中机身位置和姿态调整及其跟踪测量

Automation Adjustment and Tracking Measurement of Fuselage Position and Pose

设计了中机身自动调姿定位器,针对中机身调姿运动学特点,给出了中机身三次多项式轨迹拟合算法,研究了基于调姿基准点的单台激光跟踪仪辅助中机身位置和姿态跟踪测量方法。将中机身调姿划分为横滚、俯仰、偏转和位置调整四个阶段,建立了调姿动态系统的函数模型,给出了调姿基准点无偏卡尔曼滤波和外推迭代算法,实现调姿过程中测量坐标最佳估值,利用最佳估值求解中机身动态位姿,从而实现了中机身位置和姿态实时修正。提出了基于托架式定位器、动态位姿测量和调姿软件集成系统的中机身位姿精确自动调整方法。仿真实验表明:由于驱动实时修正,调姿过程中驱动曲线存在微小波动,但自动调姿过程能保持平稳,易实现;中机身位置和姿态均能达到较高跟踪精度。

The automation adjustment positioner of position and pose is designed for fuselage. Cubic polynomial traj- ectory planning algorithm is proposed for fuselage considering the adjustment kinematic characteristics of fuselage po- sition and pose. Fuselage position and pose accuracy tracking measurement method is presented based on reference points which position and pose are tracked by using a laser tracker. Fuselage position and pose adjustment is divided into four stages： roll adjustment, pitch adjustment, yaw adjustment and position adjustment. The state equation of each stage and the observation equation are established ; ative algorithm are presented for reference points. Using are obtained, and the real-time position and pose of racy automation adjustment method of fuselage moreover, the unscented Kalman filter and extrapolation iter- the algorithm, the measurement coordinate optimal estimates fuselage are calculated. Based on the above research, the accu- position and pose is presented. Simulation experiments show there are small derivation variations due to the real-time correction of fuselage position and pose, but the whole adjustment can keep stable and is easily realized and high tracking precisions of position and pose are achieved.