Research On Attitude Combination Measurement And Adjustment Method In Large-scale Barrier Space

The accurate measurement and adjustment of space attitude plays a key supporting role in the process of equipment assembly,docking,quality detection and so on.However,the equipment span is large and the field environment is complex in the large-scale measurement environment,so it is often difficult to realize the real-time measurement and adjustment of object attitude due to the obstruction of object feature points caused by object structure,workpiece occlusion and depression.At present,multi station measurement technology based on laser tracker,photography and indoor positioning combined with three-coordinate locator is the main way to solve the problem of blocking space attitude measurement and adjustment.However,its cost is high,the spatial datum is unified and complex,and it is affected by time synchronization error,datum control point error and other factors.In this paper,the inclination sensor with high accuracy and stability is introduced into the attitude measurement system,and a real-time attitude measurement method based on the combination of digital level and inclination sensor is proposed,which is combined with the single degree of freedom independent adjustment unit for distributed jacking to realize the accurate measurement and adjustment of the horizontal posture of objects in large-scale barrier space.The attitude measurement principle based on the combination of digital level and inclination sensor is studied.Based on the nonlinear optimization method,the attitude transformation matrix between inclination sensor and object is calibrated with digital level,so that the real-time measurement of horizontal attitude angle of object is realized by inclination sensor through coordinate transformation theory.The mathematical model of attitude measurement is constructed,and the attitude solution method are described in detail.Due to the high measurement accuracy and strong stability of the inclination sensor,the accuracy and environmental adaptability of the attitude measurement system are ensured.The distributed attitude adjustment scheme based on independent adjustment unit is described.Aiming at the function model between attitude change and adjustment in the adjustment process,a function approximation calibration method based on polynomial expansion is proposed to determine the mapping relationship between jacking amount and sensor real-time change during attitude adjustment,so as to realize the accurate adjustment of horizontal attitude.The experimental platform of horizontal attitude measurement and adjustment is built,and the system software platform is compiled to verify the accuracy and reliability of attitude measurement and adjustment.The comparative experimental results show that within 10 m,the relative accuracy of attitude measurement is better than 5.40 ",the attitude adjustment error is less than 11.52",and it has good stability,which is suitable for the precise adjustment of attitude in large-scale barrier space.The sources of measurement error and uncertainty in the attitude measurement process are analyzed,and the uncertainty of each influencing component in the system is evaluated.Among them,the rotation matrix evaluation method based on multi-dimensional uncertainty propagation is mainly studied,and the system uncertainty synthesis model is constructed.By substituting relevant parameters,the system attitude measurement uncertainty is better than2.88",which provides a basis for the accuracy of attitude measurement results.