智能快捷调姿定位系统位姿标定算法

Intelligent Calibration Algorithm for the Shortcut Alignment and Positioning System

针对固定式、车载式调姿定位系统位姿标定时间长、标定精度随时间逐步降低的问题,提出一种快捷式调姿定位系统及其智能位姿标定算法。通过在运动模块上设计"固定式主支撑+移动式副支撑"快捷支撑结构,实现调姿定位系统的快捷重组;通过调姿器中各轴运动状态的实时识别、测量和拟合,实现调姿定位系统位姿的高精度和高效率的标定。试验表明:采用快捷调姿定位系统及其智能标定算法,位姿精度不随时间而降低,标定效益提高了50%以上,标定成本降低了80%以上,满足多型号、小批量飞机高精度快速装配制造的需求。

Aiming at the problems of long calibration time and gradual decrease of calibration accuracy of stationary and vehicle-mounted alignment and positioning system, a fast alignment and positioning system and its intelligent alignment calibration algorithm are proposed. The quick support structure of "fixed main support + mobile auxiliary support" is designed on the motion module to realize the quick reconfiguration of the alignment and positioning system. Through the real-time identification, measurement and fitting of the motion state of each axis in the attitude adjuster, the position of the alignment and positioning system can be calibrated with high accuracy and efficiency. The experiment results show that the precision is not decreased with time, the efficiency of calibration is improved by more than 50%, and the cost of calibration is reduced by more than 80%. It can meet the demand of high-precision, quick assembly and manufacturing of multi-model and small-batch aircrafts.