CN105953803B - Digital sun sensor measuring coordinate system and prism coordinate system bias measurement method - Google Patents
Digital sun sensor measuring coordinate system and prism coordinate system bias measurement method Download PDFInfo
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- CN105953803B CN105953803B CN201610259691.6A CN201610259691A CN105953803B CN 105953803 B CN105953803 B CN 105953803B CN 201610259691 A CN201610259691 A CN 201610259691A CN 105953803 B CN105953803 B CN 105953803B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/24—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for cosmonautical navigation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C1/00—Measuring angles
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Abstract
A kind of digital sun sensor measuring coordinate system and prism coordinate system bias measurement method, digital sun sensor is installed on high-precision three-axle table, digital sun sensor is irradiated using solar simulator simulated solar ray vectors, deviation using the prism coordinate system Z axis of a transit survey digital sun sensor relative to measuring coordinate system Z axis, deviation using the prism coordinate system X-axis of two transit survey digital sun sensors relative to measuring coordinate system X-axis simultaneously, and deviation of the prism coordinate system Y-axis of digital sun sensor relative to measuring coordinate system Y-axis.The present invention is by way of light measurement, the measuring coordinate system of detector optical filter is associated with prism coordinate system, coordinate system relationship is completed on ground to measure, whole star dress star use can directly be provided by measuring the deviation between coordinate system, and Attitude and orbit control system is supplied to directly to carry out inflight measurement coordinate system amendment, reliability is high, with a high credibility, exploitativeness is high.
Description
Technical field
The present invention relates to light mechanical and electrical integration and ray machine Electric Measurement Technology more particularly to a kind of measurement digital solars
The method of the measuring coordinate system and prism coordinate system deviation of sensor.
Background technology
Digital sun sensor is the instrument of the angle between the body axis for measuring the spacecrafts such as solar vector and satellite.
Digital sun sensor can be that spacecraft carries out the sun whether there is or not judgement in given visual field, when global attitude acquisition, keep
Satellite Direct to the sun (inertial space orientation), it is ensured that energy supply on star, it is also possible to come for the attitude measurement of other higher precisions
The visual field of sensor (such as star sensor, ultraviolet sensors, infrared earth sensor) provides monitoring, can be used for the sun in addition
The payload of telescope one kind and accurate pointing control, star sensor and the infrared horizon solar incident ray of solar array
Protection control, generate switch and timing signal, determine phase reference of spacecraft during spin, measure aircraft
Spin rotating speed and the attitude datas such as angle.
During the use of digital sun sensor, because of its prism coordinate system and prism coordinate system offset relation
The indefinite measurement accuracy deviation resulted in relative to two axis posture of spacecraft needs just disappear by in-orbit re-calibration amendment
Except deviation, a series of problems, such as in-orbit data deviation is big, in-orbit amendment is complicated is caused.
Invention content
The present invention provides a kind of bias measurement method of the measuring coordinate system and prism coordinate system of digital sun sensor,
By way of light measurement, the measuring coordinate system of detector optical filter is associated with prism coordinate system, is completed on ground
Coordinate system relationship measures, and whole star dress star use can directly be provided by measuring the deviation between coordinate system, and be supplied to rail control
System directly carries out inflight measurement coordinate system amendment, and reliability is high, with a high credibility, exploitativeness is high.
In order to achieve the above object, the present invention provides a kind of digital sun sensor measuring coordinate system and prism coordinate system
Bias measurement method comprises the steps of：
Step S1, simulation numeral formula sun sensor fills star mode, and digital sun sensor is installed to high-precision three
On shaft rotation platform, keep turntable mounting surface vertical with solar simulator optical axis；
Step S2, digital sun sensor, adjustment high-precision are irradiated using solar simulator simulated solar ray vectors
Three-axle table so that the entire visual field of digital sun sensor that solar simulator ray vectors are inswept finds digital solar sensitivity
The coordinate origin of the measuring coordinate system of device and the X-axis and Y-axis of measuring coordinate system；
Step S3, it is sat relative to measurement using the prism coordinate system Z axis of a transit survey digital sun sensor
The deviation of mark system Z axis；
Step S4, while using the prism coordinate system X-axis of two transit survey digital sun sensors relative to survey
The deviation of coordinate system X-axis and the prism coordinate system Y-axis of digital sun sensor are measured relative to the inclined of measuring coordinate system Y-axis
Difference.
The step S3 is specifically comprised the steps of：
Step S3.1, make the Z axis of the measuring coordinate system of solar simulator optical axis and digital sun sensor in the same direction, looking for
To on the basis of the measuring coordinate system X-axis of digital sun sensor, the auto-collimation light of theodolite is got into digital solar
On the prism of sensor so that the measurement crosshair of theodolite is orthogonal with the X-axis of prism, Z axis；
Step S3.2, high-precision three-axle table is adjusted so that digital sun sensor output sunray vector is being surveyed
The hot spot gray scale center-of-mass coordinate on coordinate system is measured into a horizontal linear；
Step S3.3, so that the measurement crosshair of theodolite is got on the prism of digital sun sensor again, read
Measured deviation data, i.e. digital sun sensor prism coordinate system ZPrismRelative to digital sun sensor measuring coordinate system
ZDetectorDeviation.
The step S4 is specifically comprised the steps of：
Step S4.1, theodolite is arranged, the auto-collimation light for making frist theodolite and the spy on digital sun sensor
It is vertical to survey device optical filter, the auto-collimation light of second theodolite is allow to get on the prism of digital sun sensor；
Step S4.2, frist theodolite and second theodolite are carried out to taking aim at, on the basis of the number of degrees of frist theodolite, if
The number of degrees of second theodolite are set, then measured deviation data, i.e. digital sun sensor lens seat are read by second theodolite
Mark system XPrismRelative to digital sun sensor measuring coordinate system XDetectorDeviation and digital sun sensor lens seat
Mark system YPrismRelative to digital sun sensor measuring coordinate system YDetectorDeviation.
In the step S4.2, digital sun sensor prism coordinate system X is measuredPrismIt is quick relative to digital solar
Sensor measuring coordinate system XDetectorThe process of deviation specifically comprise the steps of：
Step S4.2.a1, on the basis of finding the measuring coordinate system X-axis of digital sun sensor, by the first longitude and latitude
The measurement crosshair of instrument is orthogonal with the X-axis of measuring coordinate system and Y-axis；
It step S4.2.a2,, will on the basis of the number of degrees of frist theodolite by frist theodolite and second theodolite to taking aim at
The number of degrees of second theodolite are set as the number of degrees of frist theodolite；
Step S4.2.a3, so that the measurement crosshair of second theodolite is got on the prism of digital sun sensor, read
Go out measured deviation data, i.e. digital sun sensor prism coordinate system XPrismRelative to digital sun sensor measuring coordinate
It is XDetectorDeviation.
In the step S4.2, digital sun sensor prism coordinate system Y is measuredPrismIt is quick relative to digital solar
Sensor measuring coordinate system YDetectorThe process of deviation specifically comprise the steps of：
Step S4.2.b1, on the basis of finding the measuring coordinate system Y-axis of digital sun sensor, by the first longitude and latitude
The measurement crosshair of instrument is orthogonal with the X-axis of measuring coordinate system and Y-axis；
It step S4.2.b2,, will on the basis of the number of degrees of frist theodolite by frist theodolite and second theodolite to taking aim at
The number of degrees of second theodolite are set as the number of degrees of frist theodolite；
Step S4.2.b3, so that the measurement crosshair of second theodolite is got on the prism of digital sun sensor, read
Go out measured deviation data, i.e. digital sun sensor prism coordinate system YPrismRelative to digital sun sensor measuring coordinate
It is YDetectorDeviation.
The present invention is played the measuring coordinate system of detector optical filter and prism coordinate system correlations by way of light measurement
Come, completing coordinate system relationship on ground measures, and whole star dress star use can directly be provided by measuring the deviation between coordinate system, and
It is supplied to Attitude and orbit control system directly to carry out inflight measurement coordinate system amendment, reliability is high, with a high credibility, exploitativeness is high.
Description of the drawings
Fig. 1 is the structural schematic diagram of digital sun sensor.
Fig. 2 is that a kind of measuring coordinate system of digital sun sensor provided by the invention and the deviation of prism coordinate system are surveyed
The flow chart of amount method.
Fig. 3 is that the prism coordinate system Z axis of digital sun sensor is measured in the present invention relative to measuring coordinate system Z axis
The schematic diagram of deviation.
Fig. 4 is the imaging schematic diagram of digital sun sensor in the present invention.
Fig. 5 is that the prism coordinate system X-axis of digital sun sensor is measured in the present invention relative to measuring coordinate system X-axis
The schematic diagram of deviation.
Fig. 6 is that the prism coordinate system Y-axis of digital sun sensor is measured in the present invention relative to measuring coordinate system Y-axis
The schematic diagram of deviation.
Fig. 7 is the relation schematic diagram of the prism coordinate system and measuring coordinate system of digital sun sensor.
Specific implementation mode
Below according to Fig. 1~Fig. 7, presently preferred embodiments of the present invention is illustrated.As shown in Figure 1, digital solar is sensitive
Device includes：Shell and the prism on shell and detector optical filter.Wherein, ODetectorFor the origin of measuring coordinate system,
XDetectorFor the X-axis of measuring coordinate system, YDetectorFor the Y-axis of measuring coordinate system, ZDetectorFor the Z axis of measuring coordinate system, OPrismFor lens seat
Mark the origin of system, XPrismFor the X-axis of prism coordinate system, YPrismFor the Y-axis of prism coordinate system, ZPrismFor the Z axis of prism coordinate system, survey
It measures coordinate system and is directed toward consistent, Z with 3 axis of prism coordinate systemDetectorIt is digital for the detector optical axis of digital sun sensor
The measuring coordinate system of sun sensor and prism coordinate system are satisfied by right-hand rule.Digital sun sensor is installed on spacecraft
Or the face of turntable is to be parallel to XDetectorODetectorYDetectorThe bottom surface in face.
Detector optical filter of digital sun sensor itself has the function of reflection light, has and physically can measure
(digital sun sensor prism coordinate system) can measure (digital sun sensor detector coordinates system) on electronics, lead to
It crosses introducing theodolite to combine them, finds out the deviation between them.As shown in Fig. 2, the present invention is using three axis of high-precision
Turntable and theodolite measure the measuring coordinate system of digital sun sensor and the deviation of prism coordinate system, include specifically
Following steps：
Step S1, simulation numeral formula sun sensor fills star mode, and digital sun sensor is installed to high-precision three
On shaft rotation platform, make turntable mounting surface (the i.e. X of detector optical filter vertical with solar simulator optical axisDetectorODetectorYDetectorFace with too
Positive simulator optical axis is vertical)；
Step S2, digital sun sensor, adjustment high-precision are irradiated using solar simulator simulated solar ray vectors
Three-axle table so that the entire visual field of digital sun sensor that solar simulator ray vectors are inswept finds digital solar sensitivity
The coordinate origin of the measuring coordinate system of device and the X-axis and Y-axis of measuring coordinate system；
Digital sun sensor image forming job, the hot spot gray scale barycenter that output sunray vector is fastened in measuring coordinate
Coordinate information；
In view of the precision of digital sun sensor itself, between solar simulator optical axis and high-precision three-axle table
Intercept need to be 1 order of magnitude better than digital sun sensor measuring coordinate；
Step S3, it is sat relative to measurement using the prism coordinate system Z axis of a transit survey digital sun sensor
The deviation of mark system Z axis；
Step S4, while using the prism coordinate system X-axis of two transit survey digital sun sensors relative to survey
The deviation of coordinate system X-axis and the prism coordinate system Y-axis of digital sun sensor are measured relative to the inclined of measuring coordinate system Y-axis
Difference.
The step S3 is specifically comprised the steps of：
Step S3.1, make the Z axis of the measuring coordinate system of solar simulator optical axis and digital sun sensor in the same direction, looking for
(i.e. digital sun sensor output Y coordinate is at a level on the basis of to the measuring coordinate system X-axis of digital sun sensor
Line), the auto-collimation light of theodolite is got on the prism of digital sun sensor so that the measurement crosshair of theodolite
It is orthogonal with the X-axis of prism, Z axis；
Step S3.2, high-precision three-axle table is adjusted so that digital sun sensor output sunray vector is being surveyed
The hot spot gray scale center-of-mass coordinate on coordinate system is measured into a horizontal linear；
It is rotated using high-precision three-axle table outline border so that digital sun sensor is in solar simulator light
Under irradiation, make at a row picture, adjustment high-precision three-axle table inside casing (around the shaft of solar simulator optical axis) on its photosurface
This row is obtained as at a horizontal linear, gray scale center-of-mass coordinate deviation is less than 0.1 pixel；
Step S3.3, so that the measurement crosshair of theodolite is got on the prism of digital sun sensor again, read
Measured deviation data, i.e. digital sun sensor prism coordinate system ZPrismRelative to digital sun sensor measuring coordinate system
ZDetectorDeviation.
The step S4 is specifically comprised the steps of：
Step S4.1, theodolite is arranged, the auto-collimation light for making frist theodolite and the spy on digital sun sensor
It is vertical to survey device optical filter, the auto-collimation light of second theodolite is allow to get on the prism of digital sun sensor；
Step S4.2, frist theodolite and second theodolite are carried out to taking aim at, on the basis of the number of degrees of frist theodolite, if
The number of degrees of second theodolite are set, then measured deviation data, i.e. digital sun sensor lens seat are read by second theodolite
Mark system XPrismRelative to digital sun sensor measuring coordinate system XDetectorDeviation and digital sun sensor lens seat
Mark system YPrismRelative to digital sun sensor measuring coordinate system YDetectorDeviation.
In the step S4.2, digital sun sensor prism coordinate system X is measuredPrismIt is quick relative to digital solar
Sensor measuring coordinate system XDetectorThe process of deviation specifically comprise the steps of：
Step S4.2.a1, on the basis of finding the measuring coordinate system X-axis of digital sun sensor, by the first longitude and latitude
The measurement crosshair of instrument is orthogonal with the X-axis of measuring coordinate system and Y-axis；
It step S4.2.a2,, will on the basis of the number of degrees of frist theodolite by frist theodolite and second theodolite to taking aim at
The number of degrees of second theodolite are set as the number of degrees of frist theodolite；
Step S4.2.a3, so that the measurement crosshair of second theodolite is got on the prism of digital sun sensor, read
Go out measured deviation data, i.e. digital sun sensor prism coordinate system XPrismRelative to digital sun sensor measuring coordinate
It is XDetectorDeviation.
In the step S4.2, digital sun sensor prism coordinate system Y is measuredPrismIt is quick relative to digital solar
Sensor measuring coordinate system YDetectorThe process of deviation specifically comprise the steps of：
Step S4.2.b1, on the basis of finding the measuring coordinate system Y-axis of digital sun sensor, by the first longitude and latitude
The measurement crosshair of instrument is orthogonal with the X-axis of measuring coordinate system and Y-axis；
It step S4.2.b2,, will on the basis of the number of degrees of frist theodolite by frist theodolite and second theodolite to taking aim at
The number of degrees of second theodolite are set as the number of degrees of frist theodolite；
Step S4.2.b3, so that the measurement crosshair of second theodolite is got on the prism of digital sun sensor, read
Go out measured deviation data, i.e. digital sun sensor prism coordinate system YPrismRelative to digital sun sensor measuring coordinate
It is YDetectorDeviation.
As shown in figure 3, be mounted on digital sun sensor on the turntable mounting surface of high-precision three-axle table when test,
Its intermediate station mounting surface is vertical with solar simulator optical axis.Adjust theodolite 1 so that 2 axis of the measurement crosshair of theodolite 1
Direction is orthogonal with the X-axis of prism and 2 axis direction of Z axis.Under the irradiation of solar simulator, digital sun sensor output facula
Gray scale center-of-mass coordinate.By adjusting the turntable axis of rolling, rotating table yaw direction (turntable outline border) adjusts the turntable axis of rolling, makes
Digital sun sensor output coordinate is obtained at a horizontal line, until coordinate beating scope is in 0.1 pixel.As shown in figure 4,
Digital sun sensor measurement accuracy is higher, and 0.1 pixel characterizes about 0.00125 degree of deviation, this deviation has met and made
With requiring, in error tolerance interval.
The measurement crosshair for reusing theodolite 1 is got on digital sun sensor prism, and data are read, that is, is counted
Word formula sun sensor prism coordinate system ZPrismRelative to digital sun sensor measuring coordinate system ZDetectorDeviation.
As shown in figure 5, finding digital sun sensor XDetectorOn the basis of axis, i.e., digital sun sensor exports
Y coordinate is at a horizontal line.Along 90 degree of turntable yaw direction rotating table, tested using two theodolites.First by longitude and latitude
The adjustment of instrument 1 is orthogonal with 2 axis of digital sun sensor optical filter (X-axis and Y-axis).Adjust theodolite 2 so that it measures spider
Silk is got on digital sun sensor prism.Theodolite 1, theodolite 2 are carried out to taking aim at so that the measurement ten of two theodolites
Word cross hair is being completely superposed to taking aim on theodolite eyepiece respectively.On the basis of the number of degrees of theodolite 1, the value of theodolite 2 is set.
Finally, theodolite 2 is rotated to initial position, the crosshair of theodolite 2 will get to digital solar sensitivity again at this time
On device prism, the measurement data of theodolite 2 is read, this data is digital sun sensor prism coordinate system XPrismRelative to
Digital sun sensor measuring coordinate system XDetectorDeviation.
As shown in fig. 6, finding digital sun sensor YDetectorOn the basis of axis, i.e., digital sun sensor exports
X-coordinate is at a horizontal line.Along 90 degree of turntable yaw direction rotating table, equally tested using two theodolites.First will
The adjustment of theodolite 1 is orthogonal with 2 axis of digital sun sensor optical filter (X-axis and Y-axis).Adjust theodolite 2 so that it measures ten
Word cross hair is got on digital sun sensor prism.Theodolite 1, theodolite 2 are carried out to taking aim at so that two transit surveys
Crosshair is being completely superposed to taking aim on theodolite eyepiece respectively.On the basis of the number of degrees of theodolite 1, setting theodolite 2
Value.Finally, theodolite two is rotated to initial position, the crosshair of theodolite 2 will get to digital solar again at this time
On sensor prism, the measurement data of theodolite 2 is read, this data is digital sun sensor prism coordinate system YPrismPhase
For digital sun sensor measuring coordinate system YDetectorDeviation.
It is tool of the prism coordinate system for testing digital sun sensor relative to the deviation of measuring coordinate system below
Body embodiment：
1, as shown in Figure 3 (vertical view), test digital sun sensor prism is visited relative to digital sun sensor
Survey the Z-direction rotational variations situation of device：
1) downward by digital sun sensor X-axis, the measuring coordinate system of 1 face digital sun sensor of theodolite
Y direction；
2) digital sun sensor is rotated 180 degree by rotating table yaw axis around X-axis, and the adjustment turntable axis of rolling makes too
Positive simulator light forms the equal straight line of Y coordinate on detector optical filter surface, ensures that the X-axis of detector optical filter in this way
It is levelling with theodolite 1, with theodolite 1 to prism polishing, the prism of digital sun sensor is measured relative to digital solar
The detector optical filter of sensor has rotated clockwise 4 jiaos points 33 rads about the z axis, i.e. ψ=- 4'33 ".
2, as shown in figure 5, with two theodolites test prisms relative to detector optical filter X to rotational variations situation：
1) two theodolites are placed in 90 ° of angles；
2) by 1 alignment detector optical filter of theodolite, theodolite 1 is mutually taken aim at 2 instrument of theodolite then and is aligned, by theodolite
2 pairs of prism polishings measure digital sun sensor prism and have rotated 10 jiaos counterclockwise around X-axis relative to detector filter plate
Second, i.e.,
3, as shown in fig. 6, testing Y-direction rotational variations situation of the prism relative to detector filter plate with two theodolites：
1) digital sun sensor is rotated clockwise 90 ° along Z-direction；
2) theodolite 1 is directed at optical filter, theodolite 1 is mutually taken aim at theodolite 2 then and is aligned, then by theodolite 2 to rib
Mirror polishing measures prism and has rotated clockwise 27 rads, i.e. θ=- 27 around Y-axis relative to detector filter plate ".
Test result, definition prism coordinate system are XPrismYPrismZPrism, it is known that prism coordinate system (is measured with detector coordinates system
Coordinate system) relationship it is as shown in Figure 7：
Wherein：X'Y'Z' representatives turn about the Z axis coordinate system after ψ angles；X " Y " Z " is represented based on after turning about the Z axis,
Turn about the X axis the coordinate system after φ angles；θ represents the angle rotated around Y-axis；φ represents the angle rotated around X-axis；ψ is represented around Z
The angle of axis rotation.
Turning for the prism coordinate system of digital sun sensor is then gone to by the measuring coordinate system of digital sun sensor
Changing matrix is：
The present invention utilizes the property that digital sun sensor itself is imaged, and by way of light measurement, is detected
The measuring coordinate system of device optical filter associates with prism coordinate system, physical measurement mode reliability is high, it is with a high credibility, can implement
Property it is high, complete the measurement of coordinate system relationship on the ground, installation foundation provided to digital sun sensor dress star, it is clear
The relationship for characterizing digital sun sensor measuring coordinate system and its prism coordinate system, it is in-orbit in use, can be sat to whole star
Mark is corrected, and support is provided for the in-orbit coordinate modification of digital sun sensor.
Although present disclosure is discussed in detail by above preferred embodiment, but it should be appreciated that above-mentioned
Description is not considered as limitation of the present invention.After those skilled in the art have read the above, for the present invention's
A variety of modifications and substitutions all will be apparent.Therefore, protection scope of the present invention should be limited to the appended claims.
Claims (4)
1. a kind of digital sun sensor measuring coordinate system and prism coordinate system bias measurement method, which is characterized in that include
Following steps：
Step S1, simulation numeral formula sun sensor fills star mode, and digital sun sensor is installed to three shaft rotations of high-precision
On platform, keep turntable mounting surface vertical with solar simulator optical axis；
Step S2, digital sun sensor, adjustment three axis of high-precision are irradiated using solar simulator simulated solar ray vectors
Turntable so that the entire visual field of digital sun sensor that solar simulator ray vectors are inswept finds digital sun sensor
Measuring coordinate system coordinate origin and measuring coordinate system X-axis and Y-axis；
Step S3, using the prism coordinate system Z axis of a transit survey digital sun sensor relative to measuring coordinate system Z
The deviation of axis；
Step S4, while using the prism coordinate system X-axis of two transit survey digital sun sensors relative to measurement it sits
The deviation of the deviation of mark system X-axis and the prism coordinate system Y-axis of digital sun sensor relative to measuring coordinate system Y-axis；
The step S3 is specifically comprised the steps of：
Step S3.1, make the Z axis of the measuring coordinate system of solar simulator optical axis and digital sun sensor in the same direction, find number
On the basis of the measuring coordinate system X-axis of word formula sun sensor, the auto-collimation light of theodolite is got into digital solar sensitivity
On the prism of device so that the measurement crosshair of theodolite is orthogonal with the X-axis of prism, Z axis；
Step S3.2, high-precision three-axle table is adjusted so that digital sun sensor exports sunray vector and measuring seat
The hot spot gray scale center-of-mass coordinate fastened is marked into a horizontal linear；
Step S3.3, so that the measurement crosshair of theodolite is got on the prism of digital sun sensor again, read and measure
Deviation data, i.e. digital sun sensor prism coordinate system ZPrismRelative to digital sun sensor measuring coordinate system ZDetector
Deviation.
2. digital sun sensor measuring coordinate as described in claim 1 system and prism coordinate system bias measurement method,
It is characterized in that, the step S4 is specifically comprised the steps of：
Step S4.1, theodolite is arranged, the auto-collimation light and the detector on digital sun sensor for making frist theodolite
Optical filter is vertical, and the auto-collimation light of second theodolite is allow to get on the prism of digital sun sensor；
Step S4.2, frist theodolite and second theodolite are carried out to taking aim at, on the basis of the number of degrees of frist theodolite, setting the
The number of degrees of two theodolites, then measured deviation data, i.e. digital sun sensor prism coordinate system are read by second theodolite
XPrismRelative to digital sun sensor measuring coordinate system XDetectorDeviation and digital sun sensor prism coordinate system
YPrismRelative to digital sun sensor measuring coordinate system YDetectorDeviation.
3. digital sun sensor measuring coordinate as claimed in claim 2 system and prism coordinate system bias measurement method,
It is characterized in that, in the step S4.2, measures digital sun sensor prism coordinate system XPrismIt is quick relative to digital solar
Sensor measuring coordinate system XDetectorThe process of deviation specifically comprise the steps of：
Step S4.2.a1, on the basis of finding the measuring coordinate system X-axis of digital sun sensor, by frist theodolite
It is orthogonal with the X-axis of measuring coordinate system and Y-axis to measure crosshair；
Step S4.2.a2, by frist theodolite and second theodolite to taking aim at, on the basis of the number of degrees of frist theodolite, by second
The number of degrees of theodolite are set as the number of degrees of frist theodolite；
Step S4.2.a3, so that the measurement crosshair of second theodolite is got on the prism of digital sun sensor, read and survey
Measure deviation data, i.e. digital sun sensor prism coordinate system XPrismRelative to digital sun sensor measuring coordinate system
XDetectorDeviation.
4. digital sun sensor measuring coordinate as claimed in claim 2 system and prism coordinate system bias measurement method,
It is characterized in that, in the step S4.2, measures digital sun sensor prism coordinate system YPrismIt is quick relative to digital solar
Sensor measuring coordinate system YDetectorThe process of deviation specifically comprise the steps of：
Step S4.2.b1, on the basis of finding the measuring coordinate system Y-axis of digital sun sensor, by frist theodolite
It is orthogonal with the X-axis of measuring coordinate system and Y-axis to measure crosshair；
Step S4.2.b2, by frist theodolite and second theodolite to taking aim at, on the basis of the number of degrees of frist theodolite, by second
The number of degrees of theodolite are set as the number of degrees of frist theodolite；
Step S4.2.b3, so that the measurement crosshair of second theodolite is got on the prism of digital sun sensor, read and survey
Measure deviation data, i.e. digital sun sensor prism coordinate system YPrismRelative to digital sun sensor measuring coordinate system
YDetectorDeviation.
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