The invention discloses a collimation measurement
system for attitudes and angles among
spacecraft devices based on the combination between a
robot and a
theodolite. The
system herein includes a
robot, a
laser tracker, a
laser tracking target (T-MAC), a
robot terminal tool, and the like. The
system searches a to-be-tested datum cube mirror which is disposed on a
spacecraft device by conducting mode identification, and computes the relations of phase position and direction of the datum cube mirror with respect to the
theodolite. The
laser tracker is intended for calibrating the
relative direction relation in a coordinate system of respective
spacecraft devices and integrating the measurement results of the
theodolite at different measurement positions to the same coordinate system. Based onthe calibration relation and the relative relation, the
laser tracker is guided to real-timely track the robot terminal tool and establish the relative relation between the laser track and the robotterminal tool. And eventually, the attitude relation matrix of the spacecraft is computed. According to the invention, the automatic measurement of the attitude relation among different devices is realized, the measurement efficiency can reach one time per half-minute, the
measurement precision can be higher than 30'', on-site measurement flexibility is higher, and construction and measurement indifferent places can be much easier.