CN102393213A - Space-based detecting and tracking imaging system testing device and testing method - Google Patents
Space-based detecting and tracking imaging system testing device and testing method Download PDFInfo
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Abstract
The invention provides a space-based detecting and tracking imaging system testing device and a testing method. The testing device comprises an air-floating platform (1), a high-precision movable target (4), a collimator loaded on the high-precision movable target for providing an infinite-far shooting object, and an angular velocity measuring device mounted on the air-floating platform (1); the space-based detecting and tracking imaging system as a system to be tested (5) is coaxially and fixedly mounted on a rotating platform of the air-floating platform (1), and a triaxial intersection point of the system to be tested is a vertex of a rotating light cone of the high-precision movable target (4); the rotating platform is attached to a pull wire along a tangential direction, and hangs a weight (2) by being winded with a fixed pulley, and tangential force is applied to the rotating platform by the dead weight of the weight. The invention realizes the testing of a plurality of important performance indexes of the space-based detecting and tracking imaging system, and thus further adjustment and optimization, guarantees product quality, and ensures the quality of the space-based detecting and tracking imaging system and the normal operation on rails.
Description
Technical field
The invention belongs to the extraterrestrial target detection and follow the tracks of imaging technique, be specifically related to extraterrestrial target is surveyed and followed the tracks of the measuring method and the proving installation of the performance parameter of this kind equipment of imaging.
Background technology
The function of space-based (spaceborne) Detection And Tracking imaging system is that imaging is accurately surveyed and followed the tracks of to important extraterrestrial target, the important goal characteristics such as task, size, shape and orbit parameter of the extraterrestrial target of confirming to constitute a threat to aerospace system (comprising: satellite and space junk); The target property data are sorted out and distributed.Development space-based Detection And Tracking imaging system helps improving China to extraterrestrial target supervision, tracking and recognition capability, enhancing real-time perception ability and the space attacking and defending antagonism to the space situation of battlefield.In addition, development space-based Detection And Tracking imaging system also helps the development and the renewal of China's space launching site, promptly helps the upgrading of target range from the ground target range to the space-based target range.Compare with the ground monitoring and measuring, space-based Detection And Tracking imaging system has following advantage: (1) does not receive geographic restriction, and coverage is big, realizes watch-keeping, tracking and accurate pattern measurement to target easily; (2) do not receive the restriction of meteorological condition, Effect on Detecting is good; (3) it is strong to make the wartime viability, can realize full directive, the emission of multiple road and global mobility emission; (4) the space launch turnaround time can be shortened greatly.
The platform that so-called space-based refers to equipment work is the satellite platform in rail work.And space-based Detection And Tracking imaging system is exactly to be the Detection And Tracking imaging system of workbench in rail work with the satellite.The Detection And Tracking imaging system generally is made up of two-dimensional tracking turntable, optical detection camera and optical imagery camera.The two-dimensional tracking turntable is the follower of this system, and its major function is to carry to survey camera and imaging camera, and the implementation space two dimension is rotated.According to outer guidance information and survey the real-time miss distance information that camera provides and can carry out Continuous Tracking to highest priority, imaging camera and other module related measurement devices can be accomplished imaging and target signature measurement to target in tracing process.
Space-based Detection And Tracking imaging system is the complication system with big movable part that carries on satellite platform.At first, the singularity of working environment: satellite is under the space microgravity environment, and satellite does not receive external force effect (ignoring atmospherical drag) basically, and system externally is an independently system, system's momentum conservation.The variation of the motion of any one parts and motion state all can bring disturbance to satellite platform on the satellite; Promptly satellite platform there is moment output; If this moment will influence the control of the attitude of satellite than length than big or duration; Will influence the operate as normal of satellite than consistent greatly in adjusting that has surpassed satellite attitude control system and control ability in this influence especially, this phenomenon is very fearful.
Therefore, normally move, need in testing laboratory, carry out system performance testing it in order to ensure space-based Detection And Tracking imaging system quality with at rail.Thereby carry out meticulous adjustment and optimization, guarantee the quality of product.
Summary of the invention
The present invention provides a kind of space-based Detection And Tracking imaging system proving installation and method of testing, to guarantee space-based Detection And Tracking imaging system quality and normally to move at rail.
The present invention is based on following theoretical analysis and form technical scheme:
At first, the mechanics output to satellite platform in the time of need working to space-based Detection And Tracking imaging system is accurately measured and is controlled.The mechanical function characteristic of system and satellite platform can be described with output torque and output angle momentum.Output torque is the temporal effect of system to the output of satellite platform mechanics, and the output angle momentum is the cumulative effect of system to the output of satellite platform mechanics.Output torque and output angle momentum can be changed through differential and integral relation each other.
Secondly; Space-based Detection And Tracking imaging system is carried on satellite platform; And satellite platform not only will receive space environment moments such as gravity gradient torque, solar radiation moment, aerodynamic moment, geomagnetic torque in the process in orbit, also receives the output torque of movable part on the star.The space environment torque ratio is less and change mild; Within the range of adjustment of satellite attitude control system; Though can bring disturbance to the attitude of satellite, can not threaten, and the output torque of rotatable parts be great changes on the star to the satellite operate as normal; Instantaneous being difficult to of satellite attitude control system remedies, and therefore can affect greatly the attitude of satellite.In a word, the workbench of space-based Detection And Tracking imaging system moves, and this increases difficulty can for the work of system, can influence tracking accuracy, tracking smoothness and the image quality of system specifically.
Provide the definition of system core index below.
(1) output torque: space-based Detection And Tracking imaging system is in the course of the work to the opplied moment of satellite platform.Specifically comprise: start output torque and steadily follow the tracks of output torque.
(2) output angle momentum: space-based Detection And Tracking imaging system is in the course of the work to the output angle momentum of satellite platform.It is an output torque integrating effect in time.
(3) dynamic tracking precision: can there be moment output in system to satellite platform in the course of the work, thereby the attitude of satellite platform is among the dynamic change, is equivalent to work the tracking accuracy of system under this environment on the pedestal that system is seated in a motion.
(4) dynamic tracking degree of stability: following the tracks of degree of stability is the rate of change of tracking accuracy, and the dynamic tracking smoothness is exactly the rate of change of dynamic tracking precision in the system work process.It can influence the sharpness of imaging.
(5) dynamic imaging quality: because target is relative and system moves, can there be image drift in the picture of target on the camera image planes, and this image drift meeting influences the sharpness of imaging, promptly influences the image quality of camera.The dynamic imaging quality is the image quality of system in the dynamic tracking process.
Technical scheme of the present invention is following:
The proving installation of space-based Detection And Tracking imaging system comprises air floating table (1), high precision moving-target mark (4), is equipped on the high precision moving-target and puts in order to parallel light tube that the infinite distance photographic subjects is provided and be installed on the angular velocity measurement device on the air floating table (1); Space-based Detection And Tracking imaging system is as on the coaxial Table top able to be rotated that is fixedly installed in air floating table (1) of system under test (SUT) (5), and three intersection points of system under test (SUT) are high precision moving-target mark (4) rotation light cone summit; Rotatable platform utilizes the counterweight deadweight that rotatable platform is applied tangential force along its tangential direction bolt draught line and through solderless wrapped connection fixed pulley suspension counterweight (2).
Above-mentioned parallel light tube can be made up of point target parallel light tube (6) and appearance mark parallel light tube (7), and the detection camera that is respectively system under test (SUT) provides the infinite distance target with the imaging camera.
Above-mentioned angular velocity measurement device preferably adopts fibre optic gyroscope (3), is installed on the Table top able to be rotated of air floating table (1), and the fibre optic gyroscope input shaft is coaxial parallel with the air floating table revolving shaft.
A kind ofly use the method that above-mentioned proving installation is tested space-based Detection And Tracking imaging system, comprise the test of three parts: (1) output torque and angular momentum test, (2) dynamic tracking precision and dynamic tracking smoothness are tested, (3) dynamic imaging quality test;
Wherein, the test of (1) output torque and angular momentum may further comprise the steps:
(1.1) system under test (SUT) is mounted on the rotatable platform of air floating table, and adjustment makes it coaxial with the air floating table revolving shaft;
(1.2) rotatable platform with air floating table floats, and leveling makes rotatable platform parallel with surface level;
(1.3) be that the counterweight of m is connected with rotatable platform through fixed pulley with quality, tie point and air floating table revolving shaft utilize counterweight to conduct oneself with dignity and apply tangential force T apart from I, make the rotatable platform rotation;
(1.4) be fixed on the initial angular velocity omegae that rotatable platform that the fibre optic gyroscope on the rotatable platform records rotates, and calculate angular acceleration;
(1.5) total moment of inertia J of calculating rotatable platform and equipment under test;
(1.6) drive the moving-target mark by the running parameter of setting and rotate, space-based Detection And Tracking imaging system is followed the tracks of moving-target mark, the rotatable platform rotational angular ω ' that fibre optic gyroscope records;
Output torque when (1.7) calculating the work of space-based Detection And Tracking imaging system;
Output angle momentum when (1.8) calculating the work of space-based Detection And Tracking imaging system;
(2) test of dynamic tracking precision and dynamic tracking smoothness may further comprise the steps:
(2.1) system under test (SUT) is mounted on the rotatable platform of air floating table, and adjustment makes it coaxial with the air floating table revolving shaft;
(2.2) rotatable platform with air floating table floats, and leveling makes rotatable platform parallel with surface level;
(2.3) drive the moving-target mark by the running parameter of setting and rotate, space-based Detection And Tracking imaging system is followed the tracks of the moving-target mark;
(2.4) extract the camera miss distance and can calculate dynamic tracking precision and dynamic tracking degree of stability;
(3) the dynamic imaging quality test may further comprise the steps:
(3.1) system under test (SUT) is mounted on the rotatable platform of air floating table, and adjustment makes it coaxial with the air floating table revolving shaft;
(3.2) rotatable platform with air floating table floats, and leveling makes rotatable platform parallel with surface level;
(3.3) installation targets plate on moving-target target focal surface of collimator tube drives the moving-target mark by the running parameter of setting and rotates, and space-based Detection And Tracking imaging system is followed the tracks of the moving-target mark and formed images;
(3.4) image is carried out the dynamic imaging quality that equipment under test is also confirmed in interpretation.
The present invention has realized the test to performance index such as space-based Detection And Tracking imaging system output torque, output angle momentum, dynamic tracking precision, dynamic tracking degree of stability, dynamic imaging quality; Thereby further adjust and optimize; Guarantee the quality of product, guarantee space-based Detection And Tracking imaging system quality and normally move at rail.
Description of drawings
Fig. 1 is the structural representation sketch of proving installation of the present invention.
Fig. 2 is the reference diagram in kind of proving installation of the present invention.
The drawing reference numeral explanation:
The 1-air floating table; 2-high precision counterweight; The 3-fibre optic gyroscope; 4-high precision moving-target mark; 5-space-based Detection And Tracking imaging system (system under test (SUT)); 6-point target parallel light tube; 7-appearance mark parallel light tube.
Embodiment
The present invention has mainly explained performance parameter measuring method and the proving installation of extraterrestrial target being surveyed and followed the tracks of this kind equipment of imaging.Because this equipment work is on satellite platform; Therefore for accurately measure or assessment apparatus just must under laboratory condition, simulate the working environment of this equipment in the rail serviceability; And it is carried out performance measurement and evaluation, whether satisfy design and mission requirements to verify it.
Consider that space environment and satellite platform attitude change space-based Detection And Tracking imaging system Effect on Performance, for providing the accurate as far as possible and reliable test result of system performance, the present invention has designed environment and the test macro of simulation system in rail work.Whole test system mainly contains following a few part and forms: compositions such as air floating platform, high precision counterweight, fibre optic gyroscope, high precision moving-target mark.Specifically as shown in Figure 1.
High precision moving-target mark can be realized the rotation of pinpoint accuracy, high stability; Motion state can be through programmed control; Be equipped with point target parallel light tube and appearance mark parallel light tube on it, the detection camera that is respectively system under test (SUT) provides the infinite distance target with the imaging camera.System under test (SUT) is installed on the air floating platform; Adjustment system under test (SUT) position makes itself and air floating table coaxial; Can reduce of the influence of the moment of friction of air floating table like this to test result; Also should make three intersection points of system under test (SUT) be adjusted into high precision moving-target mark rotation light cone summit, can obtain the tracking measurement scope of maximum magnitude like this.The high precision counterweight (only uses when measuring output torque, output angle momentum; Do not need the high precision counterweight when measuring dynamic tracking precision, dynamic tracking degree of stability, dynamic imaging quality) be suspended on the air floating table edge through a fixed pulley, air floating table is applied a constant moment.Fibre optic gyroscope is installed on the air floating table Table top able to be rotated, makes fibre optic gyroscope input shaft and air floating table rotating shaft parallel, the angular velocity of measurement of gas floating platform rotation.
(1) air floating table: air floating table have the little characteristics of moment of friction (can reach＜10
-4N.m), ignore the influence of air floating table moment of friction, system's conservation of angular momentum on the air floating table rotational freedom that rotatable platform and equipment under test are formed.The function of air floating table be under laboratory condition simulation system at the satellite platform of the attitude dynamic change at rail work place.
(2) high precision counterweight: its major function provides accurate input torque.It and fibre optic gyroscope can be realized the measurement of equipment under test and the total moment of inertia of air supporting table top together.This moment of inertia is output torque and the necessary physical quantity of output angle momentum survey.
(3) fibre optic gyroscope: it is the angular-rate sensor of a precision, is used for measuring system when work owing to air floating table moment exported the rotational angular velocity of caused air floating table.
(4) high precision moving-target mark: moving-target is put on two or more parallel light tubes is installed, and intends the infinite distance target through installation targets template die on the focal plane of parallel light tube, and different Target Boards can be simulated different target shapes and character of surface.The moving-target mark can be realized two degree of freedom high-precision and stable rotations, and can accurately control its motion state through program, can simulate the target of different motion speed, acceleration and movement locus.Therefore, mainly to act on be simulation different motion form space infinite distance target to the moving-target target.Obtain and the similar testing environment in outfield indoor, to realize in the laboratory systematic tracking accuracy, to follow the tracks of the detection of degree of stability and dynamic imaging quality.
Test philosophy of the present invention:
(1) output torque and angular momentum test
Under the air floating table inflated condition, moment of friction is very little.When ignoring air floating table friction force, the suffered moment of face of air floating table Table top able to be rotated is zero, the system angle momentum conservation that air floating table rotary table top and table top load (mainly containing: equipment under test, other measuring equipment etc.) are formed.Therefore, air floating platform can the virtual space satellite platform as a momentum conservation system.If the air floating table rotating shaft is the z axle, then have:
J in the formula
Z, K, ω
Z, KK the rotating unit that is respectively tested rotatable parts is around the moment of inertia of z axle and the rotating speed component along the z axle, J
D, ω
DBe respectively total moment of inertia and the angular velocity of system's stator (comprising: air floating table Table top able to be rotated and the static table top load of table top relatively), H around the z axle
0Be the initial angular momentum of system component along the z axle.If system's initial angular momentum is zero, then formula (1) is reduced to
Test is concerned about when being rotatable parts work to the size of its installed surface output angle momentum, is not the size of himself angular momentum.Therefore, arrangement can get to formula (2): tested rotatable parts output angle momentum H
OutFor
Be not difficult to find out ω
Z, K-ω
DBe the rotational angular velocity of K the relative installed surface of rotating unit (being the air floating table table top),
Be the total angular momentums of tested rotatable parts to its installed surface output,
Be total moment of inertia of system,
Be the disturbance of rotatable parts mechanics output, it is carried out differential, can obtain the size and the situation of change of rotatable parts output torque system.It is right to utilize air floating platform to realize
And ω
DDirect measurement, thereby obtain the size of rotatable parts output angle momentum.
Output torque is the time differential of output angle momentum, therefore, the output angle momentum differential that measures is got final product.
(2) dynamic tracking precision and dynamic tracking smoothness test
Air floating table is floated, and analog machine is at the satellite platform of rail work.According to the characteristic of extraterrestrial target and relative position relation, the relative motion turntable of target and satellite; Make corresponding Target Board; And the performance index setting moving-target target running parameter of combination system under test (SUT), make its movement velocity, acceleration and movement locus consistent with the relevant parameter of extraterrestrial target.By the driving parameter moving-target mark motion that configures, the infinite distance moving target of simulation airflight, equipment under test are followed the tracks of the moving-target mark, extract the camera miss distance and can calculate dynamic tracking precision and dynamic tracking degree of stability.
(3) dynamic imaging quality test
Air floating table is floated, and analog machine is at the satellite platform of rail work.According to the characteristic of extraterrestrial target and relative position relation, the relative motion turntable of target and satellite; Make corresponding Target Board; And the performance index setting moving-target target running parameter of combination system under test (SUT), make its movement velocity, acceleration and movement locus consistent with the relevant parameter of extraterrestrial target.By the driving parameter moving-target mark motion that configures; Moving-target is marked the focal surface of collimator tube place place resolution chart or channel(l)ed plate; The infinite distance moving target of simulation airflight; Equipment under test is followed the tracks of the moving-target mark, and the skimulated motion target that the moving-target mark is provided is carried out to picture, and image is carried out interpretation and confirms the dynamic imaging quality of equipment under test.
The present invention is following to the concrete testing procedure of each index of system under test (SUT):
(1) output torque and angular momentum test
(1.1) system under test (SUT) is fixedly secured on the air floating table Table top able to be rotated, and adjustment makes it coaxial with the air floating table revolving shaft;
(1.2) air floating platform is floated, and adjustment leveling link, make the air floating table table top parallel with surface level;
(1.3) be that the counterweight of m is connected with the air floating platform rotating part through pulley with quality, tie point and platform rotating shaft utilize counterweight to conduct oneself with dignity and apply tangential force T apart from I, make the air floating platform rotation;
(1.4) be fixed on the air floating table rotational angular (ω) that the rate gyro on the air floating table table top records, and calculate angular acceleration (α);
(1.5) total moment of inertia (J) of calculating air floating table Table top able to be rotated and equipment under test;
(1.6) drive the moving-target mark by the running parameter of setting and rotate, space-based Detection And Tracking imaging system is followed the tracks of the moving-target mark, the angular velocity (ω ') of the air floating platform motion that rate gyro records;
Output torque when (1.7) calculating the work of space-based Detection And Tracking imaging system;
Output angle momentum when (1.8) calculating the work of space-based Detection And Tracking imaging system.
(2) dynamic tracking precision and dynamic tracking smoothness test
(2.1) system under test (SUT) is fixedly secured on the air floating table Table top able to be rotated, and adjustment makes it coaxial with the air floating table revolving shaft;
(2.2) air floating platform is floated, and adjustment leveling link, make the air floating table table top parallel with surface level;
(2.3) drive the moving-target mark by the running parameter of setting and rotate, space-based Detection And Tracking imaging system is followed the tracks of the moving-target mark;
(2.4) extract the camera miss distance and can calculate dynamic tracking precision and dynamic tracking degree of stability.
(3) dynamic imaging quality test
(3.1) system under test (SUT) is fixedly secured on the air floating table Table top able to be rotated, and adjustment makes it coaxial with the air floating table revolving shaft;
(3.2) air floating platform is floated, and adjustment leveling link, make the air floating table table top parallel with surface level;
(3.3) suitable Target Board is installed on moving-target target focal surface of collimator tube, is driven the moving-target mark by the running parameter of setting and rotate, space-based Detection And Tracking imaging system is followed the tracks of the moving-target mark and is formed images;
(3.4) image is carried out the dynamic imaging quality that equipment under test is also confirmed in interpretation.
Claims (4)
1. the proving installation of space-based Detection And Tracking imaging system comprises air floating table (1), high precision moving-target mark (4), is equipped on the high precision moving-target and puts in order to parallel light tube that the infinite distance photographic subjects is provided and be installed on the angular velocity measurement device on the air floating table (1); Space-based Detection And Tracking imaging system is as on the coaxial Table top able to be rotated that is fixedly installed in air floating table (1) of system under test (SUT) (5), and three intersection points of system under test (SUT) are high precision moving-target mark (4) rotation light cone summit; Rotatable platform utilizes the counterweight deadweight that rotatable platform is applied tangential force along its tangential direction bolt draught line and through solderless wrapped connection fixed pulley suspension counterweight (2).
2. the proving installation of space-based Detection And Tracking imaging system according to claim 1; It is characterized in that: said parallel light tube is made up of point target parallel light tube (6) and appearance mark parallel light tube (7), and the detection camera that is respectively system under test (SUT) provides the infinite distance target with the imaging camera.
3. the proving installation of space-based Detection And Tracking imaging system according to claim 1; It is characterized in that: said angular velocity measurement device adopts fibre optic gyroscope (3); Be installed on the Table top able to be rotated of air floating table (1), the fibre optic gyroscope input shaft is coaxial parallel with the air floating table revolving shaft.
4. use the method that proving installation is according to claim 1 tested space-based Detection And Tracking imaging system for one kind, comprise the test of three parts: (1) output torque and angular momentum test, (2) dynamic tracking precision and dynamic tracking smoothness are tested, (3) dynamic imaging quality test;
Wherein, the test of (1) output torque and angular momentum may further comprise the steps:
(1.1) system under test (SUT) is mounted on the rotatable platform of air floating table, and adjustment makes it coaxial with the air floating table revolving shaft;
(1.2) rotatable platform with air floating table floats, and leveling makes rotatable platform parallel with surface level;
(1.3) be that the counterweight of m is connected with rotatable platform through fixed pulley with quality, tie point and air floating table revolving shaft utilize counterweight to conduct oneself with dignity and apply tangential force T apart from I, make the rotatable platform rotation;
(1.4) be fixed on the initial angular velocity omegae that rotatable platform that the fibre optic gyroscope on the rotatable platform records rotates, and calculate angular acceleration;
(1.5) total moment of inertia J of calculating rotatable platform and equipment under test;
(1.6) drive the moving-target mark by the running parameter of setting and rotate, space-based Detection And Tracking imaging system is followed the tracks of moving-target mark, the rotatable platform rotational angular ω ' that fibre optic gyroscope records;
Output torque when (1.7) calculating the work of space-based Detection And Tracking imaging system;
Output angle momentum when (1.8) calculating the work of space-based Detection And Tracking imaging system;
(2) test of dynamic tracking precision and dynamic tracking smoothness may further comprise the steps:
(2.1) system under test (SUT) is mounted on the rotatable platform of air floating table, and adjustment makes it coaxial with the air floating table revolving shaft;
(2.2) rotatable platform with air floating table floats, and leveling makes rotatable platform parallel with surface level;
(2.3) drive the moving-target mark by the running parameter of setting and rotate, space-based Detection And Tracking imaging system is followed the tracks of the moving-target mark;
(2.4) extract the camera miss distance and can calculate dynamic tracking precision and dynamic tracking degree of stability;
(3) the dynamic imaging quality test may further comprise the steps:
(3.1) system under test (SUT) is mounted on the rotatable platform of air floating table, and adjustment makes it coaxial with the air floating table revolving shaft;
(3.2) rotatable platform with air floating table floats, and leveling makes rotatable platform parallel with surface level;
(3.3) installation targets plate on moving-target target focal surface of collimator tube drives the moving-target mark by the running parameter of setting and rotates, and space-based Detection And Tracking imaging system is followed the tracks of the moving-target mark and formed images;
(3.4) image is carried out the dynamic imaging quality that equipment under test is also confirmed in interpretation.
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