CN111272138B - Method, device and equipment for measuring motion angle of airplane control measuring rod - Google Patents
Method, device and equipment for measuring motion angle of airplane control measuring rod Download PDFInfo
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- CN111272138B CN111272138B CN201910792093.9A CN201910792093A CN111272138B CN 111272138 B CN111272138 B CN 111272138B CN 201910792093 A CN201910792093 A CN 201910792093A CN 111272138 B CN111272138 B CN 111272138B
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- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C1/00—Measuring angles
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- B64C13/00—Control systems or transmitting systems for actuating flying-control surfaces, lift-increasing flaps, air brakes, or spoilers
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
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Abstract
The invention discloses a method, a device and equipment for measuring the motion angle of an airplane control measuring rod. The method comprises the following steps: acquiring a first gravity vector and a second gravity vector based on a sensor coordinate system before and after the movement of an airplane control measuring rod; acquiring a transformation matrix between a sensor coordinate system and a measuring rod coordinate system, and calculating a first transformation gravity vector and a second transformation gravity vector based on the measuring rod coordinate system according to the transformation matrix and the first gravity vector and the second gravity vector; determining a third transformed gravity vector according to the first transformed gravity vector and the second transformed gravity vector; calculating a pitch angle according to the first transformation gravity vector, the third transformation gravity vector and a direction vector of a pitch axis in the measuring rod coordinate system; and calculating the roll angle according to the second transformation gravity vector, the third transformation gravity vector and the direction vector of the roll axis in the measuring rod coordinate system. The measuring method can realize the measurement of the rotation angles of the pitching shaft and the rolling shaft of the control measuring rod, thereby improving the accuracy of the measurement of the motion angle of the aircraft control measuring rod.
Description
Technical Field
The embodiment of the invention relates to the technical field of movement angle measurement, in particular to a method, a device and equipment for measuring the movement angle of an airplane control measuring rod.
Background
The airplane control measuring rod is used for inputting the operation instructions of a pilot to the airplane so as to control the pitching and rolling of the airplane. In order to measure whether the motion angle input by the control measuring rod is consistent with the motion displacement of the actual measuring rod or not and verify whether the control measuring rod is intact, it is important to accurately measure the motion angle of the control measuring rod.
In the prior art, an angle sensor is generally adopted to directly measure the motion angle of a control measuring rod, the control measuring rod is generally designed into an irregular shape with multiple curved surfaces, and if the angle sensor is clamped around the measuring rod by a clamp, the leather surface of the measuring rod is easily damaged, and the positioning is not easily realized. The rotation of the pitching shaft and the rolling shaft of the motion angle of the control measuring rod is combined, the angle directly measured by the angle sensor cannot determine the respective rotation angles of the pitching shaft and the rolling shaft, and the verification of the control measuring rod cannot be completed.
Disclosure of Invention
The embodiment of the invention provides a method, a device and equipment for measuring the motion angle of an airplane control measuring rod, which are used for measuring the rotation angles of a pitching shaft and a rolling shaft of the control measuring rod and improving the accuracy of the measurement of the motion angle of the airplane control measuring rod.
In a first aspect, an embodiment of the present invention provides a method for measuring a movement angle of an aircraft control measuring stick, where the method includes:
acquiring a first gravity vector and a second gravity vector based on a sensor coordinate system before and after the movement of an airplane control measuring rod;
acquiring a transformation matrix between a sensor coordinate system and a measuring rod coordinate system, and calculating a first transformation gravity vector and a second transformation gravity vector based on the measuring rod coordinate system according to the transformation matrix and the first gravity vector and the second gravity vector;
determining a third transformed gravity vector according to the first transformed gravity vector and the second transformed gravity vector;
calculating a pitch angle according to the first transformation gravity vector, the third transformation gravity vector and a direction vector of a pitch axis in a measuring rod coordinate system; and calculating a roll angle according to the second transformation gravity vector, the third transformation gravity vector and a direction vector of a roll axis in the measuring rod coordinate system.
Further, obtaining a transformation matrix between the sensor coordinate system and the spindle coordinate system includes:
acquiring a direction vector of a pitching axis and a direction vector of a rolling axis of a control measuring rod based on a sensor coordinate system;
determining a direction vector of a yaw axis according to the direction vector of the pitch axis and the direction vector of the roll axis, and performing orthogonalization processing on the direction vector of the pitch axis, the direction vector of the roll axis and the direction vector of the yaw axis;
and determining a transformation matrix according to the direction vector of the pitch axis, the direction vector of the roll axis and the direction vector of the yaw axis after the orthogonalization processing.
Further, acquiring a direction vector of a pitch axis of the joystick based on the sensor coordinate system includes:
acquiring a plurality of gravity vectors of an airplane control measuring rod in the rotation process along a pitching axis;
performing difference multiplication calculation on any two of the gravity vectors according to the rotation sequence to obtain initial direction vectors of the plurality of pitching axes;
and calculating the average value of the initial direction vectors of the plurality of pitch axes, and determining the average value as the direction vector of the pitch axis.
Further, acquiring a direction vector of a roll axis of the joystick based on the sensor coordinate system includes:
acquiring a plurality of gravity vectors of an airplane control measuring rod in the rotating process along a transverse rolling shaft;
calculating the difference product of any two of the gravity vectors according to the rotation sequence to obtain the initial direction vectors of the transverse rollers;
and calculating the average value of the initial direction vectors of the plurality of transverse shafts, and determining the average value as the direction vector of the transverse shaft.
Further, calculating a first transformed gravity vector and a second transformed gravity vector based on a coordinate system of a measuring rod according to the transformation matrix and the first gravity vector and the second gravity vector, comprising:
and respectively carrying out point multiplication on the first gravity vector and the second gravity vector by an inverse matrix of the transformation matrix to obtain a first transformation gravity vector and a second transformation gravity vector.
Further, the pitch angle is calculated according to the first transformation gravity vector, the third transformation gravity vector and the direction vector of the pitch axis in the measuring rod coordinate system, and the calculation is carried out according to the following formula:
wherein α is the pitch angle, p0As a first transformation of the gravity vector, p2As a third transformation gravity vector, i0Is the projection vector of the first transformed gravity vector to the pitch axis.
Further, a roll angle is calculated according to the second transformation gravity vector, the third transformation gravity vector and a direction vector of a roll axis in the coordinate system of the measuring rod, and the roll angle is calculated according to the following formula:
wherein beta is a roll angle, p1As a second transformation of the gravity vector, p2As a third transformed gravity vector, j2The projection vector of the gravity vector to the roll axis is transformed by the third transformation.
In a second aspect, an embodiment of the present invention further provides an apparatus for measuring a movement angle of an aircraft control measuring stick, where the apparatus includes:
the gravity vector acquisition module is used for acquiring a first gravity vector and a second gravity vector based on a sensor coordinate system before and after the movement of the airplane control measuring rod;
the transformation gravity vector acquisition module is used for acquiring a transformation matrix between a sensor coordinate system and a measuring rod coordinate system and calculating a first transformation gravity vector and a second transformation gravity vector based on the measuring rod coordinate system according to the transformation matrix and the first gravity vector and the second gravity vector;
the third transformation gravity vector acquisition module is used for determining a third transformation gravity vector according to the first transformation gravity vector and the second transformation gravity vector;
the motion angle acquisition module is used for calculating a pitch angle according to the first transformation gravity vector, the third transformation gravity vector and a direction vector of a pitch axis in a measuring rod coordinate system; and calculating a roll angle according to the second transformation gravity vector, the third transformation gravity vector and a direction vector of a roll axis in the measuring rod coordinate system.
In a third aspect, an embodiment of the present invention further provides a device for measuring a movement angle of an aircraft control measuring stick, including: a gyroscope and wearable wristband; the gyroscope is connected with the wearable wrist;
the gyroscope is used for detecting a gravity vector in the movement process of the airplane control measuring rod, and the wearable wrist strap is used for fixing the gyroscope on the airplane control measuring rod.
Further, the gyroscope is integrally provided with the wearable wrist.
According to the embodiment of the invention, a first gravity vector and a second gravity vector based on a sensor coordinate system before and after the movement of an airplane control measuring rod are firstly obtained, then a transformation matrix between the sensor coordinate system and the measuring rod coordinate system is obtained, a first transformation gravity vector and a second transformation gravity vector based on the measuring rod coordinate system are calculated according to the transformation matrix, the first gravity vector and the second gravity vector, a third transformation gravity vector is determined according to the first transformation gravity vector and the second transformation gravity vector, finally a pitch angle is calculated according to the first transformation gravity vector, the third transformation gravity vector and a direction vector of a pitch axis in the measuring rod coordinate system, and a roll angle is calculated according to the second transformation gravity vector, the third transformation gravity vector and a direction vector of a roll axis in the measuring rod coordinate system. The method for measuring the movement angle of the airplane control measuring rod provided by the embodiment of the invention can realize the measurement of the rotation angles of the pitching shaft and the rolling shaft of the control measuring rod, thereby improving the accuracy of the measurement of the movement angle of the airplane control measuring rod.
Drawings
Fig. 1 is a flowchart of a method for measuring a movement angle of an airplane control measuring stick according to a first embodiment of the present invention;
FIG. 2a is a schematic diagram of a method for solving a pitch axis direction vector according to a first embodiment of the present invention;
FIG. 2b is a schematic diagram of a solution for the roll axis direction vector in accordance with a first embodiment of the present invention;
FIG. 2c is a schematic diagram of a method for solving a transformation matrix according to an embodiment of the present invention;
FIG. 3 is an exemplary illustration of the movement of a joystick in accordance with one embodiment of the present invention;
fig. 4 is a schematic structural diagram of a measuring device for measuring a movement angle of an airplane control measuring rod according to a second embodiment of the invention;
fig. 5a is a schematic structural diagram of a measuring device for measuring the movement angle of an airplane control measuring rod in a third embodiment of the invention;
fig. 5b is an installation diagram of a measuring device for measuring the movement angle of an airplane control measuring rod in the third embodiment of the invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Example one
Fig. 1 is a flowchart of a method for measuring a movement angle of an airplane joystick according to an embodiment of the present invention, where the embodiment is applicable to a case of measuring a movement angle of an airplane joystick, and the method can be executed by a device for measuring a movement angle of an airplane joystick, where the device can be composed of hardware and/or software, and can be generally integrated in an apparatus having a function of a movement angle of an airplane joystick. As shown in fig. 1, the method specifically includes the following steps:
and 110, acquiring a first gravity vector and a second gravity vector based on a sensor coordinate system before and after the movement of the airplane control measuring rod.
Wherein the sensor may be a gyroscope mounted on the aircraft joystick. The sensor coordinate system is an inter-three-dimensional coordinate system set according to the gyroscope. The state of the airplane control measuring rod before movement can be understood as that the control measuring rod is positioned at a neutral position; the state of the airplane after the control measuring rod moves can be understood as that the control measuring rod moves from a neutral position to any position. The first gravity vector is the gravity vector of the control measuring rod located at the neutral position, and the second gravity vector is the gravity vector of the control measuring rod located at the moved position. The first gravity vector and the second gravity vector may be directly measured by a gyroscope and represented by a three-dimensional unit vector.
And step 120, acquiring a transformation matrix between the sensor coordinate system and the measuring rod coordinate system, and calculating a first transformation gravity vector and a second transformation gravity vector based on the measuring rod coordinate system according to the transformation matrix and the first gravity vector and the second gravity vector.
The measuring rod coordinate system is a coordinate system consisting of a pitching shaft, a rolling shaft and a yawing shaft of the control measuring rod.
In this embodiment, the process of obtaining the transformation matrix between the sensor coordinate system and the measuring rod coordinate system may be: acquiring a direction vector of a pitching axis and a direction vector of a rolling axis of a control measuring rod based on a sensor coordinate system; determining a direction vector of a yaw axis according to the direction vector of the pitch axis and the direction vector of the roll axis, and performing orthogonalization processing on the direction vector of the pitch axis, the direction vector of the roll axis and the direction vector of the yaw axis; and determining a transformation matrix according to the direction vector of the pitch axis, the direction vector of the roll axis and the direction vector of the yaw axis after the orthogonalization processing.
The process of acquiring the direction vector of the pitch axis of the joystick based on the sensor coordinate system may be: acquiring a plurality of gravity vectors of an airplane control measuring rod in the rotation process along a pitching axis; performing difference multiplication calculation on any two of the gravity vectors according to the rotation sequence to obtain initial direction vectors of the plurality of pitching axes; and calculating the average value of the initial direction vectors of the plurality of pitch axes, and determining the average value as the direction vector of the pitch axis.
Illustratively, as shown in FIG. 2a, the coordinate system rst is the sensor coordinate system, g0，g1，……，giIs a plurality of gravity vectors detected by the sensor during rotation of the sensor about the pitch axis x. Multiplying any two gravity vectors according to the difference of the sequence to obtain the initial direction vectors of a plurality of pitching axes, and calculating by the following formula: x is the number ofi＝gi×gi+1. Then, the average is calculated for a plurality of initial direction vectors:
a direction vector of the pitch axis is obtained, where unit () is a function that unitizes the vector.
The process of acquiring the direction vector of the roll axis of the control stick based on the sensor coordinate system may be: acquiring a plurality of gravity vectors of an airplane control measuring rod in the rotating process along a transverse rolling shaft; calculating the difference product of any two of the gravity vectors according to the rotation sequence to obtain the initial direction vectors of the transverse rollers; and calculating the average value of the initial direction vectors of the plurality of transverse shafts, and determining the average value as the direction vector of the transverse shaft.
Exemplarily, as shown in fig. 2b, the coordinate system rst is the sensor coordinate system, g0，g1，……，giIs a plurality of gravity vectors detected by the sensor during the rotation of the sensor around the transverse axis y. Multiplying any two gravity vectors according to the difference of the sequence to obtain the initial direction vectors of a plurality of transverse rollers, and calculating by the following formula: y isi＝gi×gi+1. Then, the average is calculated for a plurality of initial direction vectors:
a direction vector of the roll axis is obtained, where unit () is a function that unitizes the vector.
Specifically, after obtaining the direction vector of the pitch axis and the direction vector of the roll axis, the direction vector of the yaw axis is obtained by multiplying the difference between the direction vectors of the pitch axis and the roll axis.
Illustratively, as shown in FIG. 2c, rst is the sensor coordinate system, labeled Es; xyz is a side bar coordinate system, marked with Ec, x is a pitch axis, and y is a roll axis; g is a gravity vector in a certain state. And g/Es is set as the coordinate of the gravity vector in the sensor coordinate system. g/Ec is the coordinate of the gravity vector in the side bar coordinate system. The coordinates x/Es of the pitching axis in the sensor coordinate system and the coordinates y/Es of the rolling axis in the sensor coordinate system can be obtained through calibration, and the coordinates z/Es of the yawing axis in the sensor coordinate system can be obtained through vector cross multiplication, wherein the following formula is as follows: z/Es (x/Es) x (y/Es).
If the pitch and roll axes are orthogonal, the transformation matrix between the sensor coordinate system and the coordinate system of the measuring bar can be expressed as
If the pitch axis and the roll axis are not orthogonal, it is necessary to orthogonalize the direction vector of the pitch axis, the direction vector of the roll axis, and the direction vector of the yaw axis. Assuming XYZ is the original coordinate directly obtained by calibration, and XYZ is a new coordinate system for orthogonalization, the orthogonalization method may include the following methods:
the first method is as follows: and determining the original pitch axis as a new pitch axis, wherein the calculation process is as follows:
the second method comprises the following steps: determining the original transverse rolling shaft as a new transverse rolling shaft, wherein the calculation process is as follows:
the third method comprises the following steps: determining the linear combination of the original pitch axis and the original roll axis as a new pitch axis, wherein the calculation process comprises the following steps:
wherein a and b are selected proportions, and a and b satisfy the following calculation formula:
wherein the content of the first and second substances,
is the included angle between the original pitching axis and the original rolling axis. The standard deviation formula of the sampling points when the original pitch axis and the original roll axis are calibrated is as follows
And calculating the optimal proportion of a and b which minimizes the standard deviation according to a least square method.
After the orthogonalization process, a transformation matrix is determined from the direction vector of the pitch axis, the direction vector of the roll axis, and the direction vector of the yaw axis after the orthogonalization process.
After obtaining the transformation matrix, the first gravity vector and the second gravity vector are respectivelyAnd performing dot multiplication on the inverse matrix of the transformation matrix to obtain a first transformation gravity vector and a second transformation gravity vector. As shown in the following formula: g/Ec ═ M '(g/Es)'0. Wherein, M'0Is the inverse of the change matrix.
A third transformed gravity vector is determined 130 from the first transformed gravity vector and the second transformed gravity vector.
The third transformation gravity vector may be a gravity vector corresponding to a turning point where the control measuring rod rotates around the pitch axis and then rotates around the roll axis in the movement process, or a gravity vector corresponding to a turning point where the control measuring rod rotates around the roll axis and then rotates around the pitch axis.
Illustratively, as shown in FIG. 3, the joystick is steered by p0Rotate to p1Can be decomposed into a rotation of an angle alpha to p around the x-axis2Point, rotated by an angle beta to p about the y-axis1And (4) point. Of course, the angle may be decomposed into angles beta to p 'around the y-axis'2Point, then rotated by an angle alpha to p about the x-axis1And (4) point.
Let p be0Has the coordinates of (x)0,y0,z0)，p1Has the coordinates of (x)1,y1,z1)，p2Has the coordinates of (x)2,y2,z2) Then p is2Each coordinate of (1) satisfies x2＝x0，y2＝y1，
Step 140, calculating a pitch angle according to the first transformation gravity vector, the third transformation gravity vector and a direction vector of a pitch axis in the measuring rod coordinate system; and calculating the roll angle according to the second transformation gravity vector, the third transformation gravity vector and the direction vector of the roll axis in the measuring rod coordinate system.
Specifically, the pitch angle is calculated according to the first transformation gravity vector, the third transformation gravity vector and the direction vector of the pitch axis in the measuring rod coordinate system, and the calculation is carried out according to the following formula:
wherein alpha isTo a pitch angle, p0As a first transformation of the gravity vector, p2As a third transformation gravity vector, i0Is the projection vector of the first transformed gravity vector to the pitch axis. And calculating a roll angle according to the second transformation gravity vector, the third transformation gravity vector and a direction vector of a roll axis in the measuring bar coordinate system, and calculating according to the following formula:
wherein beta is a roll angle, p1As a second transformation of the gravity vector, p2As a third transformed gravity vector, j2The projection vector of the gravity vector to the roll axis is transformed by the third transformation.
According to the technical scheme of the embodiment, a first gravity vector and a second gravity vector based on a sensor coordinate system before and after the movement of an airplane control measuring rod are firstly obtained, then a transformation matrix between the sensor coordinate system and the measuring rod coordinate system is obtained, a first transformation gravity vector and a second transformation gravity vector based on the measuring rod coordinate system are calculated according to the transformation matrix, the first gravity vector and the second gravity vector, a third transformation gravity vector is determined according to the first transformation gravity vector and the second transformation gravity vector, a pitch angle is calculated according to the first transformation gravity vector, the third transformation gravity vector and a direction vector of a pitch axis in the measuring rod coordinate system, and a roll angle is calculated according to the second transformation gravity vector, the third transformation gravity vector and a direction vector of a roll axis in the measuring rod coordinate system. The method for measuring the movement angle of the airplane control measuring rod provided by the embodiment of the invention can realize the measurement of the rotation angles of the pitching shaft and the rolling shaft of the control measuring rod, thereby improving the accuracy of the measurement of the movement angle of the airplane control measuring rod.
Example two
Fig. 4 is a schematic structural diagram of a device for measuring a movement angle of an aircraft control measuring stick according to a second embodiment of the present invention. As shown in fig. 4, the apparatus includes: a gravity vector obtaining module 410, a transformed gravity vector obtaining module 420, a third transformed gravity vector obtaining module 430 and a motion angle obtaining module 440.
The gravity vector acquisition module 410 is used for acquiring a first gravity vector and a second gravity vector based on a sensor coordinate system before and after the movement of the airplane control measuring rod;
a transformation gravity vector obtaining module 420, configured to obtain a transformation matrix between the sensor coordinate system and the measuring bar coordinate system, and calculate a first transformation gravity vector and a second transformation gravity vector based on the measuring bar coordinate system according to the transformation matrix and the first gravity vector and the second gravity vector;
a third transformed gravity vector obtaining module 430, configured to determine a third transformed gravity vector according to the first transformed gravity vector and the second transformed gravity vector;
the motion angle acquisition module 440 is configured to calculate a pitch angle according to the first transformed gravity vector, the third transformed gravity vector, and a direction vector of a pitch axis in the measurement bar coordinate system; and calculating the roll angle according to the second transformation gravity vector, the third transformation gravity vector and the direction vector of the roll axis in the measuring rod coordinate system.
Optionally, the transformed gravity vector obtaining module 420 is further configured to:
acquiring a direction vector of a pitching axis and a direction vector of a rolling axis of a control measuring rod based on a sensor coordinate system;
determining a direction vector of a yaw axis according to the direction vector of the pitch axis and the direction vector of the roll axis, and performing orthogonalization processing on the direction vector of the pitch axis, the direction vector of the roll axis and the direction vector of the yaw axis;
and determining a transformation matrix according to the direction vector of the pitch axis, the direction vector of the roll axis and the direction vector of the yaw axis after the orthogonalization processing.
Optionally, the transformed gravity vector obtaining module 420 is further configured to:
acquiring a plurality of gravity vectors of an airplane control measuring rod in the rotation process along a pitching axis;
performing difference multiplication calculation on any two of the gravity vectors according to the rotation sequence to obtain initial direction vectors of the plurality of pitching axes;
and calculating the average value of the initial direction vectors of the plurality of pitch axes, and determining the average value as the direction vector of the pitch axis.
Optionally, the transformed gravity vector obtaining module 420 is further configured to:
acquiring a plurality of gravity vectors of an airplane control measuring rod in the rotating process along a transverse rolling shaft;
calculating the difference product of any two of the gravity vectors according to the rotation sequence to obtain the initial direction vectors of the transverse rollers;
and calculating the average value of the initial direction vectors of the plurality of transverse shafts, and determining the average value as the direction vector of the transverse shaft.
Optionally, the transformed gravity vector obtaining module 420 is further configured to:
and respectively carrying out point multiplication on the first gravity vector and the second gravity vector by an inverse matrix of the transformation matrix to obtain a first transformation gravity vector and a second transformation gravity vector.
Optionally, the pitch angle is calculated according to the first transformation gravity vector, the third transformation gravity vector and the direction vector of the pitch axis in the coordinate system of the measuring bar, and the calculation is performed according to the following formula:
wherein α is the pitch angle, p0As a first transformation of the gravity vector, p2As a third transformation gravity vector, i0Is the projection vector of the first transformed gravity vector to the pitch axis.
Optionally, the roll angle is calculated according to the second transformed gravity vector, the third transformed gravity vector and the direction vector of the roll axis in the coordinate system of the measuring bar, and is calculated according to the following formula:
wherein beta is a roll angle, p1As a second transformation of the gravity vector, p2As a third transformed gravity vector, j2The projection vector of the gravity vector to the roll axis is transformed by the third transformation.
The device can execute the methods provided by all the embodiments of the invention, and has corresponding functional modules and beneficial effects for executing the methods. For details not described in detail in this embodiment, reference may be made to the methods provided in all the foregoing embodiments of the present invention.
EXAMPLE III
Fig. 5a is a schematic structural diagram of a measurement device for measuring a movement angle of an aircraft control measuring stick according to a third embodiment of the present invention, as shown in fig. 5a, including: a gyroscope 1 and a wearable wristband 2; the gyroscope 1 is connected with the wearable wrist 2;
the gyroscope 1 is used for detecting a gravity vector in the movement process of the airplane control measuring rod, and the wearable wrist strap 2 is used for fixing the gyroscope on the airplane control measuring rod.
Alternatively, the gyroscope 1 is provided integrally with the wearable band 2.
Fig. 5b is an installation diagram of the measuring device for measuring the movement angle of the airplane joystick according to the third embodiment of the present invention, as shown in fig. 5b, the high-precision gyroscope 1 can output three-axis acceleration, and the wearable wrist strap 2 is used for fixing the gyroscope at the periphery of the joystick. The measuring stick 3 is used for changing the direction of the airplane, and the measuring stick base 4 is used for supporting the measuring stick 3.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A method for measuring the motion angle of an airplane control measuring rod is characterized by comprising the following steps:
acquiring a first gravity vector and a second gravity vector based on a sensor coordinate system before and after the movement of an airplane control measuring rod;
acquiring a transformation matrix between a sensor coordinate system and a measuring rod coordinate system, and calculating a first transformation gravity vector and a second transformation gravity vector based on the measuring rod coordinate system according to the transformation matrix and the first gravity vector and the second gravity vector;
determining a third transformed gravity vector according to the first transformed gravity vector and the second transformed gravity vector;
calculating a pitch angle according to the first transformation gravity vector, the third transformation gravity vector and a direction vector of a pitch axis in a measuring rod coordinate system; and calculating a roll angle according to the second transformation gravity vector, the third transformation gravity vector and a direction vector of a roll axis in the measuring rod coordinate system.
2. The method of claim 1, wherein obtaining a transformation matrix between the sensor coordinate system and the spindle coordinate system comprises:
acquiring a direction vector of a pitching axis and a direction vector of a rolling axis of a control measuring rod based on a sensor coordinate system;
determining a direction vector of a yaw axis according to the direction vector of the pitch axis and the direction vector of the roll axis, and performing orthogonalization processing on the direction vector of the pitch axis, the direction vector of the roll axis and the direction vector of the yaw axis;
and determining a transformation matrix according to the direction vector of the pitch axis, the direction vector of the roll axis and the direction vector of the yaw axis after the orthogonalization processing.
3. The method of claim 2, wherein obtaining a directional vector of a pitch axis of the stick based on the sensor coordinate system comprises:
acquiring a plurality of gravity vectors of an airplane control measuring rod in the rotation process along a pitching axis;
performing difference multiplication calculation on any two of the gravity vectors according to the rotation sequence to obtain initial direction vectors of the plurality of pitching axes;
and calculating the average value of the initial direction vectors of the plurality of pitch axes, and determining the average value as the direction vector of the pitch axis.
4. The method of claim 2, wherein obtaining a direction vector of a roll axis of a joystick based on a sensor coordinate system comprises:
acquiring a plurality of gravity vectors of an airplane control measuring rod in the rotating process along a transverse rolling shaft;
calculating the difference product of any two of the gravity vectors according to the rotation sequence to obtain the initial direction vectors of the transverse rollers;
and calculating the average value of the initial direction vectors of the plurality of transverse shafts, and determining the average value as the direction vector of the transverse shaft.
5. The method of claim 1, wherein computing a first transformed gravity vector and a second transformed gravity vector based on a coordinate system of a measuring staff from the transformation matrix and the first gravity vector and the second gravity vector comprises:
and respectively carrying out point multiplication on the first gravity vector and the second gravity vector by an inverse matrix of the transformation matrix to obtain a first transformation gravity vector and a second transformation gravity vector.
6. The method of claim 1, wherein the pitch angle is calculated from the first transformed gravity vector, the third transformed gravity vector, and a direction vector of a pitch axis in a coordinate system of the measuring bar, according to the following formula:
wherein α is the pitch angle, p0As a first transformation of the gravity vector, p2As a third transformation gravity vector, i0Is the projection vector of the first transformed gravity vector to the pitch axis.
7. The method of claim 1, wherein the roll angle is calculated based on the second transformed gravity vector, the third transformed gravity vector, and a direction vector of a roll axis in the coordinate system of the measuring bar, as follows:
wherein beta is a roll angle, p1As a second transformation of the gravity vector, p2For the third transformation to be repeatedForce vector j2The projection vector of the gravity vector to the roll axis is transformed by the third transformation.
8. A measuring device for measuring the motion angle of an airplane control measuring rod is characterized by comprising:
the gravity vector acquisition module is used for acquiring a first gravity vector and a second gravity vector based on a sensor coordinate system before and after the movement of the airplane control measuring rod;
the transformation gravity vector acquisition module is used for acquiring a transformation matrix between a sensor coordinate system and a measuring rod coordinate system and calculating a first transformation gravity vector and a second transformation gravity vector based on the measuring rod coordinate system according to the transformation matrix and the first gravity vector and the second gravity vector;
the third transformation gravity vector acquisition module is used for determining a third transformation gravity vector according to the first transformation gravity vector and the second transformation gravity vector;
the motion angle acquisition module is used for calculating a pitch angle according to the first transformation gravity vector, the third transformation gravity vector and a direction vector of a pitch axis in a measuring rod coordinate system; and calculating a roll angle according to the second transformation gravity vector, the third transformation gravity vector and a direction vector of a roll axis in the measuring rod coordinate system.
9. An aircraft control measuring rod movement angle measuring device, comprising: a gyroscope and wearable wristband; the gyroscope is connected with the wearable wrist strap;
the gyroscope is used for detecting a gravity vector in the movement process of the airplane control measuring rod, and the wearable wrist strap is used for fixing the gyroscope on the airplane control measuring rod;
the measurement device is specifically configured to:
acquiring a first gravity vector and a second gravity vector based on a sensor coordinate system before and after the movement of an airplane control measuring rod;
acquiring a transformation matrix between a sensor coordinate system and a measuring rod coordinate system, and calculating a first transformation gravity vector and a second transformation gravity vector based on the measuring rod coordinate system according to the transformation matrix and the first gravity vector and the second gravity vector;
determining a third transformed gravity vector according to the first transformed gravity vector and the second transformed gravity vector;
calculating a pitch angle according to the first transformation gravity vector, the third transformation gravity vector and a direction vector of a pitch axis in a measuring rod coordinate system; and calculating a roll angle according to the second transformation gravity vector, the third transformation gravity vector and a direction vector of a roll axis in the measuring rod coordinate system.
10. The device of claim 9, wherein the gyroscope is integral with the wearable wristband.
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| CN208125120U (en) * | 2018-02-26 | 2018-11-20 | 中国商用飞机有限责任公司 | A kind of side lever angle displacement measuring device |
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| CN206818408U (en) * | 2017-06-20 | 2017-12-29 | 肇庆市广应科通用航空研究院 | The experimental rig of spring mechanism in aircraft control stick |
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| US4474047A (en) * | 1982-03-05 | 1984-10-02 | Texas Instruments Incorporated | Method and apparatus for inherent rotary joint calibration |
| CN108478222A (en) * | 2017-12-21 | 2018-09-04 | 北京精密机电控制设备研究所 | A kind of joint angle error compensation experimental provision and method based on neural network |
| CN208125120U (en) * | 2018-02-26 | 2018-11-20 | 中国商用飞机有限责任公司 | A kind of side lever angle displacement measuring device |
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