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

被引:7
作者
Zha, Qing Shan [1 ]
Zhu, Yong Guo [1 ]
Zhang, Wen Bo [1 ]
机构
[1] Nanchang Hangkong Univ, Dept Aeronaut & Mfg Engn, Nanchang 330063, Jiangxi, Peoples R China
基金
中国国家自然科学基金;
关键词
Wing; fuselage; assembly; data fusion;
D O I
10.1080/02533839.2021.1978324
中图分类号
T [工业技术];
学科分类号
08 ;
摘要
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.
引用
收藏
页码:792 / 802
页数:11
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