Omnidirectional angle constraint based dynamic six-degree-of-freedom measurement for spacecraft rendezvous and docking simulation

Shi, Shendong; Yang, Linghui; Lin, Jiarui; Ren, Yongjie; Guo, Shilin; Zhu, Jigui

doi:10.1088/1361-6501/aaa215

Cited by 15 publications

(4 citation statements)

References 18 publications

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“…Therefore, measurement systems usually use a combination of multiple sensors to adapt to different distances and different needs to achieve functional redundancy. The performance comparison of the proximity sensors of several common rendezvous and docking measurement systems is listed in Table 1 (Grishin, 2019; Shi et al, 2018).…”

Section: Related Workmentioning

confidence: 99%

An automatic alignment method for discharge arm of mobile crushing station based on binocular vision and fuzzy control

Guan

Wang

Chen

et al. 2022

Transactions of the Institute of Measurement and Control

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The mobile crushing station is one of the main equipment of the semi-continuous open-pit mining system. The discharge arm and the receiving equipment are manually aligned, which has the problems of long alignment time and low alignment accuracy, which affects the working efficiency of the mining system. According to the development and application of space rendezvous and docking technology at home and abroad, the advantages and disadvantages of different measurement methods are compared and analysed, and the method of applying binocular measurement technology to system positioning in the automatic alignment system of the discharge arm is determined. There are three movements in the mechanical part of the designed discharge arm alignment control system, including the rotary motion of the visual measurement mechanism and the horizontal rotation and telescopic motion of the discharge arm. According to the kinematic analysis and binocular vision measurement theory, the deviation model of the alignment control of the discharge arm is established. A binocular vision measurement and localization method based on the combination of stereo calibration and template matching is proposed, which achieves surprising measurement accuracy. An automatic alignment method of the discharge arm of the mobile crushing station is proposed based on the binocular vision and fuzzy control method. Its validity is verified by simulation and experiment. The strategy of motion decomposition is applied to the alignment system to avoid unnecessary motion of the discharge arm. The research results all show that the alignment method can achieve the angle deviation within ±0.5 degrees, the distance deviation within ±15 mm, and the test alignment time is about 5 minutes, which is better than other alignment control models; the alignment accuracy and the alignment time are improved by more than 50%. The method can control the discharge arm to complete the alignment task quickly and smoothly, which lays a foundation for the further automatic research of the discharge arm.

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Section: Related Workmentioning

confidence: 99%

An automatic alignment method for discharge arm of mobile crushing station based on binocular vision and fuzzy control

Guan

Wang

Chen

et al. 2022

Transactions of the Institute of Measurement and Control

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“…To measure the 6-DOF information simultaneously, the multiple laser trackers [11] or an extra device that designed to work with a laser tracker should be employed [12]. Sun developed a triple-laser trackers measurement system for large-scale parts assembly [13]; however, its cost is expensive.…”

Section: Laser Trackermentioning

confidence: 99%

Space-to-plane decoupling method for six-degree-of-freedom motion measurements

Zhang¹,

Cai²,

Liu³

et al. 2021

Meas. Sci. Technol.

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The advantages of the Stewart platform in bearing capacity, dynamic response, structural rigidity, and stability make it widely used in many fields, such as motion simulators, parallel machine tools, assembly docking. In order to ensure that the spatial positioning accuracy of the Stewart platform to meet the application requirements in various fields, it is necessary to measure its pose in real time. However, the six degrees of freedom are highly coupled, it is difficult to obtain reliable six-degree-of-freedom information through mathematical decoupling. In this study, a machine vision measurement method based on physical decoupling is proposed. The spatial motion measurement of the Stewart platform is mapped to the plane motion measurement by three feature points through the laser pointer and the rear-projection screen. It realizes the dimension reduction equivalently, and simplifies the mathematical model. A lot of experimental analyses show that the proposed method can reliably achieve high-precision real-time measurement of six-degree-of-freedom, which has the accuracy of 0.21 mm (displacement) and 0.045° (rotation) at frequency between 0.1 and 1 Hz. In addition, the space-to-plane decoupling method provides a new way to implement the traceability of the six-degree-of-freedom spatial motion measurement.

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“…The singletasking characteristic of above systems determines the measurement mode which is from a part to the whole and inevitably results in low efficiency and accumulated errors. Therefore, a type of representative distributed metrology system [4], known as indoor GPS (iGPS) [5] and workshop Measurement Positioning System (wMPS) [6], has developed rapidly as a rotary-laser automatic theodolite based on multistation intersecting measurements. This system can handle increasing tasks and working area expansions much more effectively.…”

Section: Introductionmentioning

confidence: 99%

Modeling and Optimization of Rotary Laser Surface for Large-Scale Optoelectronic Measurement System

Lin

Sun

Yang

et al. 2021

IEEE Trans. Instrum. Meas.

Self Cite

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A rotary laser optoelectronic measurement system is used as part of a multistation network for large-scale metrology. The line-structured laser surface of the transmitter is regarded as an ideal plane for the intersecting measurement. This paper presents how the rotary laser surface model can be optimized for large-scale optoelectronic measurement systems. Initially, the deformation of the laser surface caused by the assembly error in a cylindrical lens is analyzed by Zemax simulation and studied by a visual evaluation method based on a high-precision tri-axis rotary table. Based on the analysis result, the folded linear surface model and the quadric surface model are applied to re-establish the laser surface model respectively to reduce the shape error. A highprecision 3D coordinate field is designed to acquire an accurate surface parametric model and validate the fitness of the new models. The experimental results based on workshop Measurement Positioning System (wMPS) show that both optimization models are conducive to improving the fitting accuracy of laser surfaces, and the quadric surface model fits better when the surface shape is closer to the commonest twofolded linear model. At last, optimizing the laser surface model plays an important role in improving the system measurement accuracy.

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Omnidirectional angle constraint based dynamic six-degree-of-freedom measurement for spacecraft rendezvous and docking simulation

Cited by 15 publications

References 18 publications

An automatic alignment method for discharge arm of mobile crushing station based on binocular vision and fuzzy control

An automatic alignment method for discharge arm of mobile crushing station based on binocular vision and fuzzy control

Space-to-plane decoupling method for six-degree-of-freedom motion measurements

Modeling and Optimization of Rotary Laser Surface for Large-Scale Optoelectronic Measurement System

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