A digital Twin-based bi-directional deduction method for the full-pose of the Floating connection mechanism

Abstract

Full-pose monitoring of the Floating Connection Mechanism (FCM) still exists blind zone, unreliable sensing data, etc., this paper proposes a digital twin bi-directional deduction method for the pose of starting/end point of the FCM. Firstly, considering the pose of the connection equipment, an optimization of the motion law of the FCM based on Conformal Geometry Algebra (CGA) is realized; secondly, the virtual application of optimization motion laws of the FCM is achieved by marking key points and extracting key information; then, referring to the information enhancement scheme obtained by adding digital twin infrared range sensors and a bi-directional deduction method is proposed for the full-pose of the FCM; finally, the experimental validation shows that the motion law of the FCM proposed in this paper is in line with the actual motion and generates better analytical results, the pose deduction accuracy is over 87%, providing new ideas for equipment pose monitoring.