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在飞机的大部件对接中,为了达到较高的对接精度,需要准确地分析大部件的位姿,因此大部件位姿计算方法是首先需要解决的问题。本文简要介绍了奇异值分解法、三点法、最小二乘法计算位姿,并以三点法计算的结果作为最小二乘法的初值。比较了3种方法在点无误差和有误差时的部件拟合误差,分析了测量点的个数对部件拟合误差的影响,讨论了误差对部件拟合误差的影响。通过对比发现,在选取了较好初值的情况下,最小二乘法的部件拟合误差较小,同时收敛性得到保证,计算速度也较快。
In the docking of large parts of aircraft, in order to achieve higher butt joint precision, the pose of large components needs to be analyzed accurately. Therefore, the calculation method of large component pose is the first problem to be solved. This article briefly introduced the singular value decomposition method, the three-point method, the least squares method to calculate the pose, and the result of the three-point method was used as the initial value of the least square method. The fitting errors of the three methods when there is no error and error are compared. The influence of the number of measuring points on the fitting error of the part is analyzed. The influence of the error on the fitting error of the part is discussed. The comparison shows that the least squares method has a small fitting error when the initial value is good, and the convergence is guaranteed at the same time.