A joint objective function multi-propeller attitude angle acquisition method based on visual projection scale factor set

Abstract

The invention discloses a method for acquiring attitude angles of multi-thrusters with a joint objective function based on visual projection scale factor sets. Step 1: Establish the coordinate system of the multi-vehicle propeller; Step 2: The projection scale factor set is γ={γ 1 ,γ 2 ,...,γ n}; Step 3: Optimizing the projection scale factor set, establishing multi-propeller attitude angles to obtain the minimum objective function; Step 4: Performing antisymmetric matrix deformation processing on the minimum objective function in Step 3, and solving the form through multivariate polynomial equations; Step 5: Step 4 is further processed by Kronecker product sum matrix vectorization function; Step 6: Therefore, the minimum objective function can finally be expressed as a polynomial. The area array CCD camera realizes high-speed acquisition of multi-thruster images, avoids the limitation of sensor response speed in traditional contact measurement, and has a fast response speed. The high-speed camera can be quickly arranged, which is convenient for implementation and is not limited by space.

Description

technical field [0001] The invention belongs to the technical field of aircraft ground simulation testing, and in particular relates to a joint objective function multi-propeller attitude angle acquisition method based on a visual projection scale factor set. Background technique [0002] Accurate control of the propeller attitude angle is the basis for the stable and safe operation of the aircraft. The accuracy of the propeller attitude angle acquisition is directly related to the accuracy and reliability of the aircraft control performance; The influence of factors such as structural deformation and other factors will lead to a certain deviation between the actual propeller pose change and the control input data. Therefore, the accurate measurement technology of propeller pose is one of the main factors that restrict the engineering application of aircraft engines. [0003] Judging from the existing literature and patent research, there are not too many research results on...

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Problems solved by technology

Calculate the propeller swing angle components in the x-axis and y-axis directions and the displacement in the z-axis direction through the displacement of the superscript line, and then use the components of the propeller swing angle in the x-axis and y-axis directions to convert the propeller swing angle , but the measurement range of the swing angle is only 0~±8°; in addition, in fact, the propeller swing center must move under the high-pressure load condition, so although the above method can obtain high measurement accuracy in theory, the actual measurement accuracy is difficult Then the combination method was proposed to measure the attitude angle. By fixing the laser on the thruster, when the thruster swings, the laser beam will swing accordingly; this method has high accuracy in displacement measurement, but because it simply uses displacement measurement instead Angle measurement, and only a single laser beam is used for displacement measurement, which is essentially a one-dimensional measurement method, so it is difficult to solve the problem of measurement accuracy caused by problems such as pendulum movement and axis movement; researchers also use infrared photoelectric detection and conic surface The fitted thruster axis, swing angle and other parameters non-contact measurement method, some infrared reflective balls are arranged on specific parts of the thruster, and the feature points are captured by infrared cameras, but the system construction is relatively cumbersome, and the reliability of the measurement cannot be guaranteed; Some literatures use the method based on propeller conic surface fitting, but the surface processing error of the propeller will inevitably lead to the increase of measurement error

[0004] However, the above-mentioned method has the following limitations: (1) the acquisition accuracy of the attitude angle is low, and it is difficult to meet the high-precision measurement requirements; (2) the measurement cost is high and the flexibility is poor, which is difficult to achieve in the actual thruster measurement; (3) They are all attempts to obtain the attitude angle of a single thruster; (4) the space-time consistency of the attitude angle in different coordinate axis directions is not achieved

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