面向航天器大空间弱约束环境下的移动视觉测量精度优化方法

In face of heavy task, large spatial distribution and high accuracy measurement requirements in spacecraft manufacturing and assembly field, portable visual metrology has shown its important application value and increasing prospect in fields of pose determination of spacecraft equipment, shape of antenna surface, manufacturing precision and deformation analysis of mechanical structure, with its high accuracy, can simultaneously measure a large number of points, non-contact, wide measurement range, easy portability and other advantages. However, the measurement light path and sites are limited in spacecraft assembly field because of the occlusion of multiple devices and restriction of hatchway dimension, the achievement of high accurate measurement in large space, weak constraint conditions is the biggest challenge in large scale manufacturing and assembly field represented by spacecraft currently. A portable visual metrology optimization method based on the accurate angle measurement is proposed in this research, and an accurate angle measurement calibration method for the large field-of-view cameras is investigated. After calibration the camera turns into accurate angle measurement equipment, overcoming the limitations of traditional self-calibration model and improving the measurement accuracy in the stations under the limited constraints. Through research and the development from the theoretical analysis, error simulation, algorithm implementation, experimental verification, this method provides a novel approach for the development of the portable visual metrology system with high accuracy measurement in large space and weak confinement environment.

面对当前航天器制造及装配现场任务重、分布空间广、高精度等测量需求，移动视觉测量以高精度、可同时测量大量点、非接触、测量范围广、易便携等优势成为航天器设备位姿、天线面形、机械结构制造精度及变形验证等现场测量任务的主要手段。然而，航天器制造装配现场存在设备多容易相互遮挡及舱内设备受舱口尺寸遮挡等特点，导致测量光路及站位分布受限，如何在大空间、弱约束条件下实现高精度测量是当前以航天器为代表的大尺寸制造及装配现场面临的严峻挑战。本研究创新提出基于精密测角信息的移动视觉测量精度优化方法，研究一种大视场相机精密测角标定方法将相机转变为精密测角装置，以摆脱传统自标定模型局限性对测量精度提升的约束，在站位约束条件有限情况下实现测量精度的提高。通过对该方法从理论分析、误差仿真、技术及算法实现、实验验证等多角度进行系统研究和开发，为大空间、弱约束环境下高精度要求的移动视觉测量系统开发提供全新研究思路和方向。

面向航天器制造及装配现场大空间及弱约束条件下的高精度测量需求，本课题创新搭建一种将大视场相机转变为精密测角装置的标定平台，然后基于相机测角信息研究了移动视觉测量精度优化新方法，包括测角模型构建方法及图像畸变系统误差补偿方法，旨在突破传统自标定模型局限性对提高移动视觉测量精度的约束，为提高移动视觉测量精度提供全新的研究思路和方向。本课题从理论和技术研究、系统搭建、误差仿真分析、实验验证多角度对移动视觉测量精度优化方法进行系统研究。理论技术层面，对基于测角信息的移动视觉测量模型建立方式及关键技术进行了研究；系统搭建方面，研究了大视场相机精密测角标定平台高精度搭建方法，然后对基于测角信息的移动视觉测量相关算法实现进行重点突破，完成整套系统搭建；测量精度分析方面，完成基于测角模型的空间定位误差评定并对基于测角模型的系统测量精度优化效果进行了验证，结果表明本方法对提高非专业测量相机的移动视觉测量精度有很好的帮助作用。该成果发表学术论文12篇（SCI及EI检索7篇），申请及授权国家发明专利4项，并在CE-5样品转移通道对接安装精度测量过程中，成功解决了因遮挡使得有效测量站位空间布局受限而导致的测量精度低的难题。