Design And Implementation For Pose Measurement System Of Secondary Platform

In today's world,aerospace technology has developed rapidly,a country's aerospace strength has become an important manifestation of its comprehensive national strength.There is a great risk when spacecraft complete the scientific test.So before the test,the ground simulation and verification is needed.The secondary platform is one of the core equipment of the spacecraft full physical simulation system.Its main task is to auxiliary flotation platform complete the full physical simulation test.In order to achieve this goal,the secondary platform needs to carry the flotation platform,tracking the movement of the floating platform.It is also important to provide an ultra-high-precision horizontal plane for the flotation table to reduce the effect of the weight on the simulation test.In order to achieve high-precision pose adjustment,the secondary platform requires a high-precision pose adjustment system and high-precision pose measurement system.This paper designs and iomplements the high precision secondary platform pose measurement system.This paper starts from the basic structure and working principle of the secondary platform,analyzes the system requirements and determines the performance index of the pose measurement system.The software architecture and hardware architecture of the pose measurement system are designed.The key devices are chose at the same time.In this paper,the input signal of the pose measurement system is the laser emitted by the lasers.The secondary platform is equipped with a high-speed motor in the center of the table,and the lasers are located on the rotor shaft of the high-speed motor.In order to make the measurement system have a stable input signal,the speed control system of high speed motor is analyzed and designed.Linear array CCD is responsible for the laser spot collection,the secondary platform pose can be obtained by using the informantion of spot location.In order to improve the accuracy of spot positioning,the data processing of linear array CCD is studied and designed.In order to get the pose of the secondary platform,the position measurement algorithm and the attitude measurement algorithm are designed.This paper also studies the error of pose measurement system.The sources of system error and random error are analyzed and the algorithm of weakening the two errors is proposed.In the process of system implementation,some hardware devices such as USB to CAN interface card,camera synchronization control card are designed.Analysis of pose measurement system software requirements,the host computer software is designed.embedded software is design also.Finally,the accuracy of the measurement system was calibrated.CCD-based non-contact measurement is the current popular research direction,because it has non-contact,high precision and many other advantages.This study also has some research significance for the pose measurement of the flotation platform.