] Step S4: The system drives each component to the position of the cube mirror normal according to the simulation parameters, and the autocollimating theodolite 31 collimates and measures the cube mirror. If the cube mirror is within the field of view of the autocollimating system 3, automatic measurement is started directly. If it is not within the field of view, the multi-view vision system 2 identifies the coded points on the cube mirror positioning fixture 6 to obtain the cube mirror pose parameters. Based on these parameters, the motion parameters of the robotic arm 41 and the autocollimating theodolite 31 are calculated. After driving each component to the target position, the autocollimating theodolite 31 performs autocollimation measurement.

[0037] Step S5: Precisely align the cube mirror of the autocollimating theodolite 31 to obtain the horizontal angle of the autocollimating theodolite 31. and vertical angle The transformation relationship of the cube mirror normal in the autocollimation theodolite 31 coordinate system was calculated. , This represents the angle between the vector and the three axes of the coordinate system.

[0038]

[0039] Step S6: The autocollimating theodolite 31 and the reference theodolite 51 of the fixed reference system 5 are aligned to obtain the horizontal angle of the autocollimating theodolite 31. Horizontal angle of reference theodolite 51 Calculate the transformation angle between the autocollimation theodolite's 31 coordinate system and the reference coordinate system at the current position. and conversion relationship :

[0040]

[0041] in, The rotation angle between the autocollimation theodolite's 31 coordinate system and the reference theodolite's 51 coordinate system around the horizontal plane of the earth; This is the transformation matrix between the autocollimation theodolite's 31 coordinate system and the reference theodolite's 51 coordinate system. The transformation relationships are used to... Unify the measurement data from step S5 to the reference coordinate system.

[0042] Step S7: Under a unified reference coordinate system, according to the definition of the cube mirror's direction, obtain the third direction through the cross product of the two mirror normal vectors, and establish the transformation relationship between the reference cube mirror coordinate system and the theodolite coordinate system. The transformation relationship between the coordinate system of the measured cube mirror and the coordinate system of the theodolite. By matrix transformation, the transformation relationship between the reference cube mirror coordinate system and the measured cube mirror coordinate system is obtained. .

[0043] Step S8: Before satellite rotation, calculate the transformation matrix of each cube mirror (including individual cube mirrors and reference cube mirrors) relative to the relay cube mirror using measurement data. Control the satellite automatic transfer and positioning system 1 to rotate the satellite. After rotation, recalculate and plan the optimal measurement path, and automatically collimate and measure other cube mirrors and the relay cube mirror according to step S4, calculating the transformation matrix of other cube mirrors relative to the relay cube mirror. Under a unified relay cube mirror coordinate system, calculate the attitude relationship of the individual cube mirrors relative to the reference cube mirror through coordinate system transformation, achieving the unification of the reference coordinate system before and after rotation and ensuring that the attitude relationship can be compared.

[0044] Step S9: Compare the single-machine cubic mirror measurement value obtained in step S8 with the preset theoretical value to obtain the corresponding axis vector angle, and compare it with the index requirements to realize automatic data interpretation and calculate the corresponding angle on the X-axis. The included angle corresponding to the Y-axis The included angle of the Z-axis To obtain the maximum included angle:

[0045] Among them, R 1x R 1y ,、R 1z R represents the coordinate axis vectors of the single-machine cubic mirror coordinate system obtained from the measurement. 2x R 2y R 2z denoted as the coordinate axis vector of the theoretical single-machine cubic mirror coordinate system.

[0046] like If the value is less than or equal to the preset target requirement, the single-machine attitude is considered qualified. If the preset target requirements are met, the single-machine attitude will be deemed unqualified.

[0047] Step S10: Store and manage the measurement data, and automatically analyze and compare the validity, accuracy, and stability of the test data. Generate a test report with one click. The report includes information such as measurement results, measurement personnel, measurement time, measurement items, and satellite status.

[0048] This invention integrates dual-mode positioning, optimal path planning, coordinate unification, and automatic interpretation functions through the collaborative work of various systems, enabling high-precision automated measurement of the attitude of a single satellite cube mirror. It solves the problems of low efficiency, reliance on manual labor, and poor data consistency in traditional measurement methods, and meets the needs of mass production and rapid development of satellites.

[0049] In the description of this application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0050] Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. An automated attitude measurement device for a single satellite, characterized in that, include: Satellite automatic transfer and positioning system (1), multi-view vision system (2), autocollimation system (3), dual robotic arm measurement system (4), fixed reference system (5), cubic mirror positioning fixture (6); The satellite automatic transfer and positioning system (1) is used for satellite parking, transfer, one-dimensional rotation, and converts the satellite's virtual coordinate system into coded point coordinates, thereby realizing the measurement and positioning of the satellite coordinate system; The multi-view vision system (2) is used for hand-eye calibration of the robotic arm (41), satellite coordinate system measurement, and cubic mirror pose measurement; the self-collimation system (3) is used for automatic collimation and data acquisition of the satellite single-unit cubic mirror; The dual robotic arm measurement system (4) is used to move the autocollimation system (3) to the measurement position; The fixed reference system (5) is used to unify the collimation data of the self-collimation system (3) to the reference coordinate system; The cubic mirror positioning fixture (6) is used to convert the cubic mirror coordinate system into the coordinates of the coded points on the fixture, thereby realizing the positioning of the cubic mirror coordinate system.

2. The automated attitude measurement device for a single satellite unit according to claim 1, characterized in that, The satellite automatic transfer and positioning system (1) is a satellite transfer device. The surface of the transfer tool between the satellite and the satellite is covered with coded points, which can be captured by the multi-view vision system (2).

3. The automated attitude measurement device for a single satellite unit according to claim 1, characterized in that, The multi-view vision system (2) consists of multiple cameras (21) and a column (22), and is mainly used to construct a measurement field, monitor the coding points on each component in the field, obtain the component pose, and guide the system to realize automatic measurement. The multi-camera (21) is mainly used to acquire images of the product to be tested and transmit the acquired images to the system software. The software calculates the three-dimensional coordinates of the coded points in the measurement field based on the acquired images. Using the coordinates of the coded points on the cubic mirror positioning fixture (6), satellite calibration data, and satellite parameters, the software automatically calculates the pose parameters of the normal to the surface of the cubic mirror under test in the measurement field and transmits the pose information to the autocollimation system (3) for autocollimation measurement. The cube mirror positioning fixture (6) is a cube mirror calibration plate. Through the coordinates of the coded points on the cube mirror calibration plate and the calibration data of the cube mirror calibration plate, the software automatically calculates the current pose information of the cube mirror and transmits the pose information to the self-collimation system for self-collimation measurement.

4. The automated attitude measurement device for a single satellite unit according to claim 3, characterized in that, The column (22) consists of a column body (221), a base (222), and a two-dimensional adjustment mechanism (223). The column body (221) mainly provides an installation reference for the multi-camera (21) and the two-dimensional adjustment mechanism (223) to ensure the accurate transmission of the accuracy of the multi-camera system. The base (222) is mainly used to install the column (22). The base (222) is fixed with anchor bolts. The two-dimensional adjustment mechanism (223) is installed on the top of the column (22) and connects the multi-camera (21) and the column body (221) through the two-dimensional adjustment mechanism (223). The two-dimensional adjustment mechanism (223) is mainly used to adjust the field of view of the camera.

5. The automated attitude measurement device for a single satellite unit according to claim 1, characterized in that, The autocollimation system (3) consists of an autocollimation theodolite (31) and an automatic leveling mechanism (32), which can realize the automatic collimation of the cube mirror and data acquisition; The autocollimating theodolite (31) is installed at the end of the robotic arm (41) and can be mutually aligned with the reference theodolite (51) at any position, so as to unify the collimation data of the autocollimating theodolite (31) under the reference coordinate system.

6. The automated attitude measurement device for a single satellite unit according to claim 5, characterized in that, The automatic leveling mechanism (32) is mainly divided into two parts: electronic and structural. The electronic part includes a tilt sensor, a motor, a motor drive control circuit, a tilt limit detection, a communication interface with the theodolite, and a power supply interface. The structural part includes a universal tilting structure, a lead screw structure, a tilt limit detection structure, and a mechanical interface with the theodolite. Upon receiving the leveling command, the tilt sensor is read to obtain the current leveling base status. The software then adjusts the base according to the measurement values ​​of the servo system until it meets the actual leveling requirements.

7. The automated attitude measurement device for a single satellite unit according to claim 1, characterized in that, The dual robotic arm measurement system (4) includes: a robotic arm (41), a base (42), and a clamping device (43). The robotic arm (41) is used to carry the self-collimation system (3) and move the self-collimation theodolite (31) to the theoretical position of the normal of the cubic mirror, so as to realize the collimation measurement of the cubic mirror; The base (42) is fixed to the ground by anchor bolts, mainly used to fix the main body of the robotic arm (41); The clamping device (43) is L-shaped and made of austenitic stainless steel. It is installed at the end of the robotic arm (41). The clamping device (43) can fix the autocollimating theodolite (31) on the robotic arm (41) to meet the stability requirements of the autocollimating theodolite (31).

8. The automated attitude measurement device for a single satellite unit according to claim 1, characterized in that, The fixed reference system (5) includes a reference theodolite (51) and a reference column (52) for establishing a unified reference coordinate system. The reference theodolite (51) is used to align with the autocollimation theodolite (31) and unify the collimation data of the autocollimation theodolite (31) to the reference coordinate system. The reference theodolite (51) is set up on both sides of the satellite and fixed on the ground by the reference column (52). It can align with the autocollimation theodolite (31) at any position. The reference column (52) and the column (22) share a common design and can be used to install multiple cameras (21).

9. The automated attitude measurement device for a single satellite unit according to claim 1, characterized in that, It also includes a relay cube mirror, which is a cube mirror on the satellite that can be used to measure before and after rotation, and is used to establish the coordinate relationship before and after satellite rotation; By calculating the transformation matrix of the reference cube mirror and the satellite unit cube mirror relative to the relay cube mirror, the reference coordinate system before and after rotation is unified, ensuring the comparability of the attitude relationship between the satellite unit cube mirror and the reference cube mirror before and after rotation.

10. A measurement method based on the automated attitude measurement device for a single satellite as described in any one of claims 1 to 9, characterized in that, Includes the following steps: S1: Calibrate the coordinate systems of each subsystem component within the system and unify them to the reference coordinate system; S2: Select the positioning method based on the cubic mirror positioning fixture (6) or the satellite automatic transfer positioning system (1) to obtain the satellite and cubic mirror pose information; S3: Based on the satellite digital model, calibration parameters and measured pose parameters, simulate and generate the optimal motion trajectory of each component. When the satellite needs to rotate, plan the rotation angle and select the intermediate cubic mirror. S4: Drive each component to the measurement position. If the cubic mirror is within the field of view of the autocollimation system (3), measure directly. Otherwise, measure again after adjustment through the multi-view vision system (2). S5: The autocollimating theodolite (31) measures the cubic mirror, obtains the horizontal and vertical angles, and calculates the mirror normal transformation relationship; S6: The autocollimating theodolite (31) and the reference theodolite (51) are aligned with each other, the transformation relationship between the coordinate system of the autocollimating theodolite (31) and the reference coordinate system is calculated, and the measurement data is unified to the reference coordinate system; S7: Create the coordinate system transformation relationship between the reference cubic mirror and the cubic mirror under test; S8: Before and after the satellite rotation, calculate the transformation matrix of each cube mirror relative to the relay cube mirror, unify the coordinate system, and obtain the attitude relationship of the single cube mirror relative to the reference cube mirror. S9: Compare the measured value of the single-unit cubic mirror with the preset theoretical value, and calculate the included angle corresponding to the X-axis. The included angle corresponding to the Y-axis The included angle of the Z-axis To obtain the maximum included angle: like If the attitude of a single machine is ≤ the preset target requirement, it is considered qualified; otherwise, it is considered unqualified. S10: Store measurement data, analyze data validity, accuracy and stability, and generate test reports containing information such as measurement results, measurement personnel, and measurement time.

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