星上设备安装姿态高精度自动测量系统设计

doi:10.3901/JME.2017.20.020

机械工程学报 ›› 2017, Vol. 53 ›› Issue (20): 20-27.doi: 10.3901/JME.2017.20.020

星上设备安装姿态高精度自动测量系统设计

杨再华^1,2, 孙刚^1,2, 隆昌宇^1,2, 张春柳^1,2, 闫荣鑫^1,2

1. 北京卫星环境工程研究所北京 100094;
2. 北京市航天产品智能装配技术与装备工程技术中心北京 100094

收稿日期:2017-01-22 修回日期:2017-08-25 出版日期:2017-10-20 发布日期:2017-10-20
作者简介:杨再华,男,1980年出生,高级工程师.主要研究方向航天器装配检测.E-mail:13466501817@139.com
基金资助:
国家高分专项天基部分资助项目（科工高分[2011]1199号）。

High Precision Automatic Measurement System Design for Instrument Posture Testing during Satellite Assembly

YANG Zaihua^1,2, SUN Gang^1,2, LONG Changyu^1,2, ZHANG Chunliu^1,2, YAN Rongxin^1,2

1. Beijing Institute of Spacecraft Environment Engineering, Beijing 100094;
2. Beijing Engineering Research Center of the Intelligent Assembly Technology and Equipment for Aerospace Product, Beijing 100094

Received:2017-01-22 Revised:2017-08-25 Online:2017-10-20 Published:2017-10-20

摘要/Abstract

摘要： 为了满足高分辨率对地观测卫星上设备安装姿态高精度测量的需求，设计了一种由二维龙门导轨、精密转台和CCD成像辅助自准直经纬仪构成的高精度自动姿态测量系统。该系统采用了多传感器数据融合的高精度测量算法，融合了自准直经纬仪的俯仰角、偏航角数据，精密转台的数据以及CCD图像数据，可以精确计算出远间距异面直线间的夹角。同时基于理论安装数据驱动的经纬仪自动定位方法，可以实现经纬仪沿导轨自动定位到最佳准直位置和朝向，再通过局部图像识别可以搜索出立方镜镜面法线的指向，最终实现精确准直。试验中，通过测量标准17面棱体与标准值比对，得到最大偏差为4.1"，标准差为3.3"；通过对模拟卫星上的立方镜进行搜索，可以实现自动化测量。该系统已经在我国高分二号卫星总装测试中进行了应用，保障了高分二号卫星的装配检测精度。

关键词: 角度测量, 卫星集成, 姿态矩阵, 自动测量, 自动准直

Abstract: In order to get high precision posture of some instruments during they are installed into high resolution observation satellite, a high precision automatic measurement system is designed, which mainly includes a double column guideway system, a precision turntable, and an auto collimation theodolite assisted with CCD camera. A data fusion algorithm is proposed, in which the pitch angle, the horizontal angle of the theodolite and the rotation angle of the turntable are collected, and then the angles between noncoplanar lines are calculated. At the same time, the auto collimation theodolite can be compelled along the guide rail to a theoretical position and to be perpendicular to the cube mirror based on the design values of the instrument to be installed. In local region, the scene around the cube is captured by the CCD camera assisted with the theodilte, and the cube mirror is identified and the normal line of the cube mirror is calculated precisely, then the theodilte is precisely aligned. In test, a regular polyhedron with 17 faces is measured. The maximum difference between measurements and normal values is 4.1"and the stand deviation is 3.3". A satellite model with several cube mirrors is measured with the system, and each cube mirror is auto collimated in no time. The system has been used during the assembly of GF-2 satellite, and the Assembly accuracy is guaranteed.

Key words: angle measurement, autocollimation, automatic measurement, posture matrix, satellite assembly

中图分类号:

V465

杨再华, 孙刚, 隆昌宇, 张春柳, 闫荣鑫. 星上设备安装姿态高精度自动测量系统设计[J]. 机械工程学报, 2017, 53(20): 20-27.

YANG Zaihua, SUN Gang, LONG Changyu, ZHANG Chunliu, YAN Rongxin. High Precision Automatic Measurement System Design for Instrument Posture Testing during Satellite Assembly[J]. Journal of Mechanical Engineering, 2017, 53(20): 20-27.

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星上设备安装姿态高精度自动测量系统设计

High Precision Automatic Measurement System Design for Instrument Posture Testing during Satellite Assembly

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