CN101226113A - Method and apparatus for testing star sensor function based on electric injection star map - Google Patents
Method and apparatus for testing star sensor function based on electric injection star map Download PDFInfo
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Abstract
The invention discloses a star sensor function test method based on electric injection star map, which comprises simulating the track parameter and attitude of satellite motion and simulating a star map shot by a star sensor, using the star point center to refresh and transmit part of the star map, laminating the part refreshes in the star map background of the star sensor, positioning star point, recognizing star map and calculating altitude, checking the results of the star map recognition and altitude calculation of the star sensor. The invention discloses a relative device. The invention has high refresh rate of star map, which can simulate the track altitude of star sensor and can process ground simulation test with whole star system, without additional external devices and special application condition demand, but with strong versatility.
Description
Technical field
The present invention relates to the star sensor measuring technology, particularly a kind of star sensor function test method and device that injects star chart based on electricity.
Background technology
Star sensor is a kind of star observation that utilizes, the aerospace measurement instrument of high-precision attitude information is provided for spacecraft, its principle of work is: star sensor front end camera unit by using charge-coupled device (CCD, Charge Coupled Device) or complementary matal-oxide semiconductor (CMOS, Complementary MetalOxide Semiconductor) imageing sensor is taken and is obtained star map image, obtain the center-of-mass coordinate of fixed star picture point and the information of brightness through image processing program, the information that importance in star map recognition program utilization afterwards obtains finds corresponding fixed star in navigation star database, calculate the three-axis attitude of star sensor at last.
Generally, before star sensor comes into operation, must carry out a series of Ground Functional Test, in order to validity and the reliability of checking its each several part function.Common Ground Functional Test method mainly contains two kinds: a kind of method is to carry out functional test by the stellar field simulator, its basic skills is that star sensor is discerned and Attitude Calculation by the starry sky image of observation simulation with the starry sky of stellar field simulator simulation infinite distance.The shortcoming of this method is that the stellar field simulator costs an arm and a leg, and the stellar field simulator must be complementary with star sensor, and versatility is not strong.Another kind of Ground Functional Test method relatively more commonly used is that the star test is seen in the outfield, promptly under outdoor actual starry sky, test, though this method does not need starry sky is simulated, relatively simple, but be subjected to factor affecting such as weather bigger, can't guarantee the demand of testing at any time, also can't simulate star sensor at the rail state.
Summary of the invention
In view of this, fundamental purpose of the present invention is to provide a kind of and injects the star sensor function test method and the device of star chart based on electricity, not only tests simple, highly versatile, and be not subjected to inside even from weather, can test at any time, cost is low.
For achieving the above object, technical scheme of the present invention is achieved in that
A kind of star sensor function test method based on electricity injection star chart, this method comprises:
A, the orbit parameter and the attitude of satellite motion are carried out simulation calculation, and simulation generates the captured star map image of star sensor;
B, be the center, the star chart local updating is transmitted with the asterism;
C, with local updating one by one in the stack of the star chart background of star sensor, the planet figure that goes forward side by side identification and resolve attitude;
Whether the importance in star map recognition of D, check star sensor and the result of attitude algorithm be correct.
The described simulation of steps A generates star map image and further comprises:
A1, according to the satellite orbit parameter of the dynamics of orbits Equation for Calculating current time of satellite;
The satellite orbit parameter of the current time that A2, basis calculate calculates the direction cosine matrix C of satellite barycenter orbital coordinate system with respect to geocentric inertial coordinate system
Oi
A3, according to the angular velocity of satellite motion, calculate the direction cosine matrix C of current time star body coordinate system relative inertness coordinate system
Si
A4, according to the established angle of star sensor on satellite, calculate the direction cosine matrix C of current time star sensor coordinate system with respect to inertial coordinates system
Mi
A5, calculate the simulation star chart according to perspective projection transformation; Generate digital star chart according to asterism coordinate and magnitude in the simulation star chart again.
Step C further comprises:
The star chart background of C1, the local star chart data that will receive and star sensor star chart memory block is superimposed, obtains the complete digital star chart that a frame comprises background and asterism;
C2, the star map image that obtains is carried out pre-service, extract the center-of-mass coordinate of asterism in the star map image and the monochrome information of asterism;
C3, carry out importance in star map recognition and tracking according to described asterism center-of-mass coordinate and asterism monochrome information;
C4, according to described importance in star map recognition and tracking results, resolve the star sensor attitude.
Described local updating is specially:
A fixed star number of choosing in B1, the neighborhood territory pixel size that the asterism center is set, the visual field;
B2, each only the renewal are chosen each fixed star view data of neighborhood on every side, and are transferred to star sensor in the visual field.
A kind of star sensor device for testing functions based on electricity injection star chart, this device comprises first computing machine, second computing machine and communication cable, wherein, first computing machine, second computing machine connect star sensor by communication cable respectively,
First computing machine is used for the orbit parameter and the attitude of satellite motion are carried out emulation, calculates the attitude that is installed in the star sensor on the satellite, and simulation generates the captured star map image of star sensor under the corresponding attitude, and star map image is passed to star sensor;
Second computing machine is analyzed the duty of star sensor the recognition result and the attitude information that transmit according to star sensor, the validity and the reliability of the work of checking star sensor electronic unit.
Described first computing machine comprises star image simulation module, star chart local updating and transport module, timer,
The star image simulation module is used for established angle on satellite of orbit parameter, star sensor according to satellite motion, imaging parameters etc., the analog digital star chart, and send to star chart local updating and transport module;
Star chart local updating and transport module are passed to star sensor with the star chart of local updating;
Timer is used to provide time of star image simulation.
Described second computing machine comprises interpretation of result and processing module, is used for the result of identification and attitude algorithm is analyzed the validity and the reliability of check star sensor asterism location, importance in star map recognition and each functions of modules of Attitude Calculation.
Star sensor function test method and the device that injects star chart based on electricity provided by the present invention, adopt the software emulation mode simulate star sensor at the rail state, with the full width star chart as testing source, can carry out full test to the each several part function of star sensor electronic unit, not rely on other external units.The present invention has following advantage:
1) adopts electricity to inject the mode of star chart, as testing source, can realize star sensor asterism location, importance in star map recognition, the full test of each several part functions such as Attitude Calculation with the full width star chart.
2) mode that adopts local star chart to upgrade, the turnover rate of star chart can reach 20Hz.
3) method of testing of the present invention can simulate star sensor at the rail state, real work state near star sensor, can carry out the ground simulation experiment together with whole star system, such as cooperating the validity and the reliability of the work of verifying satellites attitude control system together with gyro, flywheel, dynamics of orbits simulation computer, attitude master control simulation computer etc.
4) test of the present invention does not rely on other external units, only needs two computing machines and communication cable, connects star sensor and just can test, and place, environment, weather are not had specific (special) requirements, and method of testing is simple.
5) whole test process is controlled, and parameters can be provided with as required flexibly, thereby simulates different stellar fields, to adapt to different star sensor test assignments, highly versatile.
Description of drawings
Fig. 1 is the synoptic diagram of apparatus of the present invention;
Fig. 2 is apparatus of the present invention internal module synoptic diagram;
Fig. 3 is the process flow diagram of the inventive method;
Fig. 4 is the synoptic diagram of satellite barycenter orbital coordinate system and geocentric inertial coordinate system;
Fig. 5 is the process synoptic diagram of star image simulation;
Fig. 6 is the local updating synoptic diagram of star chart.
Embodiment
Basic thought of the present invention is: the mode that adopts electricity to inject star chart provides testing source to star sensor, by analyzing its result the function of star sensor electronic unit each several part is assessed, thereby provided a kind of new means of testing for the Ground Functional Test of star sensor.
Here, so-called electricity injection star chart is meant that the digital star chart that generates with the electric signal simulation is as testing source.
The star sensor device for testing functions as shown in Figure 1, comprise star image simulation computing machine 1, information analysis and process computer 2, star sensor 3 and communication cable 4 compositions, wherein, star image simulation computing machine 1 connects star sensor 3 by communication cable 4, and star sensor 3 is by communication cable 4 link information analyses and process computer 2.
In actual applications, the orbit parameter and the attitude of 1 pair of satellite motion of star image simulation computing machine are carried out emulation, calculate the attitude be installed in the star sensor 3 on the satellite, and simulation is created on the captured star map image of star sensor 3 under this attitude situation; Star image simulation computing machine 1 is passed to star sensor 3 by serial port with star map image, also comprises timer in the star image simulation computing machine 1, is used to provide the time of star image simulation;
3 pairs of star map images of star sensor are discerned and Attitude Calculation, and the result is passed to information analysis and process computer 2 by serial port;
2 pairs of recognition result and attitude informations that transmit according to star sensor of information analysis and process computer are analyzed the duty of star sensor 3, with the validity and the reliability of checking star sensor 3 electronic unit work.
Here, described serial port can be the RS232 interface.
The internal module of this device is made of four parts, as shown in Figure 2, is respectively: the star image simulation module, star chart local updating and the transport module that are arranged in star image simulation computing machine 1; Be arranged in the asterism location importance in star map recognition Attitude Calculation module of star sensor 3; And the interpretation of result and the processing module that are arranged in information analysis and process computer 2.
Wherein, the star image simulation module is used for established angle on satellite of orbit parameter, star sensor according to satellite motion, imaging parameters etc., the analog digital star chart, and send to star chart local updating and transport module;
Star chart local updating and transport module are used for the star chart of local updating is passed to star sensor 3;
Asterism is located importance in star map recognition Attitude Calculation module, is used for the overall process of star sensor work, comprises asterism location, importance in star map recognition, Attitude Calculation;
Interpretation of result and processing module are used for the result of identification and attitude algorithm is analyzed, with the validity and the reliability of check star sensor asterism location, importance in star map recognition and each functions of modules of Attitude Calculation.
Based on the star sensor function test method flow process of said apparatus as shown in Figure 3, may further comprise the steps:
Step 101, according to the satellite orbit parameter of the dynamics of orbits Equation for Calculating current time of satellite;
The orbit parameter of satellite comprises i, Ω, a, e, ω, τ; I is an orbit inclination, and Ω is a right ascension of ascending node, and these two angles have been determined the position on satellite orbit plane; A is oval semi-major axis, and e is oval excentricity, and these two parameters have been determined the size and the shape of satellite orbit ellipse; ω is an argument of perigee, has determined oval direction at orbit plane; τ is it's the perigean moment that is past satellite.If current time is t, can determine t moment satellite in the position in space according to above parameter and SPATIAL CALCULATION formula, t is provided by a special timer constantly.
Step 102, calculate the direction cosine matrix C of satellite barycenter orbital coordinate system (abbreviation orbital coordinate system) Oo-XoYoZo with respect to geocentric inertial coordinate system (abbreviation inertial coordinates system) O-XYZ according to the satellite orbit parameter of current time
Oi
Fig. 4 is the synoptic diagram of satellite barycenter orbital coordinate system and geocentric inertial coordinate system, and wherein, inertial coordinates system is defined as: initial point O is positioned at the earth's core, and X-axis is pointed to the first point of Aries, and the Z axle points to the celestial sphere arctic, and Y-axis and other diaxon constitute right-handed coordinate system; Orbital coordinate system is defined as: initial point Oo is positioned at the satellite barycenter, and the radius vector conllinear of Zo axle and satellite also points to the earth's core, and the Xo axle is positioned at orbit plane, points to the direction of motion of satellite, Yo axle and Xo, and the Zo axle constitutes right-handed coordinate system.
Step 103, according to the angular velocity ( of satellite motion
1,
2,
3), calculate the direction cosine matrix C of current time t satellite body coordinate system with respect to inertial coordinates system
Si
Here,
1,
2,
3The expression satellite body is around the angular velocity of three coordinate axis rotations of orbital coordinate system.The satellite body coordinate system, satellite without any the rotation situation under (
1=
2=
3=0) be equal to the barycenter orbital coordinate system, when satellite when three axles of barycenter orbital coordinate system have rotation, establish its anglec of rotation around three axles, be respectively
1Δ t,
2Δ t,
3Δ t, then C
SiBe equivalent to C
OiMultiply by one by (
1Δ t,
2Δ t,
3Δ t) rotation matrix of Miao Shuing.
Step 104, according to the established angle (θ of star sensor on satellite
1, θ
2, θ
3), calculate the direction cosine matrix C of current time star sensor coordinate system with respect to inertial coordinates system
Mi
Here, the optical axis that described star sensor coordinate system is defined as with optical system is the Z axle, is initial point with the intersection point of optical axis and star sensor image sensor plane, is X-axis to be parallel to the imageing sensor directions X, is Y-axis to be parallel to imageing sensor Y direction.If θ
1, θ
2, θ
3The established angle of expression star sensor on pitching on the satellite body, driftage and lift-over direction, then C
MiBe equivalent to C
SiMultiply by one by (θ
1, θ
2, θ
3) rotation matrix described.
Step 105, the star chart that calculating is simulated according to perspective projection transformation; Note C
MiFor:
If Star (i) is the fixed star of i for the sequence number in the star catalogue, its right ascension declination is respectively α
iAnd δ
i, its direction vector under inertial coordinates system is:
The imaging model of fixed star on the star sensor imageing sensor can be represented with perspective projection transformation.Fixed star Star (i) is projected in that the coordinate on the coordinate plane is on the imageing sensor:
If the imageing sensor pixel dimension is that (dx, dy), the principal point coordinate is (X
0, Y
0), image resolution ratio is M * N; Further calculating can obtain fixed star Star (i) become the pixel coordinate of asterism to be:
Fixed star Star (i) can imaging on imageing sensor condition be:
All fixed stars in the scanning star catalogue, the fixed star that can satisfy above condition all can be imaged on the imageing sensor, notes its pixel coordinate and magnitude.
Step 106, generate digital star chart according to asterism coordinate and magnitude.Set synthetic parameters such as blur circle diameter, background gray scale and noise variance, generate the digital star chart of simulating according to resulting asterism coordinate of step 105 and magnitude information.Wherein, the intensity profile of asterism is by its magnitude decision.
For the digital star chart that produces in the step 1, need pass to star sensor by the RS232 interface.If directly transmit the view picture star chart,, can't satisfy the requirement of real-time because data volume is too big.Therefore, the mode that the present invention adopts a kind of local star chart to upgrade, star chart local updating as shown in Figure 6, promptly only upgrade in the complete star chart with the asterism is the neighborhood of 7 * 7 pixel sizes at center at every turn, be rectangular box zone shown in Figure 6, only transmit the view data of this regional area.
In data transmission procedure, the star chart data layout in each local updating zone is (X Y G1G2...G49), and X, Y upgrade regional asterism centre coordinate (round values) for this, and G1-G49 upgrades the gray-scale value of all pixels of zone for this.Coordinate figure and gray-scale value represent with 2 bytes and 1 byte that respectively therefore, the data volume in each local updating zone is a 49+2 * 2=53 byte.
Be further to reduce data volume, the maximum number of star in the visual field is restricted to 12, promptly only select 12 the brightest stars during more than 12 and handle when the number of star in the visual field.The real work pattern of this way and star sensor is corresponding to.By calculating as can be known, the required data quantity transmitted of upgrading each frame star chart is less than 700 bytes.When the baud rate of RS232 serial ports was set to 115200bps, the turnover rate of star chart can satisfy the functional test requirement of star sensor fully greater than 20Hz.
One by one in the star chart background stack of self, attitude is resolved in the planet figure that goes forward side by side identification with local updating for step 3, star sensor.
Star sensor is handled these star chart data after receiving the local star chart data that send from star image simulation computing machine 1, and treatment step is as follows:
Step 301, the local star chart data that will receive and to be stored in the star chart background of star chart memory block superimposed obtain the complete digital star chart that a frame comprises background and asterism; Being about to local star chart is added in the complete star chart of the original storage of star sensor;
Step 302, star map image is carried out pre-service, extract the center-of-mass coordinate of asterism in the star map image and the monochrome information of asterism;
Step 303, carry out importance in star map recognition and tracking according to asterism center-of-mass coordinate that obtains in the step 302 and asterism monochrome information;
Step 304, according to importance in star map recognition in the step 303 and tracking results, resolve attitude.
Above step 302 is to 304 being the general work flow process of star sensor to every complete star chart, according to choosing of test duration, after each complete star chart all discerned and resolving attitude, enters step 4.
Whether the importance in star map recognition of step 4, check star sensor and the result of attitude algorithm be correct.
Star sensor is finished and is passed to information analysis and process computer 2 to discerning after the processing of star chart with the attitude algorithm result by RS232.Information analysis and process computer 2 are analyzed according to the result of the relevant information in the star image simulation process to identification and attitude algorithm, i.e. the star sensor coordinate system is with respect to the direction cosine matrix C of inertial coordinates system in attitude result that the last identification of judgement obtains and the step 104
MiWhether consistent, with the validity and the reliability of check star sensor asterism location, importance in star map recognition and each functions of modules of Attitude Calculation.
In addition, in the step 2, the part of every star chart is chosen can be according to the requirement of actual detected precision and difference, is transferred to star sensor or the like as the neighborhood of selecting around the asterism pixel sizes such as 5 * 5 or 9 * 9.
The above is preferred embodiment of the present invention only, is not to be used to limit protection scope of the present invention.
Claims (7)
1. one kind is injected the star sensor function test method of star chart based on electricity, it is characterized in that this method comprises:
A, the orbit parameter and the attitude of satellite motion are carried out simulation calculation, and simulation generates the captured star map image of star sensor;
B, be the center, the star chart local updating is transmitted with the asterism;
C, with local updating one by one in the stack of the star chart background of star sensor, the planet figure that goes forward side by side identification and resolve attitude;
Whether the importance in star map recognition of D, check star sensor and the result of attitude algorithm be correct.
2. the star sensor function test method based on electricity injection star chart according to claim 1 is characterized in that, the described simulation of steps A generates star map image and further comprises:
A1, according to the satellite orbit parameter of the dynamics of orbits Equation for Calculating current time of satellite;
The satellite orbit parameter of the current time that A2, basis calculate calculates the direction cosine matrix C of satellite barycenter orbital coordinate system with respect to geocentric inertial coordinate system
Oi
A3, according to the angular velocity of satellite motion, calculate the direction cosine matrix C of current time star body coordinate system relative inertness coordinate system
Si
A4, according to the established angle of star sensor on satellite, calculate the direction cosine matrix C of current time star sensor coordinate system with respect to inertial coordinates system
Mi
A5, calculate the simulation star chart according to perspective projection transformation; Generate digital star chart according to asterism coordinate and magnitude in the simulation star chart again.
3. the star sensor function test method based on electricity injection star chart according to claim 1 is characterized in that step C further comprises:
The star chart background of C1, the local star chart data that will receive and star sensor star chart memory block is superimposed, obtains the complete digital star chart that a frame comprises background and asterism;
C2, the star map image that obtains is carried out pre-service, extract the center-of-mass coordinate of asterism in the star map image and the monochrome information of asterism;
C3, carry out importance in star map recognition and tracking according to described asterism center-of-mass coordinate and asterism monochrome information;
C4, according to described importance in star map recognition and tracking results, resolve the star sensor attitude.
4. the star sensor function test method based on electricity injection star chart according to claim 1 is characterized in that described local updating is specially:
A fixed star number of choosing in B1, the neighborhood territory pixel size that the asterism center is set, the visual field;
B2, each only the renewal are chosen each fixed star view data of neighborhood on every side, and are transferred to star sensor in the visual field.
5. the star sensor device for testing functions based on electricity injection star chart is characterized in that this device comprises first computing machine, second computing machine and communication cable, and wherein, first computing machine, second computing machine connect star sensor by communication cable respectively,
First computing machine is used for the orbit parameter and the attitude of satellite motion are carried out emulation, calculates the attitude that is installed in the star sensor on the satellite, and simulation generates the captured star map image of star sensor under the corresponding attitude, and star map image is passed to star sensor;
Second computing machine is analyzed the duty of star sensor the recognition result and the attitude information that transmit according to star sensor, the validity and the reliability of the work of checking star sensor electronic unit.
6. the star sensor device for testing functions based on electricity injection star chart according to claim 5 is characterized in that described first computing machine comprises star image simulation module, star chart local updating and transport module, timer,
The star image simulation module is used for established angle on satellite of orbit parameter, star sensor according to satellite motion, imaging parameters etc., the analog digital star chart, and send to star chart local updating and transport module;
Star chart local updating and transport module are passed to star sensor with the star chart of local updating;
Timer is used to provide time of star image simulation.
7. according to claim 5 or the 6 described star sensor device for testing functions that inject star chart based on electricity, it is characterized in that, described second computing machine comprises interpretation of result and processing module, be used for the result of identification and attitude algorithm is analyzed the validity and the reliability of check star sensor asterism location, importance in star map recognition and each functions of modules of Attitude Calculation.
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