Research On The Method Of Pose Precision Measurement In Large Scale Space Based On Multi-sensor Combination

In the process of assembling and docking of the high-precision heavy equipment,including aerospace,vehicles,ships and so on,it is necessary to obtain the relative pose information between the assembly equipment before assembling.It is hard to measure because the measuring area of this kind of equipment has such factors as complex field environment,space field occlusion,large scale span of docking area and so on.At the same time,it also puts forward higher requirements on the attitude adjustment mechanism because of the large volume and weight of the assembling and docking equipment.To solve the problems of measuring and docking between modules of heavy and high precision equipment,such as field occlusion,large size span of docking area.In this paper,a multi-sensor combined pose measurement method is studied which composes an inclinometer,a laser displacement sensor and a profiler,the uncertainty of the combined measurement system is analyzed,the mechanical system and control system of the multi-sensor combined measurement and docking system are designed,the relative pose measurement of non-cooperative equipment modules is realized,the assembly and docking of heavy high-precision segmented equipment is completed.The article content is listed as below:It analyzed the errors between index and position of the docking and attitude tolerance of equipment modules.It designed a segmented satellite module measurement and docking platform.It introduced the profilometer which can obtain a large number of reliable and accurate point cloud data and the inclinometer with high horizontal Angle measurement accuracy into the multi-sensor combination measuring device,and proposes a relative position and attitude measurement method based on multi-sensor combination.It introduced the system principle of the multi-sensor combination measurement system.It established the position and posture calculation model of the multi-sensor combination measurement system.It deduced the algorithm of position and attitude calculation of combined measurement system.It solved the pose measurement problem of non-cooperative targets in narrow and long-range regions.The uncertainty of the multi-sensor combined measurement system is simulated by Monte Carlo method.The uncertainty of the combined measurement system is calculated and analyzed based on the covariance matrix pose and uncertainty analysis method;This two results are compared and analyzed to verify the correctness of the proposed pose uncertainty research method based on covariance matrix multi-sensor combined pose measurement.It designed the hardware and software of combined measurement docking system,anddeveloped a multi-sensor combined measurement and docking segmented device system prototype,to verify the system's measurement accuracy and measurement docking efficiency and finally it proved that the designed prototype meets this type of non-cooperation High-precision measurement of relative posture of segmented equipment and high-quality,high-efficiency assembly docking requirements.