Visual and automatic wing-fuselage docking based on data fusion of heterogeneous measuring equipments

In the present study, to achieve monitoring of the process of wing-fuselage docking, and a high-quality assembly, a visual and automatic wing-fuselage docking method is proposed based on heterogeneous equipment data-fusion of laser trackers and industrial cameras. First, a visual and automatic wing-fuselage automatic-docking system is proposed, which uses laser trackers, industrial cameras, a pose-adjustment mechanism and other equipment. Second, mathematical modeling of the wing-fuselage docking system is built, including the state equation of the wing-pose adjustment for wing-fuselage docking, the observation equation of the laser tracker, and the observation equation of the industrial camera. Third, a data-fusion model of heterogeneous equipment based on the weighted least-squares method is deduced. Finally, to track and estimate the control points of the wing-pose adjustment, the functional model of the wing-fuselage docking system after data fusion is used in combination with the evolutionary particle-filter algorithm.