CN102445172A - Method for measuring position relation of space object - Google Patents
Method for measuring position relation of space object Download PDFInfo
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- CN102445172A CN102445172A CN2011103235607A CN201110323560A CN102445172A CN 102445172 A CN102445172 A CN 102445172A CN 2011103235607 A CN2011103235607 A CN 2011103235607A CN 201110323560 A CN201110323560 A CN 201110323560A CN 102445172 A CN102445172 A CN 102445172A
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- angle sensor
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- pull rope
- measuring
- length
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- 238000000034 method Methods 0.000 title claims abstract description 18
- 238000010276 construction Methods 0.000 abstract 3
- 238000005259 measurement Methods 0.000 description 17
- 238000005516 engineering process Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000003908 quality control method Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
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- Length Measuring Devices With Unspecified Measuring Means (AREA)
- A Measuring Device Byusing Mechanical Method (AREA)
Abstract
The invention particularly relates to a spherical coordinate system measuring scheme for accurately measuring the relative position of a space object. The invention provides a space measuring method with large measuring range and high precision based on the principle of a spherical coordinate system, which comprises the following steps: the method is characterized in that an angle sensor I and an angle sensor II with mutually vertical axes are used, a length sensor is provided, a pull rope is arranged in the length sensor, and the method comprises the following steps: pulling a pull rope on the length sensor, adjusting the rotation angles of the first shaft of the angle sensor and the second shaft of the angle sensor to enable the pull rope to be in a linear state, respectively reading the rotation angles of the first shaft of the angle sensor and the second shaft of the angle sensor and the length of the pull rope, directly calculating the coordinates of tail end points of the pull rope according to a calculation principle, repeating the steps to measure the coordinates of different points on different space objects, and calculating the space position characteristics of the measured object according to a method of point construction lines, point construction surfaces and surface intersection construction lines.
Description
Technical field
The invention belongs to the automatic measurement technical field.Relate to a kind of method that is used for measurement space location point coordinate, relate in particular to a kind of measuring method that is used for the space object relative position relation, more specifically relate to the spheric coordinate system measurement scheme of accurate measurement space object relative position.
Background technology
Measuring technique is in commercial production and each link of scientific research, for the design of product, simulation, measurement, setting-out, imitated, emulation, production quality control, product motion state provide technical support.Need the technical field of three-dimensional measurement at some; In order to obtain the relative position relation of space object; The commercial measurement means that can select and instrument and equipment a multitude of names; Except that three-dimensional measuring equipment, the measurement means of some peacekeeping two dimensions also can reach identical purpose through certain measurement scheme.
The three-dimensional measurement technology mainly is to realize by means of mutually combining of technology such as length, angle, optics, image, magnetic fields, and the common three coordinate measuring machine and the measuring principle of Three-Coordinate Measuring Arm are exactly to utilize the combination of length and angle to realize measuring.The three coordinate measuring machine device structure is complicated, and volume is bigger, is not easy to in-site measurement; Three-Coordinate Measuring Arm has little, the easy to carry measuring accuracy advantages of higher of volume, but its measurement range but receives the restriction of gage beam brachium, and measurement range is limited.Therefore the spatial measuring method that measurement range is big, measuring accuracy is high also is relatively expectation in the commercial Application.
Summary of the invention
Limited to present 3-D measuring apparatus measurement range, as to be not easy to in-site measurement problem the present invention is based on the measuring method that is used for space object position relation based on the spheric coordinate system principle.By two orthogonal angular transducer I of axis and angular transducer II; A linear transducer; One stay cord is arranged in the linear transducer, and the angular transducer I is around vertical angular transducer I axle rotation, and the angular transducer II is around the angular transducer II axle rotation of level; Linear transducer links to each other with angular transducer II axle, and stay cord links to each other with linear transducer through the stay cord head.
A kind of measuring method that is used for space object position relation; Stay cord on the pulling linear transducer; The anglec of rotation of adjustment angular transducer I axle and angular transducer II axle; Make stay cord be in linear state, difference reading angular sensor I axle and the anglec of rotation of angular transducer II axle and the length of stay cord are according to calculating the coordinate that principle can directly calculate the stay cord distal point; Repeat above step and measure the coordinate of the difference on the different spaces object, then can calculate the locus characteristic of testee according to the method for a tectonic line, some structural surface, the crossing tectonic line of face face.
Embodiment
Specify below, at first the spheric coordinate system principle: spherical coordinates is a kind of three-dimensional coordinate, has initial point, position angle, the elevation angle, distance to constitute respectively.If P (x, y, z) be in the space a bit; Then put also available such three of P and count r orderly, φ, θ confirms; Wherein r is the distance between initial point O and some P; θ is directed line segment and the folded angle of z axle forward, φ for from positive z axle from the x axle by the angle that counterclockwise forwards directed line segment to, M is the projection of some P on the xOy face here.Three number r like this, φ, θ are called the spherical co-ordinate of a P, r here, φ, the variation range of θ be r ∈ [0 ,+∞), φ ∈ [0,2 π], θ ∈ [0, π] .r=constant promptly is the sphere of the heart with the initial point; θ=constant promptly is that summit, z axle are the circular conical surface of axle with the initial point; φ=constant, the i.e. half-plane of mistake z axle.Wherein x=rsin θ cos φ, y=rsin θ sin φ, z=rcos θ.
According to this principle; Angular transducer I axle and angular transducer II axle and linear transducer are gone out the each other vertical and joining point A of the axial line of fag end be defined as initial point; The angular transducer I is φ around the viewpoint definition of its rotation; Is θ with the angular transducer II around the viewpoint definition of its rotation, and the length of rope sensor is defined as r, and then angular transducer I, angular transducer II and linear transducer can constitute the spheric coordinate system of a standard.As long as measurement is to measure the anglec of rotation of angular transducer I, angular transducer II and the length of linear transducer, promptly can confirm the volume coordinate of rope sensor stay cord distal point through above-mentioned simple triangular transformation.If measure the coordinate of the difference on the different spaces object, then can calculate the locus characteristic of testee according to the method for a tectonic line, some structural surface, the crossing tectonic line of face face.
Can obtain a kind of measuring method that is used for space object position relation thus, may further comprise the steps
(1) stay cord on the pulling linear transducer, the anglec of rotation of adjustment angular transducer I axle and angular transducer II axle makes stay cord be in linear state,
(2) difference reading angular sensor I axle and the anglec of rotation of angular transducer II axle and the length of rope sensor stay cord,
(3) according to calculating the coordinate that principle can directly calculate the stay cord distal point,
(4) repeat the step of (1)-(3), measure the coordinate of the difference on the different spaces object,
(5) method according to a tectonic line, some structural surface, the crossing tectonic line of face face calculates the locus characteristic of testee.
Claims (1)
1. one kind is used for the measuring method that the space object position concerns, may further comprise the steps:
(1) stay cord on the pulling linear transducer, the anglec of rotation of adjustment angular transducer I axle and angular transducer II axle makes stay cord be in linear state,
(2) length of stay cord on the anglec of rotation of difference reading angular sensor I axle and angular transducer II axle and the linear transducer,
(3) according to calculating the coordinate that principle can directly calculate stay cord distal point on the linear transducer,
(4) repeat the step of (1)-(3), measure the coordinate of the difference on the different spaces object,
(5) method according to a tectonic line, some structural surface, the crossing tectonic line of face face calculates the locus characteristic of testee.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011103235607A CN102445172A (en) | 2011-10-23 | 2011-10-23 | Method for measuring position relation of space object |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011103235607A CN102445172A (en) | 2011-10-23 | 2011-10-23 | Method for measuring position relation of space object |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN102445172A true CN102445172A (en) | 2012-05-09 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2011103235607A Pending CN102445172A (en) | 2011-10-23 | 2011-10-23 | Method for measuring position relation of space object |
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| CN (1) | CN102445172A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105203056A (en) * | 2015-10-09 | 2015-12-30 | 中国电子科技集团公司第三十八研究所 | Three-coordinate measurement device and measurement method thereof |
| CN107917684A (en) * | 2017-10-17 | 2018-04-17 | 豫鑫达（深圳）智能化设备有限责任公司 | Location positioning method in a kind of two dimensional surface |
| CN109579841A (en) * | 2018-11-27 | 2019-04-05 | 南京理工大学 | Vehicle-mounted fire-fighting top load rotor wing unmanned aerial vehicle high-precision locating method under the conditions of GPS defence |
| CN109931897A (en) * | 2017-12-19 | 2019-06-25 | 东莞前沿技术研究院 | Aerostat positioning system and positioning method, storage medium and processor |
| CN110940257A (en) * | 2018-09-25 | 2020-03-31 | 国核电站运行服务技术有限公司 | Device and method for measuring inclination angle change of pipeline |
| CN112985310A (en) * | 2021-04-09 | 2021-06-18 | 广州航海学院 | Method for measuring space angle of dredger harrow tube |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07229703A (en) * | 1994-02-15 | 1995-08-29 | Aatsu:Kk | Position measuring equipment |
| JP2005517908A (en) * | 2002-02-14 | 2005-06-16 | ファロ テクノロジーズ インコーポレーテッド | Articulated arm for portable coordinate measuring instrument |
| JP2009258018A (en) * | 2008-04-18 | 2009-11-05 | Plus One Techno:Kk | Position measuring apparatus |
-
2011
- 2011-10-23 CN CN2011103235607A patent/CN102445172A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07229703A (en) * | 1994-02-15 | 1995-08-29 | Aatsu:Kk | Position measuring equipment |
| JP2005517908A (en) * | 2002-02-14 | 2005-06-16 | ファロ テクノロジーズ インコーポレーテッド | Articulated arm for portable coordinate measuring instrument |
| JP2009258018A (en) * | 2008-04-18 | 2009-11-05 | Plus One Techno:Kk | Position measuring apparatus |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105203056A (en) * | 2015-10-09 | 2015-12-30 | 中国电子科技集团公司第三十八研究所 | Three-coordinate measurement device and measurement method thereof |
| CN107917684A (en) * | 2017-10-17 | 2018-04-17 | 豫鑫达（深圳）智能化设备有限责任公司 | Location positioning method in a kind of two dimensional surface |
| CN107917684B (en) * | 2017-10-17 | 2019-10-01 | 豫鑫达（深圳）智能化设备有限责任公司 | Location positioning method in a kind of two-dimensional surface |
| CN109931897A (en) * | 2017-12-19 | 2019-06-25 | 东莞前沿技术研究院 | Aerostat positioning system and positioning method, storage medium and processor |
| CN109931897B (en) * | 2017-12-19 | 2020-06-30 | 东莞前沿技术研究院 | Aerostat positioning system and positioning method, storage medium and processor |
| CN110940257A (en) * | 2018-09-25 | 2020-03-31 | 国核电站运行服务技术有限公司 | Device and method for measuring inclination angle change of pipeline |
| CN110940257B (en) * | 2018-09-25 | 2021-09-24 | 国核电站运行服务技术有限公司 | Device and method for measuring inclination angle change of pipeline |
| CN109579841A (en) * | 2018-11-27 | 2019-04-05 | 南京理工大学 | Vehicle-mounted fire-fighting top load rotor wing unmanned aerial vehicle high-precision locating method under the conditions of GPS defence |
| CN109579841B (en) * | 2018-11-27 | 2022-10-28 | 南京理工大学 | High-precision positioning method of vehicle-mounted fire-fighting high-load rotary-wing UAV under the condition of GPS rejection |
| CN112985310A (en) * | 2021-04-09 | 2021-06-18 | 广州航海学院 | Method for measuring space angle of dredger harrow tube |
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Application publication date: 20120509 |