CN101236091B - Visual light navigation sensor - Google Patents
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- CN101236091B CN101236091B CN2008100573510A CN200810057351A CN101236091B CN 101236091 B CN101236091 B CN 101236091B CN 2008100573510 A CN2008100573510 A CN 2008100573510A CN 200810057351 A CN200810057351 A CN 200810057351A CN 101236091 B CN101236091 B CN 101236091B
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Abstract
The invention discloses a visible light navigation sensor, which employs visible light spectrum bands with different widths and a dual-channel optical system to image different objects to independent areas of a target surface of a same photodetector. The optical system is divided into two independent viewing field channels which respectively image quasars and stars. The photodetector convert images of the quasars and the stars into simulating signal to output. An electrical system processes the stimulating signal and converts to obtain digital images. At last, an image and attitude computing element respectively processes the quasar image information and the stars image information to compute and obtain a quasar center vector, an orbit height and an inertial attitude needed by satellite navigation. The visible light navigation sensor employs the technique of the visible light spectrum bands with different widths, sub-viewing-fields and sub-image-areas to resolve the problem that the photodetector simultaneously images the quasar and the stars on the same target surface. In addition, the visible light navigation sensor has a normal imaging mode and a binning imaging mode.
Description
Technical field
The present invention relates to a kind of visual light navigation sensor, belong to the navigation sensor field in the attitude control system on the spacecraft.The present invention is applicable in the deep space probe relative attitude of no atmosphere or the thin celestial body of atmosphere is measured and navigation.
Background technology
Survey of deep space is the focus of spationautics development, main target is to launch the outer over the ground celestial body of spacecraft and carries out scientific exploration, survey or the like such as moon exploration, Mars, asteroid, therefore need a kind of navigation sensor to solve because the spacecraft navigation problem that the distance time delay is brought greatly.And the success of the quick progress of imaging sensitive detection parts and processor technology and imaging type Star Sensor, the imaging type earth, moon sensor is flown at rail, make incorporate plesioaster/star navigation sensor become the direction of development, it not only can provide the three-axis satellite attitude of relative plesioaster but also can provide orbital position, can reduce the burden of ground control station greatly, strengthen the spacecraft capacity of will.
At present abroad to the existing a lot of researchs in the autonomous navigation sensor field of earth satellite, the U.S. utilizes day in the MANS system of nineties development,, month information realizes the spacecraft independent navigation, the ERADS system that also had the exploitation of HoneyWell company afterwards, utilize unified ultraviolet spectral coverage over the ground finish dealing with attitude, track of ball, fixed star determine; Germany has developed the visible light earth/fixed star integrated navigation sensor about calendar year 2001.
U.S. Patent number: US5837894, title: Wide Field of View Sensor with diffractiveOptical Corrector, this patent disclosure a kind of three earth attitude sensors that utilize the ultraviolet spectral coverage, be target difference with difference of the present invention, the present invention is not used in earth satellite and is mainly used in the thin celestial body of extraterrestrial atmosphere, its deficiency also is not carry out the division of fixed star, earth visual field passage and imaging region in addition, makes the unusual difficulty of processing and identification of the earth and fixed star in the information processing; A little less than it uses unified ultraviolet light spectral coverage to make fixed star and earth energy in addition, must increase image intensifier and carry out normally imaging of signal amplification.
U.S. Patent number: US5319969, title: Method for determining 3-axis spacecraftattitude, this patent has been introduced a kind of three-axis attitude of ultraviolet light spectral coverage attitude sensor that utilizes and has been determined method, comprise that image pre-service, bright limb extract and Attitude Calculation, it needs ephemeris information to calculate earth imaging model and more just can obtain attitude angle by metrical information at rail, and is more loaded down with trivial details.
U.S. Patent number: US5189295, title: Three axis earth/star sensor, this patent has been introduced a kind of three-axis attitude sensor that utilizes visible spectrum, its deficiency is to use the visible spectrum sensitivity to be subjected to atmospheric effect easily and to bring error to the earth, and it is very difficult not carry out in addition making cutting apart of imaging region that follow-up asterism extracts with earth edge extracting.
Article: " Combined Earth/Star Sensor for attitude and orbit determination ofgeostationary satellites " PHD Paper of Christopher T.F.kuhl, University ofStuttgart Germany 2005, introduced the German visible light earth/Star Sensor, be used for earth satellite, deficiency is not carry out the visual field passage and divides, the fixed star and the earth all are imaged on same area, are not easy to target and extract.
Summary of the invention
Technology of the present invention is dealt with problems and is: overcome the deficiencies in the prior art, a kind of visual light navigation sensor that deep space does not have atmosphere or the thin celestial body detection of atmosphere that is used for is provided, and this navigation sensor utilizes width visible spectrum, branch visual field, divides the imaging regional development and technology to solve optical sensor to imaging problem when plesioaster, fixed star are on same target surface.In addition, we are bright to have normal imaging pattern and a binning imaging pattern, has strengthened system's detection sensitivity, has improved data updating rate.
Technical solution of the present invention is: described visual light navigation sensor adopts visible spectrum and twin-channel optical system of width difference that different target is imaged onto same photodetector target surface isolated area separately, and described optical system is divided into two independent visual field passages and respectively plesioaster, fixed star is carried out imaging; Photodetector looks like to convert to simulating signal output with plesioaster, star chart; Circuits System obtains digital picture after described simulating signal is handled and changed; Last image and attitude calculation unit are handled plesioaster image information and fixed star image information respectively, and calculate plesioaster center vector, orbit altitude and the inertia attitude that satellite navigation needs.
Described plesioaster is not have atmosphere or the thin celestial body of atmosphere, comprises the moon, Mars, asteroid.
Described optical system comprises angle mount catoptron, plane mirror, N face cone catoptron, a N optical filtering, combination globe lens, binary optical device, single mode fibers panel; A described N optical filtering sees through narrow visible spectrum, and described single mode fibers panel is a curved surface; The light of annular visual field is injected N face cone catoptron after optical filtering filters, incident ray by N face cone mirror reflects to plane mirror, enter the imaging of combination globe lens by plane mirror reflection again, this imaging flattens laggardly to go into photodetector and carry out opto-electronic conversion through the single mode fibers panel; The light of visual field, center wide visible spectrum optical filter by the visual field, center after the angle mount mirror reflects enters the imaging of combination globe lens, and this imaging flattens laggardly to go into photodetector and carry out opto-electronic conversion through the single mode fibers panel; Described N is 4～10 natural number.
Described image and attitude calculation unit to the treatment scheme of plesioaster image information are: the plesioaster image is carried out brightness analysis, the image that meets the demands is carried out outer plesioaster marginal point to be extracted, carry out determining of true marginal point according to marginal point character, utilize least square method to carry out the match computing and the Attitude Calculation of the earth's core vector, orbit altitude.
Described image and attitude calculation unit to star chart as the information processing flow process are: the fixed star star chart is carried out the image pre-service, carrying out the asterism coordinate then extracts, the coordinate figure that extracts according to asterism carries out the barycenter sequence permutation according to asterism brightness, carry out importance in star map recognition again, begin to calculate corresponding angles distance in the visual field from ludcida, according to angular distance size between many stars star chart is discerned, utilized many stars to carry out the optimal estimation of three inertia attitude angle at last.
Described image and attitude calculation unit have the processing power to normal imaging pattern and two kinds of imaging pattern compatibilities of binning pattern, wherein binning pattern output pixel merges the back image, and information processing has realized using under the binning pattern importance in star map recognition of same star catalogue of normal mode and algorithm by the amplification of asterism angular distance, error margin amplification mode; Realized the use of nominal data by the position inverse.
The Circuits System of described visual light navigation sensor comprises header circuit, digital processing circuit; Described header circuit has adjusting integral time, gain-adjusted and pixel merging binning pattern ability is set; Header circuit comprises sequential control circuit, driving circuit, photo-detector circuit, video processing circuits, the integral time of sequential that sequential control circuit produce to need and control photodetector, and provide control timing for video processing circuits; Driving circuit receives the sequential that sequential circuit produces, the work of power drive photodetector; Photo-detector circuit is accepted the driving of driving circuit, to plesioaster, fixed star image transitions output analog video signal; Video processing circuits is carried out difference to analog picture signal and is gone direct current, twice amplification, two-phase to close sampling CDS, gain transformations, threshold value control, conversion is transformed into data image signal through AD, convert the differential signal of being convenient to transmit again to, deposit in the video memory of digital processing circuit, handle, calculate for data processing circuit; Described digital processing circuit comprises DSP, FPGA, EEPROM, SROM, PROM, communication interface, wherein EEPROM places star catalogue and nominal data, dsp processor is handled the digital picture of header circuit input according to Flame Image Process of solidifying among the PROM and Attitude Calculation algorithm routine, at last result is exported to navigational computer through communication interface.
The optical system of described visual light navigation sensor also comprises visual field, center light shield, annular visual field light shield, and visual field, center light shield and angle mount catoptron connect firmly and prevent veiling glare incident, and annular visual field light shield and N face cone catoptron connect firmly and prevent veiling glare incident.
The optical system of described visual light navigation sensor also comprises N sub-visual field division board, and each sub-visual field division board is each faceted pebble of corresponding N face cone catoptron respectively, and described N is 4～10 natural number.
The angle mount catoptron of described optical system adopts 45 ° of catoptrons.
The optical system of described two spectral coverages is imaged onto same photodetector target surface isolated area separately to different target, that is: adopt narrow visible spectrum that plesioaster is carried out imaging, and imaging region is positioned at photodetector target surface outer ring portion; Adopt wide visible spectrum that fixed star is carried out imaging, imaging region is positioned at photodetector target surface central area.
Described photodetector is CCD or APS.
The present invention's advantage compared with prior art is:
(1) our bright use simple spectrum section technology solved the outer over the ground celestial body of optical sensor, fixed star on same target surface in imaging problem, plesioaster imaging passage is used narrow visible spectrum, fixed star imaging passage is used wide visible spectrum, reached two channel energy balances, the thin celestial body visible light of atmosphere is preferred spectral coverage too simultaneously.
(2) our bright use branch visual field, divide the imaging regional development and technology that the space, visual field is divided into outer shroud visual field plesioaster passage, visual field, center fixed star passage, imaging space is divided into separate plesioaster imaging region, fixed star imaging region, compares with existing technology to make the target extraction difficulty of plesioaster and fixed star simplify greatly.
(4) the present invention has normal imaging pattern and binning imaging pattern simultaneously, has strengthened system's detection sensitivity, has improved data updating rate.
(5) the present invention directly carries out image processing, edge extracting and least square method by captured image and obtains the earth's core vector and orbit altitude, and comparing prior art the present invention does not need priori plesioaster ephemeris information, thereby calculated amount is simplified.
(6) the present invention on header circuit, realized integral time and gain at rail from main regulation, compared with prior art more can adapt to object brightness and change big situation.
Description of drawings
Fig. 1 is visual light navigation sensor one-piece construction figure of the present invention;
Fig. 2 is a visual light navigation sensor fundamental diagram of the present invention;
Fig. 3 is optical system structure of the present invention and schematic diagram;
Fig. 4 is a header circuit composition frame chart of the present invention;
Fig. 5 is a digital processing circuit composition frame chart of the present invention;
Fig. 6 is image of the present invention and attitude calculation unit information processing overall flow figure;
Fig. 7 is the message processing flow figure of visible light plesioaster;
Fig. 8 is the message processing flow figure of visible light fixed star.
Among Fig. 1: 101 is fixed star visual field passage, and 102 is fixed star visual field light shield, and 103 is plesioaster visual field passage, and 104 is plesioaster visual field light shield, and 105 is cabinet;
Among Fig. 3: 1 is the angle mount catoptron, 2 is plane mirror, 3 is N face cone catoptron, and 4 is N optical filtering, and 5 are the combination globe lens, 6 is binary optical device, 7 is the optical fiber combination panel, and 8 is the CCD photodetector, and 9 is visual field, center light shield, 10 is annular visual field light shield, and 11 is sub-visual field division board.
Embodiment
Below in conjunction with the drawings and specific embodiments the present invention is done to describe in further detail:
Fig. 1 is visual light navigation sensor one-piece construction figure of the present invention.This visual light navigation sensor comprises optical system, Circuits System, image and attitude calculation unit.Flame Image Process and Attitude Calculation algorithm are solidificated in the PROM chip of Circuits System, optical system, Circuits System are connected and form integrated machine system, the complete machine external interface has RS422 serial ports, Jtag artificial mouth, primary power source mouth, connects navigational computer, emulator and primary power source respectively.Circuits System comprises header circuit, digital processing circuit; Header circuit is converted to electric signal with light signal, and through Video processing and AD conversion becoming data image signal; Digital processing circuit is finished the information processing of data image signal and is exported to the navigational computer result.
Fig. 2 is a visual light navigation sensor fundamental diagram of the present invention.The plesioaster image of visible light wave range through the star chart picture of octahedral mirror reflection and visible light wave range behind 45 ° of catoptrons, pass through globe lens, shine the CCD sensitive element, become video analog signal through opto-electronic conversion, carry out Video processing and amplification afterwards, become digital signal by the AD line transfer again, in differential transfer deposits video memory in the DPU cabinet in, handle for data processing unit, dsp processor in the digital processing element is handled and is calculated digital image according to the algorithm among the PROM, in addition digital picture is deposited in the working area and is undertaken passing under the image by the 1553B bus.
Fig. 3 is optical system structure of the present invention and schematic diagram.Optical system is mainly finished the collection of spatial light signal, focus on and be imaged at last on the CCD target surface, by 45 ° of catoptrons 1, plane mirror 2, N face cone catoptron 3, N optical filtering 4, combination globe lens 5, binary optical device 6, optical fiber combination panel 7, CCD receiver 8, visual field, center light shield 9, annular visual field light shield 10, N sub-visual field division board 11 formed, visual field, center light shield 9 and 45 ° of catoptrons 1 are connected with glue and screw by special space flight, 45 ° of catoptrons 1 adopt screw to be connected with plane mirror 2, plane mirror 2 forms two mirror reflection array systems with N face cone catoptron 3, annular visual field light shield 10 is installed in N face cone catoptron 3 outsides, a conical surface of each optical filtering 4 corresponding N face cone catoptron 3 in N optical filtering 4, each faceted pebble of the corresponding N face cone catoptron 3 of each sub-visual field division board 11 difference in the individual sub-visual field of the N division board 11, binary optical device 6 is installed between two hemisphere of combination globe lens 5, combination globe lens 5 and two mirror reflection array systems are formed optical imaging system, and optical fiber combination panel 7 is pasted with CCD receiver 8 and formed photo-translating system; Described N is 4～10 natural number.
When the present invention works, the light of annular visual field is limit visible spectrum narrow through optical filtering 4, inject N face cone catoptron 3, incident ray reflexes to plane mirror 2 by N face cone catoptron 3, enter combination globe lens 5, binary optical device 6 imagings by plane mirror 2 reflection again, this imaging flattens laggardly to go into photodetector (CCD) 8 and carry out opto-electronic conversion through annular visual field fibre faceplate; The light of visual field, center enters combination globe lens 5, binary optical device 6 imagings through 45 ° of catoptrons 1 reflection back by wide visible spectrum optical filter, and this imaging is gone into photodetector (CCD) 8 and carried out opto-electronic conversion through fibre faceplate flattening in visual field, center is laggard.
Present embodiment adopts octahedral awl catoptron, eight optical filterings, eight sub-visual field division boards, wherein the cone angle design of octahedral awl catoptron becomes 20 °, make that the incident angle of annular visual field is 110 °～150 °, all there is light shield visual field, center and annular visual field, can effectively prevent the mutual interference mutually that veiling glare causes outside visual field, center and the annular visual field; Outer shroud visual field passage and visual field, center passage all have optical filtering to extract effective service band, and be alternative strong; The reflective array of 8 sub-visual field compositions has increased by 2 computing parameters than 6 sub-visual fields of HoneyWell company, helps improving measuring accuracy.
Differ bigger on the visible radiation energy of visible light fixed star and plesioaster, this just requires the sensitization dynamic range of CCD very big, not so it is bigger as difficulty to handle two targets simultaneously on a CCD, plesioaster edge visible radiation energy is strong than the emittance of fixed star visible light, for sensitivity arrives fixed star, thereby require optical system that big relative aperture will be arranged, could guarantee that optical system can receive more target emanation.In order to overcome these difficulties, present embodiment selects visible light wave range 500nm～800nm as the fixed star service band; Select 545～555nm as observation plesioaster service band, the radiation of these two wave bands is calculated all within the trend of work scope of ccd detector from energy, globe lens and two mirror reflection array systems constitute ultra-large vision field angle optical system, binary optical device is on the plane at aperture diaphragm place, the aperture diaphragm size is φ 6mm, the globe lens bore is φ 19mm, and the relative aperture of optical system is near 1/1.Binary optical device adopts eight steps, the step periodicity is 22, minimum feature is 10 μ m, visible light wave range centre wavelength is 0.550 μ m, utilize like this lens combination that binary optical device and globe lens form with the spectrum diffraction on the optical fiber combination panel, the adding binary optical device can be eliminated the aberration in the optical system, the image quality in the raising system in the globe lens system.
Fig. 4 is a header circuit composition frame chart of the present invention, header circuit comprises sequential control circuit, driving circuit, CCD circuit, video processing circuits, sequential control circuit produces sequential that CCD needs and the integral time of control CCD, and provides control timing for video processing circuits; Driving circuit receives the sequential that sequential circuit produces, power drive CCD work; The CCD circuit accepts to drive the driving of sequential, to the earth, fixed star image transitions output analog video signal; Video processing circuits is carried out difference to analog picture signal and is gone direct current, twice amplification, two-phase to close sampling CDS, gain transformations, threshold value control, conversion is transformed into data image signal through AD, convert the differential signal of being convenient to transmit again to, deposit in the video memory of digital processing circuit, handle, calculate for data processing circuit.Wherein, CCD requires the aerospace level, can adapt to space environment, and is highly sensitive to visible light, requires to have higher quantum efficiency, and present embodiment adopts the 47-20 chip of E2V company; FPGA adopts the XC2S50TQ144 of Xilinx company to generate sequential, produce various control signals, and video processing circuits adopts the scheme that Guan Qianfang, CDS, broken line are amplified.The CDS circuit is selected the ripe device TH7982AVWB90NB of sample clamped and the method for sampling for use.Gain-changeable amplifier circuit has the amplification of gain broken line and two kinds of functions of gain general adjustment.AD selects AD9220 for use, and it is 12 analog to digital converters of two-way, and ccd signal has carried out differential conversion again and realized differential transfer after AD is converted to numerical signal, exports to digital processing circuit afterwards.Wherein the implementation method of pixel pooling function (binning) is that the pixel that will need earlier to merge closes on the row merging in readout register, and then close on pixel and merge, merging the quantity of row and the quantity of merging pixel can adjust, the pixel pooling function can improve system's detection sensitivity, improves data updating rate simultaneously.
Fig. 5 is a digital processing circuit composition frame chart of the present invention, comprise DSP, FPGA, EEPROM, SROM, PROM, communication interface, dsp processor is carried out Flame Image Process and the Attitude Calculation algorithm routine that solidifies among the PROM, digital picture to the header circuit input is handled, and at last result is exported to navigational computer through communication interface.DSP uses the TSC21020F of TEMIC company; Intermediate variable SRAM is used to deposit the intermediate data of software computing and storehouse etc.Adopt the sram chip UT9Q512K32 of the 512k * 32bits of 1 UTMC company.EEPROM is used to deposit static datas such as tables of data that application software uses and nominal data, and data are stored with 32 bit formats.Adopt the eeprom chip WE_E128K32N of the 128k * 32bits of 1 White company; Clock circuit uses the 16M crystal oscillator to provide reference clock as dsp processor, resets and the watchdog circuit use MAXIM military products device MAX706 of company.FPGA selects the EPF10K50 of ALTERA company for use, finishes function original image SRAM and intermediate image SRAM are controlled, and finishing to have operation.The head steering order is divided into three kinds: integral time, gain, binning pattern are provided with instruction and light integration sign on.Intermediate image SRAM is used to store probe map picture and the view data of preparation by passing under the 1553B bus.Adopt the sram chip MMSR16001604SSC of the 1M * 16bits of 2 3Dplus companies.Original image SRAM is used to store the view data of head integration.Adopt the sram chip MMSR16001604SSC of the 1M * 16bits of 1 3Dplus company, view data is 1M * 12bits.The 1553B chip is selected BU-61580 for use, and the READYD pin of BU-61580 links to each other with the DMACK pin of DSP after FPGA is reverse.The RS422 serial ports utilizes the 82C52 chip, and the baud rate of communication is 115.2kbps.
Fig. 6 is image of the present invention and attitude calculation unit information processing overall flow figure.It is handled two parts by information processing of visible light plesioaster and fixed star star chart and forms, the whole implementation serial computing, at first the plesioaster image-region is handled and calculated the earth's core vector and orbit altitude, the fixed star image region is handled calculated three inertia attitudes then.Wherein the pattern setting is divided into normal mode and binning pattern, angular distance calculates and the angular travel error tolerance limit need be amplified according to pixel merging amount in star chart when the binning pattern, can use the star catalogue and the recognizer of normal mode like this in the guarantee information processing procedure, equally in nominal data is used by position inverse mode the binning pattern under coordinate Mapping to the normal picture coordinate, thus can be so that two kinds of computation schemas use same group of nominal data.
Fig. 7 is the message processing flow figure of visible light planet.At first carry out image analysis, comprise strong veiling glare judgement and histogram analysis, ccd image can produce hangover and the pollution of large tracts of land veiling glare when veiling glares such as the sun enter, this module will realize the judgement of above-mentioned state and provide mark according to imaging model under the high light, then return and do not carry out follow-up and handle when the high light mark is in enabled state.Obtain image background threshold value and target average brightness according to the histogram result,, then return and do not carry out subsequent treatment if information is lower than calculation requirement according to threshold decision target effective quantity of information size.Change saturated judgement afterwards over to, judge according to the boundary pixel brightness of outer shroud each minute visual field whether the imaging of visible light plesioaster exceeds the view field imaging zone, be then to change polarity over to judge, in advance preestablish the polarity logic of each branch visual field under saturated by ground, carry out the polarity of attitude angle judges according to this logic, otherwise image is carried out edge extracting, extract plesioaster figure marginal point, compensate according to nominal data, carry out the earth's core vector with least-squares algorithm afterwards, the optimal fitting of orbit altitude is at last according to the attitude quality grade of attitude validity Model Calculation computing this time and export attitude.Attitude measurement algorithm articles of reference " ring month satellite imagery sensor to the moon attitude determine algorithm ", space science technology, vol26, no.6,2006.
Fig. 8 is the message processing flow figure of visible light fixed star.At first carry out the image pre-service, the fixed star star chart is carried out image enhancement, comprise methods such as histogram stretching, in addition statistical pixel brightness calculation background threshold.And carry out the asterism coordinate according to this threshold value and extract, will remove noise spot according to features such as fixed star sizes in the process.The number that proposes according to asterism is if carry out subsequent treatment more than or equal to 3, otherwise the not enough program of asterism number is returned.Determine by the sub-pixel that centroid algorithm carries out the asterism center according to the coordinate figure that asterism extracts, and carry out the barycenter sequence permutation according to asterism brightness.Begin to calculate in the visual field corresponding angles from ludcida and search for the possible star group of each angular distance then according to the K vector operation, determine asterism position in star catalogue in conjunction with the pyramid recognizer apart from group.The storage angular distance of star batch total in the visual field being calculated angular distance and matching result compares, and thinks then that the match is successful otherwise thinks failure with interior in threshold value as if difference.Carry out the attitude correctness according to the characteristic of attitude battle array and judge that mistake is then returned, otherwise exports three inertia attitudes.Star Pattern Recognition Algorithm is referring to article " Search-lessalgorithm for star pattern recognition " Journal of Astronaut Sciences, 45,2,1997, p179-194.
The present invention not detailed description is a technology as well known to those skilled in the art.
Claims (10)
1. visual light navigation sensor, it is characterized in that: described visual light navigation sensor adopts visible spectrum and twin-channel optical system of width difference that different target is imaged onto same photodetector target surface isolated area separately, and described optical system is divided into two independent visual field passages and respectively plesioaster, fixed star is carried out imaging; Photodetector looks like to convert to simulating signal output with plesioaster, star chart; Circuits System obtains digital picture after described simulating signal is handled and changed; Last image and attitude calculation unit are handled plesioaster image information and fixed star image information respectively, and calculate plesioaster center vector, orbit altitude and the inertia attitude that satellite navigation needs; Described optical system comprises angle mount catoptron (1), plane mirror (2), N face cone catoptron (3), a N optical filtering (4), combination globe lens (5), binary optical device (6), single mode fibers panel (7); A described N optical filtering (4) sees through narrow visible spectrum, and described single mode fibers panel (7) is a curved surface; The light of annular visual field is injected N face cone catoptron (3) after optical filtering (4) filters, incident ray reflexes to plane mirror (2) by N face cone catoptron (3), enter the imaging of combination globe lens (5) by plane mirror (2) reflection again, this imaging flattens laggardly to go into photodetector and carry out opto-electronic conversion through single mode fibers panel (7); The light of visual field, center enters the imaging of combination globe lens (5) through angle mount catoptron (1) reflection back by the wide visible spectrum optical filter of visual field, center, and this imaging is gone into photodetector and carried out opto-electronic conversion through single mode fibers panel (7) flattening is laggard; Described N is 4～10 natural number, and described plesioaster is not have atmosphere or the thin celestial body of atmosphere, comprises the moon, Mars, asteroid.
2. visual light navigation sensor according to claim 1, it is characterized in that: described image and attitude calculation unit to the treatment scheme of plesioaster image information are: the plesioaster image is carried out brightness analysis, the image that meets the demands is carried out the plesioaster marginal point to be extracted, carry out determining of true marginal point according to marginal point character, utilize least square method to carry out the match computing and the Attitude Calculation of the earth's core vector, orbit altitude.
3. visual light navigation sensor according to claim 1, it is characterized in that: described image and attitude calculation unit to star chart as the information processing flow process are: the fixed star star chart is carried out the image pre-service, carrying out the asterism coordinate then extracts, the coordinate figure that extracts according to asterism carries out the barycenter sequence permutation according to asterism brightness, carry out importance in star map recognition again, begin to calculate corresponding angles distance in the visual field from ludcida, according to angular distance size between many stars star chart is discerned, utilized many stars to carry out the optimal estimation of three inertia attitude angle at last.
4. according to claim 1 or 2 or 3 described visual light navigation sensors, it is characterized in that: described image and attitude calculation unit have the processing power to normal imaging pattern and two kinds of imaging pattern compatibilities of binning pattern, wherein binning pattern output pixel merges the back image, and information processing has realized using under the binning pattern importance in star map recognition of same star catalogue of normal mode and algorithm by the amplification of asterism angular distance, error margin amplification mode; Realized the use of nominal data by the position inverse.
5. visual light navigation sensor according to claim 1 is characterized in that: the Circuits System of described visual light navigation sensor comprises header circuit, digital processing circuit; Described header circuit has adjusting integral time, gain-adjusted and pixel merging binning pattern ability is set; Header circuit comprises sequential control circuit, driving circuit, photo-detector circuit, video processing circuits, the integral time of sequential that sequential control circuit produce to need and control photodetector, and provide control timing for video processing circuits; Driving circuit receives the sequential that sequential control circuit produces, the work of power drive photodetector; Photo-detector circuit is accepted the driving of driving circuit, to plesioaster, fixed star image transitions output analog video signal; Video processing circuits is carried out difference to analog picture signal and is gone direct current, twice amplification, two-phase to close sampling CDS, gain transformations, threshold value control, conversion is transformed into data image signal through AD, convert the differential signal of being convenient to transmit again to, deposit in the video memory of digital processing circuit, handle, calculate for data processing circuit;
Described digital processing circuit comprises DSP, FPGA, EEPROM, SROM, PROM, communication interface, wherein EEPROM places star catalogue and nominal data, dsp processor is handled the digital picture of header circuit input according to Flame Image Process of solidifying among the PROM and Attitude Calculation algorithm routine, at last result is exported to navigational computer through communication interface.
6. visual light navigation sensor according to claim 1, it is characterized in that: the optical system of described visual light navigation sensor also comprises visual field, center light shield (9), annular visual field light shield (10), visual field, center light shield (9) connects firmly with angle mount catoptron (1) and prevents veiling glare incident, and annular visual field light shield (2) connects firmly with N face cone catoptron (3) and prevents veiling glare incident.
7. visual light navigation sensor according to claim 1, it is characterized in that: the optical system of described visual light navigation sensor also comprises N sub-visual field division board (11), each sub-visual field division board (11) is each faceted pebble of corresponding N face cone catoptron (3) respectively, and described N is 4～10 natural number.
8. visual light navigation sensor according to claim 1 is characterized in that: the angle mount catoptron (1) of described optical system adopts 45 ° of catoptrons.
9. visual light navigation sensor according to claim 1, it is characterized in that: the optical system of described two spectral coverages is imaged onto same photodetector target surface isolated area separately to different target, that is: adopt narrow visible spectrum that plesioaster is carried out imaging, imaging region is positioned at photodetector target surface outer ring portion; Adopt wide visible spectrum that fixed star is carried out imaging, imaging region is positioned at photodetector target surface central area.
10. according to claim 1 or 5 or 9 described visual light navigation sensors, it is characterized in that: described photodetector is CCD or APS.
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