CN114543767B - System and method for aircraft level measurement - Google Patents

Abstract

The invention provides a method for aircraft level measurement, comprising: using a laser tracker to measure a plurality of reference points on the aircraft to obtain the measurement coordinate value of each reference point in a measurement coordinate system; Points in the aircraft overall horizontal coordinate system; calculate the actual coordinate values of multiple reference points in the aircraft overall horizontal coordinate system; The actual coordinate values below are used to determine the transformation matrix from the measurement coordinate system to the horizontal coordinate system of the aircraft. In addition, the present invention also provides a system and a computer-readable storage medium for aircraft level measurement. Through the present invention, there is no need to perform the aircraft leveling step before the aircraft level measurement, and it is not necessary to perform the unified work with the measurement coordinate system of the laser tracker after the aircraft is leveled, which eliminates the errors caused by the aircraft leveling and unified work, greatly The measurement accuracy and measurement efficiency are improved.

Description

Systems and methods for aircraft leveling

technical field

The present invention relates to aircraft leveling and leveling techniques, and more particularly, to systems and methods for aircraft leveling.

Background technique

Aircraft level measurement, also known as aircraft feature point measurement, is to measure the specified aircraft level measurement points in order to ensure the relative position and symmetry of the various components of the aircraft, as well as the position and attitude of each component of the aircraft with sufficient accuracy.

Aircraft level adjustment (also referred to as leveling in this article) is the basis for aircraft level measurement, which means that the aircraft should be adjusted to a horizontal state according to the three-point support state specified in the level measurement chart. To level the aircraft longitudinally and laterally, that is to adjust the attitude of the aircraft so that the horizontal measurement point (leveling reference point) representing the horizontal state of the aircraft is at the same horizontal height. The accuracy of aircraft level adjustment will directly affect the inspection results of the relative position accuracy of aircraft components by aircraft level measurement.

Aircraft level measurement is one of the important means of aircraft shape quality control. Level measurements are taken at different times for each aircraft sortie. There are many items for aircraft level measurement and testing, and the workload is huge.

The traditional aircraft leveling method is to use an optical level to observe the leveling point of the fuselage, and use a manual jack to adjust the aircraft until the leveling point on the fuselage surface is at the same level. This adjustment method has low efficiency and poor precision, relies on manual operation experience, and consumes more manpower.

Accordingly, there is a need in the art for improved aircraft level measurement techniques.

Contents of the invention

This Summary is provided to introduce a selection of concepts in a simplified form that are further described below in the Detailed Description. This Summary is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.

In view of the defects in the prior art described above, the object of the present invention is to provide a system and method for aircraft level measurement, which can make aircraft level measurement save the steps of aircraft leveling, and realize aircraft leveling. It also solves the problems of low precision, heavy workload and low measurement efficiency in traditional aircraft leveling methods.

According to a first aspect of the present invention, there is provided a method for aircraft level measurement, the method may include: using a laser tracker to measure a plurality of reference points on the aircraft to obtain the measurement of each reference point in the survey coordinate system Coordinate values; construct the aircraft overall horizontal coordinate system based on the multiple reference points; calculate the actual coordinate values of the multiple reference points in the aircraft overall horizontal coordinate system; and based on the multiple reference points in the measurement coordinate system The measured coordinate values and the actual coordinate values in the overall horizontal coordinate system of the aircraft are used to determine the transformation matrix from the measured coordinate system to the overall horizontal coordinate system of the aircraft.

In an embodiment of the first aspect, the plurality of reference points may include 4 reference points, 2 reference points in the 4 reference points are respectively set at the front and rear of the plane of symmetry in the lower part of the fuselage and the other 2 reference points are They are respectively arranged on the symmetrical sides of the wing.

In an embodiment of the first aspect, calculating the actual coordinate values of the plurality of reference points in the aircraft overall horizontal coordinate system may include: according to the geometric features and constraints of the plurality of reference points in the aircraft overall horizontal coordinate system The actual coordinate values of the plurality of reference points in the overall horizontal coordinate system of the aircraft are calculated based on the geometric invariance under the overall horizontal coordinate system of the aircraft and the measurement coordinate system.

In an embodiment of the first aspect, the method may further include: using a laser tracker to measure horizontal measurement points other than all reference points of the aircraft, so as to obtain coordinate values of horizontal measurement points other than all reference points of the aircraft in the survey coordinate system ; and convert the coordinate values of the horizontal measurement points other than all reference points of the aircraft in the survey coordinate system to the actual coordinate values in the overall horizontal coordinate system of the aircraft through the transformation matrix.

According to a second aspect of the present invention, there is provided a system for aircraft level measurement, the system may include: a laser tracker configured to measure a plurality of reference points on the aircraft to obtain each reference point in the survey coordinate system The measurement coordinate value under; Data processing machine, this data processing machine can comprise: Measurement point measurement coordinate recording module, it is configured to receive the measurement coordinate value of these multiple reference points under the measurement coordinate system from the laser tracker; Coordinate system construction A module configured to construct an aircraft overall horizontal coordinate system based on the plurality of reference points; a reference point coordinate processing module configured to calculate the actual coordinate values of the plurality of reference points in the aircraft overall horizontal coordinate system; and transformation A matrix determination module configured to determine the transformation from the measurement coordinate system to the aircraft overall horizontal coordinate system based on the measured coordinate values of the plurality of reference points in the measurement coordinate system and the actual coordinate values in the aircraft overall horizontal coordinate system matrix.

In an embodiment of the second aspect, the plurality of reference points may include 4 reference points, 2 reference points in the 4 reference points are respectively set at the front and rear of the plane of symmetry in the lower part of the fuselage, and the other 2 reference points They are respectively arranged on the symmetrical sides of the wing.

In an embodiment of the second aspect, the reference point coordinate processing module can be further configured to, according to the geometric characteristics and constraints of the multiple reference points in the aircraft overall horizontal coordinate system, and and the geometric invariance in the measurement coordinate system to calculate the actual coordinate values of the plurality of reference points in the aircraft overall horizontal coordinate system.

In an embodiment of the second aspect, the laser tracker may be further configured to measure horizontal measurement points other than all reference points of the aircraft, so as to obtain coordinate values of the horizontal measurement points other than all reference points of the aircraft in the survey coordinate system; and The measurement point measurement coordinate recording module can be further configured to receive the coordinate values of horizontal measurement points other than all reference points of the aircraft in the measurement coordinate system from the laser tracker, wherein the data processor can further include: the whole aircraft horizontal measurement point processing output module , which is configured to complete the process of transforming the coordinate values of the whole-machine level measurement points in the survey coordinate system to the coordinate values under the whole-machine horizontal coordinate system of the aircraft through the transformation matrix and transform the whole-machine level measurement points in the aircraft whole-machine horizontal coordinate system The coordinate values below are output to the display device.

In an embodiment of the second aspect, the laser tracker and the data processor can be connected in a wired and/or wireless manner, wherein the laser tracker can be further configured to process the measured spatial coordinates of the horizontal measurement point to convert It is converted into a signal that the data processor can recognize and process.

According to a third aspect of the present invention there is provided a computer readable storage medium storing a computer program which, when executed by a processor, implements the method of the present invention.

Compared with the traditional aircraft level measurement, the present invention does not need to carry out the aircraft leveling step before the aircraft level measurement, nor does it need to carry out the unified work with the measurement coordinate system of the laser tracker after the aircraft leveling, eliminating the need for aircraft leveling and unification. The error caused by the work saves manpower and time, and greatly improves the measurement accuracy and measurement efficiency.

These and other features and advantages will become apparent by reading the following detailed description and by reference to the associated drawings. It is to be understood that both the foregoing general description and the following detailed description are illustrative only and are not restrictive in all respects as claimed.

Description of drawings

So that the manner in which the above recited features of the invention can be understood in detail, a more particular description of what has been briefly summarized above may be had by reference to various embodiments, some aspects of which are illustrated in the accompanying drawings. It is to be noted, however, that the drawings illustrate only certain typical aspects of the invention and are therefore not to be considered limiting of its scope, for the description may admit to other equally effective aspects.

FIG. 1 illustrates a flowchart of a method for aircraft level measurement according to one embodiment of the present invention.

FIG. 2 illustrates a schematic diagram of an aircraft overall horizontal coordinate system according to an embodiment of the present invention.

FIG. 3 illustrates a schematic diagram of a laser tracker determining spatial coordinates of an aircraft horizontal measurement point according to an embodiment of the present invention.

FIG. 4 illustrates a schematic diagram of a laser tracker requiring multiple transfer stations when measuring horizontal measurement points other than all reference points of the aircraft according to an embodiment of the present invention.

FIG. 5 illustrates a block diagram of a system for aircraft level measurement according to one embodiment of the present invention.

Figure 6 illustrates a block diagram of an example of a hardware implementation of a computing device according to one embodiment of the invention.

Detailed ways

The present invention will be described in detail below in conjunction with the accompanying drawings, and the features of the present invention will be further revealed in the following detailed description.

The main idea of the method that does not require aircraft leveling in the aircraft level measurement provided by the present invention is: adopt multiple (for example, 4) reference points to construct the whole aircraft horizontal coordinate system, according to the multiple (for example, 4) reference points The geometric features in the horizontal coordinate system of the whole machine and the measured values in the coordinate system of the survey set up a set of analytical equations, which are solved to obtain the multiple (for example, 4) reference points in the horizontal coordinate system of the whole machine. Then obtain the transformation matrix from the measurement coordinate system to the horizontal coordinate system of the whole machine, and finally convert all the horizontal measurement points of the whole machine from the measurement coordinate system to the actual values in the horizontal coordinate system of the whole machine through the transformation matrix, and then further calculate Display the values of all horizontal measurement items. The method of the present invention has no limitation on the position of the measurement coordinate system of the laser tracker.

FIG. 1 illustrates a flow diagram of a method 100 for aircraft level measurement according to one embodiment of the present invention. Prior to block 110 , the method 100 may optionally start with jacking up the aircraft, wherein the aircraft is supported in a 3-point support manner and is visually level. At block 110 , the method 100 may include using a laser tracker to measure a plurality of reference points on the aircraft to obtain a measured coordinate value of each reference point in a survey coordinate system. In a preferred embodiment of the present invention, the number of reference points may be four. It should be noted that the present invention is not limited to 4 fiducials, but can also be implemented with 2, 3, 5, or more fiducials. For purposes of illustration, four reference points are used below to illustrate the method and system of the present invention.

In a preferred embodiment, 4 horizontal common points (A1, A2, A3, A4) are set, which are respectively arranged on the left and right sides of the fuselage and the front and rear sides of the wing, for unified measurement of coordinates after the laser tracker transfer station Tie. According to the distribution characteristics of the aircraft horizontal measurement points, select a suitable position on the ground to fix four horizontal common points; the measurement of the laser tracker requires that the light of the measurement point in a station can be reached in a straight line, and there should be no obstacles in the middle; the laser tracker is suitable for large-scale measured objects. When measuring objects, it is necessary to transfer stations multiple times to complete all measurements. Each transfer station will form a coordinate system, which needs to be converted through four horizontal common points to form a unified measurement coordinate system.

Use the laser tracker to measure the reference points. The reference points are set on the front and rear of the fuselage and on both sides of the wings. The four reference points of the aircraft are P ₁ , P ₂ , P ₃ , and P ₄ , and the two reference points P ₁ and P ₂ are at The two reference points P ₃ and P ₄ are on the symmetrical sides of the wing on the front and rear of the lower part of the fuselage; the reference points are selected in areas with high relative processing accuracy, high strength, small deformation, as far as possible, and easy to measure.

For the four reference points, the laser from the tracking head is projected onto the reflective target at the center of the cross mark of each reference point through the laser tracker and then returned to the tracking head to obtain the measurement coordinate value of each reference point in the measurement coordinate system. The measurement coordinate system is the default coordinate system when the laser tracker is turned on, and the measurement coordinate system is set to O-XmYmZm. Place the laser tracker at station 1 to read the coordinates of four horizontal common points respectively, establish a coordinate system, and then measure the coordinates of P ₁ , P ₂ and P ₃ ; place the laser tracker at station 2 to read The coordinates of the horizontal public point, establish a coordinate system, the system automatically converts with the coordinate system of station 1, and measures the coordinates of _P4 at station 2.

At block 120 , method 100 may include constructing an aircraft-wide horizontal coordinate system based on the plurality of reference points. Assuming that the horizontal coordinate system of the aircraft is O-XYZ, and the measurement coordinate system is OX _m Y _m Z _m , the four reference points of the aircraft can be marked as P ₁ point, P ₂ point, P ₃ point and P ₄ point. The coordinates of the four reference points in the horizontal coordinate system of the aircraft can be expressed as P _i (X _i , Y _i , Z _i ), i=1, 2, 3, 4; the coordinates of the four reference points in the measurement coordinate system It can be expressed as P _mi (X _mi , Y _mi , Z _mi ), i=1, 2, 3, 4. Under the horizontal coordinate system O-XYZ of the aircraft, P ₃ and P ₄ are points on the left and right wings that are symmetrical to the plane of symmetry of the aircraft. Take the vertical plane of the straight line between P ₃ and P ₄ as the plane of symmetry of the aircraft, that is, the XY plane; take the plane that is b away from P ₃ and P ₄ and perpendicular to the XY plane as the horizontal datum plane, that is, the XZ plane, XY The intersection line between the plane and the XZ plane is the X axis; the plane that is a distance from P ₃ and P ₄ and is perpendicular to the XY plane and the XZ plane is the YZ plane; the intersection line between the XY plane and the XZ plane is the Y axis, The intersection line between the YZ plane and the XZ plane is the Z axis. Referring to FIG. 2 , FIG. 2 illustrates a schematic diagram 200 of an overall horizontal coordinate system of an aircraft according to an embodiment of the present invention.

At block 130 , the method 100 may include calculating actual coordinate values of the plurality of reference points in the aircraft overall horizontal coordinate system. Due to the inevitable deviation in the marking of the horizontal measurement point during the manufacturing process, its actual coordinates may not be consistent with the theoretical coordinates of the design. Therefore, it is necessary to calculate the actual coordinate values of the plurality of reference points in the overall horizontal coordinate system of the aircraft. In one embodiment, according to the geometric characteristics and constraint conditions of the multiple (for example, 4) reference points in the aircraft overall horizontal coordinate system, and the geometric differences between the aircraft overall horizontal coordinate system and the measurement coordinate system, Denaturation, get a set of equations containing multiple analytical equations, solve the equations to get P ₁ (X ₁ ,Y ₁ ,Z ₁ ), P ₂ (X ₂ ,Y ₂ ,Z ₂ ), P ₃ (X ₃ , Y ₃ , Z ₃ ), P ₄ (X ₄ , Y ₄ , Z ₄ ), that is, the actual coordinate values of the 4 reference points in the overall horizontal coordinate system of the aircraft.

For example, the actual coordinate values of the four reference points in the horizontal coordinate system of the aircraft can be solved by the following process:

Assuming that under the horizontal coordinate system O-XYZ of the aircraft, the coordinate values of the four reference points are: P ₁ (X ₁ ,Y ₁ ,Z ₁ ), P ₂ (X ₂ ,Y ₂ ,Z ₂ ), P ₃ (X ₃ , Y ₃ , Z ₃ ), P ₄ (X ₄ , Y ₄ , Z ₄ ).

The geometric characteristics of the four reference points in the horizontal coordinate system of the aircraft, the reference points meet the conditions:

X ₃ =X ₄ =a;

Y ₃ =Y ₄ =b;

Z ₃ =-Z ₄ ;

Y ₂ −Y ₁ =c;

Where a, b, c are known values.

Suppose the coordinate values of the four reference points measured by the laser tracker in the measurement coordinate system are: P _m1 (X _m1 , Y _m1 , Z _m1 ), P _m2 (X _m2 , Y _m2 , Z _m2 ), P _m3 ( X _m3 , Y _m3 , Z _m3 ), P _m4 (X _m4 , Y _m4 , Z _m4 ).

According to the geometric invariance, we have:

(X ₁ -X ₂ ) ² +(Y ₁ -Y ₂ ) ² +(Z ₁ -Z ₂ ) ² ＝(X _m1 -X _m2 ) ² +(Y _m1 -Y _m2 ) ² +(Z _m1 -Z _m2 ) ² ;

(X ₁ -X ₃ ) ² +(Y ₁ -Y ₃ ) ² +(Z ₁ -Z ₃ ) ² ＝(X _m1 -X _m3 ) ² +(Y _m1 -Y _m3 ) ² +(Z _m1 -Z _m3 ) ² ;

(X ₁ -X ₄ ) ² +(Y ₁ -Y ₄ ) ² +(Z ₁ -Z ₄ ) ² ＝(X _m1 -X _m4 ) ² +(Y _m1 -Y _m4 ) ² +(Z _m1 -Z _m4 ) ² ;

(X ₂ -X ₃ ) ² +(Y ₂ -Y ₃ ) ² +(Z ₂ -Z ₃ ) ² ＝(X _m2 -X _m3 ) ² +(Y _m2 -Y _m3 ) ² +(Z _m2 -Z _m3 ) ² ;

(X ₂ -X ₄ ) ² +(Y ₂ -Y ₄ ) ² +(Z ₂ -Z ₄ ) ² ＝(X _m2 -X _m4 ) ² +(Y _m2 -Y _m4 ) ² +(Z _m2 -Z _m4 ) ² ;

(X ₃ -X ₄ ) ² +(Y ₃ -Y ₄ ) ² +(Z ₃ -Z ₄ ) ² ＝(X _m3 -X _m4 ) ² +(Y _m3 -Y _m4 ) ² +(Z _m3 -Z _m4 ) ² ;

P ₁ (X ₁ ,Y ₁ ,Z ₁ ), P ₂ (X ₂ ,Y 2 ,Z ₂ ), P ₃ (X ₃ ,Y _{3 ,} Z ₃ ), P ₄ ( X ₄ , Y ₄ , Z ₄ ).

At block 140, the method 100 may include determining a distance from the survey coordinate system to the aircraft overall horizontal coordinate system based on the measured coordinate values of the plurality of reference points in the survey coordinate system and the actual coordinate values in the aircraft overall horizontal coordinate system. transformation matrix.

The transformation equation from the measurement coordinate system OX _m Y _m Z _m to the aircraft horizontal coordinate system O-XYZ can be expressed as:

(X _i ,Y _i ,Z _i ) ^T ＝A(X _mi ,Y _mi ,Z _mi ) ^T +b, i=1,2,3,4;

in

The actual values P ₁ (X ₁ ,Y ₁ ,Z ₁ ), P ₂ (X ₂ ,Y ₂ ,Z ₂ ), P ₃ (X ₃ ,Y ₃ ,Z ₃ ), P ₄ (X ₄ ,Y ₄ ,Z ₄ ) and measured values P _m1 (X _m1 ,Y _m1 ,Z _m1 ), P _m2 (X _m2 ,Y _m2 ,Z _m2 ), P _m3 (X _m3 ,Y _m3 ,Z _m3 ), P _m4 (X _m4 ,Y _m4 ,Z _m4 ) are substituted into the transformation equations to obtain 12 equations:

X ₁ =a ₁₁ X _m1 +a ₁₂ Y _m1 +a ₁₃ Z _m1 +b ₁

Y ₁ =a ₂₁ X _m1 +a ₂₂ Y _m1 +a ₂₃ Z _m1 +b ₂

Z ₁ ＝a ₃₁ X _m1 +a ₃₂ Y _m1 +a ₃₃ Z _m1 +b ₃

X ₂ ＝a ₁₁ X _m2 +a ₁₂ Y _m2 +a ₁₃ Z _m2 +b ₁

Y ₂ ＝a ₂₁ X _m2 +a ₂₂ Y _m2 +a ₂₃ Z _m2 +b ₂

Z ₂ ＝a ₃₁ X _m2 +a ₃₂ Y _m2 +a ₃₃ Z _m2 +b ₃

X ₃ ＝a ₁₁ X _m3 +a ₁₂ Y _m3 +a ₁₃ Z _m3 +b ₁

Y ₃ ＝a ₂₁ X _m3 +a ₂₂ Y _m3 +a ₂₃ Z _m3 +b ₂

Z ₃ ＝a ₃₁ X _m3 +a ₃₂ Y _m3 +a ₃₃ Z _m3 +b ₃

X ₄ ＝a ₁₁ X _m4 +a ₁₂ Y _m4 +a ₁₃ Z _m4 +b ₁

Y ₄ ＝a ₂₁ X _m4 +a ₂₂ Y _m4 +a ₂₃ Z _m4 +b ₂

Z ₄ ＝a ₃₁ X _m4 +a ₃₂ Y _m4 +a ₃₃ Z _m4 +b ₃

Solve the transformation matrix coefficients a ₁₁ , a ₁₂ , a ₁₃ , a _{21 , a 22} , a ₂₃ , a ₃₁ , a ₃₂ , a ₃₃ , b ₁ , b ₂ , b ₃ from the above equations to obtain _the measurement The coordinate system is converted to the transformation matrices A and b in the horizontal coordinate system of the aircraft to realize digital leveling of the aircraft.

After obtaining the above-mentioned transformation matrix, the method 100 may optionally further include: using a laser tracker to measure horizontal measurement points other than all reference points of the aircraft, so as to obtain the coordinates of the horizontal measurement points other than all reference points of the aircraft in the survey coordinate system value. In one embodiment, when the laser tracker measures the horizontal measurement points other than all the reference points of the aircraft, it needs multiple transfer stations to complete all the measurements. According to this measurement situation, three transfer stations are designed, as shown in Figure 4.

Place the laser tracker at station 1, station 2, station 3 and station 4 in turn, read the coordinates of the four horizontal common points respectively, establish their own coordinate systems, and the system automatically converts with the coordinate system of station 1 , and then measure the coordinates of the horizontal measurement points they are facing.

Next, the method 100 may optionally further include: using the transformation matrix determined at block 140 to convert the coordinate values of the horizontal measurement points other than all reference points of the aircraft in the measurement coordinate system to the horizontal coordinate system of the entire aircraft the actual coordinate value of . Thereby, aircraft level measurement can be completed.

FIG. 5 illustrates a block diagram of a system 500 for aircraft level measurement according to one embodiment of the present invention. The system 500 may include a laser tracker 510, which may be configured to measure a plurality of reference points on the aircraft to obtain a measured coordinate value of each reference point in a survey coordinate system, as described in connection with the operations at block 110. describe. In addition, the system 500 may further include a data processor 520 wired and/or wirelessly connected to the laser tracker 510 . For example, referring to FIG. 3 , laser tracker 310 may be an example of laser tracker 510 , and computer 320 may be an example of data processor 520 . The laser tracker 310 can be used to determine the spatial coordinates of the aircraft horizontal measurement point mark; the laser tracker reflective target is placed on the aircraft horizontal measurement point mark, and the laser emitted by the tracking head hits the reflective target and then returns to the tracking head. Therefore, the spatial measurement coordinate value of each horizontal measurement point is determined.

In one embodiment, the data processor 520 may include a plurality of modules connected by the bus 525, the plurality of modules including but not limited to: a measurement point measurement coordinate recording module 530, which may be configured to receive from the laser tracker 510 Measured coordinate values of a plurality of reference points in the survey coordinate system; a coordinate system construction module 540, which may be configured to construct an aircraft-wide horizontal coordinate system based on the plurality of reference points, as described in connection with the operation at block 120 A reference point coordinate processing module 550, which may be configured to calculate the actual coordinate values of the plurality of reference points in the horizontal coordinate system of the aircraft, as described in conjunction with the operation at block 130; and a transformation matrix determination module 560, It may be configured to determine a transformation matrix from the measurement coordinate system to the aircraft overall horizontal coordinate system based on the measured coordinate values of the plurality of reference points in the survey coordinate system and the actual coordinate values in the aircraft overall horizontal coordinate system, As described in connection with the operations at block 140 .

In one embodiment, the multiple reference points may include 4 reference points, 2 reference points in the 4 reference points are respectively set at the front and rear of the plane of symmetry at the lower part of the fuselage and the other 2 reference points are respectively set at the The wings are symmetrical on both sides.

In one embodiment, the laser tracker 510 can be further configured to measure the horizontal measurement points other than all the reference points of the aircraft, so as to obtain the coordinate values of the horizontal measurement points other than all the reference points of the aircraft in the survey coordinate system; The coordinate recording module 530 may be further configured to receive the coordinate values of horizontal measurement points other than all reference points of the aircraft in the survey coordinate system from the laser tracker 510, wherein the data processor 520 may further include: the whole aircraft horizontal measurement point processing output module 570, which may be configured to complete the process of transforming the coordinate values of the overall aircraft level measurement point in the survey coordinate system to the coordinate value in the aircraft overall aircraft horizontal coordinate system through the transformation matrix and convert the entire aircraft horizontal measurement point to the aircraft overall aircraft horizontal coordinate system. Coordinate values in the horizontal coordinate system are output to a display device (not shown).

In one embodiment, the reference point coordinate processing module 550 can be further configured to, according to the geometric characteristics and constraint conditions of the multiple reference points in the aircraft overall horizontal coordinate system, as well as the aircraft overall horizontal coordinate system and the measurement coordinate system The actual coordinate values of the plurality of reference points in the overall horizontal coordinate system of the aircraft are calculated by using the geometric invariance under the same method, as described in conjunction with the operation at block 130 .

In one embodiment, the laser tracker 510 may be further configured to process the measured spatial coordinates of the leveling points to convert them into signals that the data processor 520 can recognize and process.

FIG. 6 illustrates a block diagram of an exemplary computing device 600 , which may be an example of data processor 520 , according to one embodiment of the invention.

Referring to FIG. 6 , a computing device 600 will now be described, which is one example of a hardware device applicable to aspects of the present invention. Computing device 600 can be any machine that can be configured to perform processing and/or computing, and can be, but is not limited to, a workstation, server, desktop, laptop, tablet, personal digital processing, smartphone , onboard computer, or any combination thereof. The foregoing various methods may be implemented in whole or at least in part by the computing device 600 or similar devices or systems.

Computing device 600 may include components that may be connected or communicate via one or more interfaces and bus 602 . For example, computing device 600 may include a bus 602 , one or more processors 604 , one or more input devices 606 , and one or more output devices 608 . The one or more processors 604 may be any type of processor and may include, but are not limited to, one or more general purpose processors and/or one or more special purpose processors (eg, specialized processing chips). Input device 606 may be any type of device capable of entering information into a computing device and may include, but is not limited to, a mouse, keyboard, touch screen, microphone, and/or remote controller. Output devices 608 may be any type of device capable of presenting information and may include, but are not limited to, displays, speakers, video/audio output terminals, vibrators, and/or printers. The computing device 600 may also include a non-transitory storage device 610 or be connected to the non-transitory storage device. The non-transitory storage device may be any storage device that is non-transitory and capable of storing data, and the non-transitory storage device Transient storage devices may include, but are not limited to, magnetic disk drives, optical storage devices, solid state memory, floppy disks, floppy disks, hard disks, magnetic tape or any other magnetic media, optical disks or any other optical media, ROM (read only memory), RAM (random memory access memory), cache memory and/or any memory chip or cartridge, and/or any other medium from which a computer can read data, instructions and/or code. The non-transitory storage device 610 is detachable from the interface. The non-transitory storage device 610 may have data/instructions/codes for implementing the above methods and steps. Computing device 600 may also include communication device 612 . The communication device 612 may be any type of device or system capable of communicating with internal devices and/or with a network and may include, but is not limited to, a modem, a network card, an infrared communication device, a wireless communication device, and/or a chipset, such as a Bluetooth device , IEEE 1302.11 devices, WiFi devices, WiMax devices, cellular communication devices and/or similar devices.

Computing device 600 may also include working memory 614, which may be any type of working memory capable of storing instructions and/or data that facilitate the operation of processor 604 and may include, but is not limited to, random access memory and/or Read-only storage device.

Software components may be located in working memory 614, including but not limited to operating system 616, one or more application programs 618, drivers, and/or other data and code. Instructions for implementing the above methods and steps may be included in the one or more application programs 618, and the aforementioned various modules/units/components may be read and executed by the processor 604 in the one or more application programs 618 instructions to implement.

In the description of the present invention, it should be understood that the terms "first", "second", and "third" are used for description purposes only, and should not be understood as indicating or implying relative importance.

Those of ordinary skill in the art should appreciate that various embodiments of the present invention may be provided as methods, apparatuses, systems or computer program products. Accordingly, the present invention can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the invention may take the form of a computer program product embodied on one or more computer-readable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) having computer-executable program code stored therein.

The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus, systems and computer program products according to embodiments of the invention. It should be understood that each procedure and/or block in the flowchart and/or block diagram, and a combination of procedures and/or blocks in the flowchart and/or block diagram can be realized by computer program instructions. These computer program instructions may be provided to a general purpose computer, special purpose computer, embedded processor, or processor of other programmable data processing equipment to produce a machine such that the instructions executed by the processor of the computer or other programmable data processing equipment produce a means for realizing the functions specified in one or more procedures in the flowcharts and/or in one or more blocks in the block diagrams.

Although aspects of the present invention have been described thus far with reference to the accompanying drawings, the above-described methods, systems and apparatus are examples only, and the scope of the present invention is not limited to these aspects, but only by the appended claims and their equivalents . Various components may be omitted or may also be substituted for equivalent components. In addition, the steps may also be implemented in an order different from that described in the present invention. Also, various components may be combined in various ways. It is also important to note that, as technology advances, many of the components described may be replaced by equivalent components presented hereafter. Various modifications to the present disclosure will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other modifications without departing from the scope of the present disclosure. Thus, the disclosure is not to be limited to the examples and designs described herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (8)

1. A method for aircraft level measurement, comprising:

measuring 4 fiducial points on an aircraft with a laser tracker to obtain each fiducial point in a measurement coordinate system O-X _m Y _m Z _m The lower measurement coordinate value;

constructing an aircraft full-aircraft horizontal coordinate system O-XYZ based on the 4 datum points;

calculating actual coordinate values of the 4 datum points under the horizontal coordinate system O-XYZ of the whole aircraft; and

based on the 4 datum points, in the measurement coordinate system O-X _m Y _m Z _m The measured coordinate values below and the actual coordinate values below the aircraft full horizontal coordinate system O-XYZ to determine the coordinate system O-X from the measured coordinate system _m Y _m Z _m A transformation matrix to the aircraft full plane horizontal coordinate system O-XYZ,

wherein the 4 datum points are calculatedThe actual coordinate values under the horizontal coordinate system O-XYZ of the whole aircraft comprise: geometric features, constraints, and measurement coordinate system O-X under the aircraft full-aircraft horizontal coordinate system O-XYZ according to the 4 datum points _m Y _m Z _m The actual coordinate values of the 4 datum points in the horizontal coordinate system O-XYZ of the whole airplane are calculated according to the geometrical invariance,

wherein the actual coordinate values of the 4 reference points in the horizontal coordinate system O-XYZ of the whole aircraft are solved by the following procedures:

the coordinate values of the 4 datum points are set in the horizontal coordinate system O-XYZ of the whole aircraft: p (P) ₁ (X ₁ ,Y ₁ ,Z ₁ )、P ₂ (X ₂ ,Y ₂ ,Z ₂ )、P ₃ (X ₃ ,Y ₃ ,Z ₃ )、P ₄ (X ₄ ,Y ₄ ,Z ₄ )，

The following conditions are satisfied by the geometric features of the 4 datum points in the horizontal coordinate system O-XYZ of the whole aircraft:

X ₃ ＝X ₄ ＝a；

Y ₃ ＝Y ₄ ＝b；

Z ₃ ＝-Z ₄ ；

Y ₂ -Y ₁ ＝c；

wherein a, b, c are known values;

set 4 datum points measured by laser tracker in measurement coordinate system O-X _m Y _m Z _m The following coordinate values are: p (P) _m1 (X _m1 ,Y _m1 ,Z _m1 )、P _m2 (X _m2 ,Y _m2 ,Z _m2 )、P _m3 (X _m3 ,Y _m3 ,Z _m3 )、P _m4 (X _m4 ,Y _m4 ,Z _m4 )，

From the geometrical invariance, there are:

(X ₁ -X ₂ ) ² +(Y ₁ -Y ₂ ) ² +(Z ₁ -Z ₂ ) ² ＝(X _m1 -X _m2 ) ² +(Y _m1 -Y _m2 ) ² +(Z _m1 -Z _m2 ) ² ；

(X ₁ -X ₃ ) ² +(Y ₁ -Y ₃ ) ² +(Z ₁ -Z ₃ ) ² ＝(X _m1 -X _m3 ) ² +(Y _m1 -Y _m3 ) ² +(Z _m1 -Z _m3 ) ² ；

(X ₁ -X ₄ ) ² +(Y ₁ -Y ₄ ) ² +(Z ₁ -Z ₄ ) ² ＝(X _m1 -X _m4 ) ² +(Y _m1 -Y _m4 ) ² +(Z _m1 -Z _m4 ) ² ；

(X ₂ -X ₃ ) ² +(Y ₂ -Y ₃ ) ² +(Z ₂ -Z ₃ ) ² ＝(X _m2 -X _m3 ) ² +(Y _m2 -Y _m3 ) ² +(Z _m2 -Z _m3 ) ² ；

(X ₂ -X ₄ ) ² +(Y ₂ -Y ₄ ) ² +(Z ₂ -Z ₄ ) ² ＝(X _m2 -X _m4 ) ² +(Y _m2 -Y _m4 ) ² +(Z _m2 -Z _m4 ) ² ；

(X ₃ -X ₄ ) ² +(Y ₃ -Y ₄ ) ² +(Z ₃ -Z ₄ ) ² ＝(X _m3 -X _m4 ) ² +(Y _m3 -Y _m4 ) ² +(Z _m3 -Z _m4 ) ² ；

solving the above equation set to calculate the actual coordinate values P of the 4 datum points in the horizontal coordinate system O-XYZ of the aircraft ₁ (X ₁ ,Y ₁ ,Z ₁ )、P ₂ (X ₂ ,Y ₂ ,Z ₂ )、P ₃ (X ₃ ,Y ₃ ,Z ₃ )、P ₄ (X ₄ ,Y ₄ ,Z ₄ )。

2. The method of claim 1, wherein 2 of the 4 fiducial points are disposed fore and aft on a lower fuselage aircraft symmetry plane and the other 2 fiducial points are disposed on either side of wing symmetry.

3. The method of claim 1, further comprising:

measuring the level measurement points outside all the reference points of the aircraft by using the laser tracker to obtain the level measurement points outside all the reference points of the aircraft in the measurement coordinate system O-X _m Y _m Z _m The coordinate values below; and

the horizontal measuring points except all the reference points of the airplane are arranged in the measuring coordinate system O-X through the transformation matrix _m Y _m Z _m The coordinate values are converted into actual coordinate values under the horizontal coordinate system O-XYZ of the whole aircraft.

4. A system for aircraft level measurement, comprising:

a laser tracker configured to measure 4 fiducial points on an aircraft to obtain a measured coordinate system O-X for each fiducial point _m Y _m Z _m The lower measurement coordinate value;

a data processor, the data processor comprising:

a measurement point measurement coordinate recording module configured to receive the 4 reference points in the measurement coordinate system O-X from the laser tracker _m Y _m Z _m The lower measurement coordinate value;

a coordinate system construction module configured to construct an aircraft full-aircraft horizontal coordinate system O-XYZ based on the 4 reference points;

a reference point coordinate processing module configured to calculate actual coordinate values of the 4 reference points in the aircraft full-aircraft horizontal coordinate system O-XYZ; and

a transformation matrix determination module configured to determine a coordinate system O-X based on the 4 reference points _m Y _m Z _m Under the measured coordinate values and under the horizontal coordinate system O-XYZ of the whole planeDetermining from said measurement coordinate system O-X actual coordinate values _m Y _m Z _m A transformation matrix to the aircraft full plane horizontal coordinate system O-XYZ,

wherein the fiducial point coordinate processing module is further configured to determine the geometric features, constraints, and the measurement coordinate system O-X in the aircraft full aircraft horizontal coordinate system O-XYZ based on the 4 fiducial points in the aircraft full aircraft horizontal coordinate system O-XYZ _m Y _m Z _m The actual coordinate values of the 4 datum points in the horizontal coordinate system O-XYZ of the whole airplane are calculated according to the geometrical invariance,

wherein the actual coordinate values of the 4 reference points in the horizontal coordinate system O-XYZ of the whole aircraft are solved by the following procedures:

the coordinate values of the 4 datum points are set in the horizontal coordinate system O-XYZ of the whole aircraft: p (P) ₁ (X ₁ ,Y ₁ ,Z ₁ )、P ₂ (X ₂ ,Y ₂ ,Z ₂ )、P ₃ (X ₃ ,Y ₃ ,Z ₃ )、P ₄ (X ₄ ,Y ₄ ,Z ₄ )，

The following conditions are satisfied by the geometric features of the 4 datum points in the horizontal coordinate system O-XYZ of the whole aircraft:

X ₃ ＝X ₄ ＝a；

Y ₃ ＝Y ₄ ＝b；

Z ₃ ＝-Z ₄ ；

Y ₂ -Y ₁ ＝c；

wherein a, b, c are known values;

set 4 datum points measured by laser tracker in measurement coordinate system O-X _m Y _m Z _m The following coordinate values are: p (P) _m1 (X _m1 ,Y _m1 ,Z _m1 )、P _m2 (X _m2 ,Y _m2 ,Z _m2 )、P _m3 (X _m3 ,Y _m3 ,Z _m3 )、P _m4 (X _m4 ,Y _m4 ,Z _m4 )，

From the geometrical invariance, there are:

(X ₁ -X ₂ ) ² +(Y ₁ -Y ₂ ) ² +(Z ₁ -Z ₂ ) ² ＝(X _m1 -X _m2 ) ² +(Y _m1 -Y _m2 ) ² +(Z _m1 -Z _m2 ) ² ；

(X ₁ -X ₃ ) ² +(Y ₁ -Y ₃ ) ² +(Z ₁ -Z ₃ ) ² ＝(X _m1 -X _m3 ) ² +(Y _m1 -Y _m3 ) ² +(Z _m1 -Z _m3 ) ² ；

(X ₁ -X ₄ ) ² +(Y ₁ -Y ₄ ) ² +(Z ₁ -Z ₄ ) ² ＝(X _m1 -X _m4 ) ² +(Y _m1 -Y _m4 ) ² +(Z _m1 -Z _m4 ) ² ；

(X ₂ -X ₃ ) ² +(Y ₂ -Y ₃ ) ² +(Z ₂ -Z ₃ ) ² ＝(X _m2 -X _m3 ) ² +(Y _m2 -Y _m3 ) ² +(Z _m2 -Z _m3 ) ² ；

(X ₂ -X ₄ ) ² +(Y ₂ -Y ₄ ) ² +(Z ₂ -Z ₄ ) ² ＝(X _m2 -X _m4 ) ² +(Y _m2 -Y _m4 ) ² +(Z _m2 -Z _m4 ) ² ；

(X ₃ -X ₄ ) ² +(Y ₃ -Y ₄ ) ² +(Z ₃ -Z ₄ ) ² ＝(X _m3 -X _m4 ) ² +(Y _m3 -Y _m4 ) ² +(Z _m3 -Z _m4 ) ² ；

solving the above equation set to calculate the actual coordinate values P of the 4 datum points in the horizontal coordinate system O-XYZ of the aircraft ₁ (X ₁ ,Y ₁ ,Z ₁ )、P ₂ (X ₂ ,Y ₂ ,Z ₂ )、P ₃ (X ₃ ,Y ₃ ,Z ₃ )、P ₄ (X ₄ ,Y ₄ ,Z ₄ )。

5. The system of claim 4, wherein 2 of the 4 reference points are disposed fore and aft on a lower fuselage aircraft symmetry plane and the other 2 reference points are disposed on opposite sides of wing symmetry.

6. The system of claim 4, wherein the laser tracker is further configured to measure a level measurement point outside of all reference points of the aircraft to obtain a level measurement point outside of all reference points of the aircraft in the measurement coordinate system O-X _m Y _m Z _m The coordinate values below; and the measurement point measurement coordinate recording module is further configured to receive from the laser tracker a horizontal measurement point outside of all reference points of the aircraft in the measurement coordinate system O-X _m Y _m Z _m The coordinate value of the lower part of the frame,

wherein the data processor further comprises:

a full-machine horizontal measurement point processing output module configured to complete the measurement coordinate system O-X through the transformation matrix _m Y _m Z _m The coordinate values of the next all-aircraft horizontal measurement point are converted into the processing of the coordinate values in the all-aircraft horizontal coordinate system O-XYZ and the coordinate values of the all-aircraft horizontal measurement point in the all-aircraft horizontal coordinate system O-XYZ are output to a display device.

7. The system of claim 4, wherein the laser tracker and the data processor are connected by wire and/or wireless means, wherein the laser tracker is further configured to process the spatial coordinates of the measured level measurement points to convert them into signals that the data processor is capable of recognizing and processing.

8. A computer readable storage medium storing a computer program which, when executed by a processor, implements the method of any one of claims 1-3.

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