CN101236092A - Ultraviolet navigation sensor - Google Patents
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- CN101236092A CN101236092A CNA2008100573525A CN200810057352A CN101236092A CN 101236092 A CN101236092 A CN 101236092A CN A2008100573525 A CNA2008100573525 A CN A2008100573525A CN 200810057352 A CN200810057352 A CN 200810057352A CN 101236092 A CN101236092 A CN 101236092A
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Abstract
The invention discloses an ultraviolet navigation sensor which employs an optical system with two spectrum bands images different objects to respective independent areas on the target surface of a photodetector, simultaneously are divided into two independent viewing field channels which respectively image earth and stars. The photodetector converts images of the earth and the stars into a stimulating signal to output. An electrical system samples, extracts and converts the stimulating signal to obtain digital images. At last, an image and attitude computing element respectively processes the ultraviolet earth information and the visible light star information and computes and obtains a geocentric vector, an orbit height and an inertial attitude needed by satellite navigation. The ultraviolet navigation sensor employs the technique of sub-spectrum-bands, sub-viewing-fields and sub-imaging-areas, and resolves the problem that the photodetector simultaneously images the earth and the stars on the same target surface. In addition, the ultraviolet navigation sensor has a normal imaging mode and a binning imaging mode, thereby enhancing the detection sensitivity of the system and increasing the update rate of data.
Description
Technical field
The present invention relates to a kind of UV navigation sensor, belong to the optical sensor field in the attitude control system on the spacecraft.
Background technology
Quick progress along with imaging detection device and processor technology, the spacecraft attitude sensor is developed to imaging type by the unit scan formula gradually, and along with the success of imaging type Star Sensor, imaging type earth sensor, imaging type moon sensor is flown at rail, optical sensor begins to more wide variety of functions---optics autonomous navigation sensor direction develops.It not only can provide the three-axis satellite attitude but also can provide orbital position, can reduce the burden of ground control station greatly, and strengthening spacecraft capacity of will and viability is the important component part of Intelligent Control for Spacecrafts system.
The U.S. utilizes day in the MANS system of nineties development,, month information realizes the spacecraft independent navigation, also has the ERADS system of HoneyWell company exploitation afterwards, utilizes unified the ultraviolet spectral coverage earth, fixed star to carry out attitude, track is determined; Germany has developed the 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-axis attitude sensor that utilizes the ultraviolet spectral coverage, do not carry out the division of fixed star, earth visual field passage and imaging region, make 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 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 spectral coverage attitude sensor that utilizes and has been determined method, comprise that image pre-service, bright limb extract and Attitude Calculation, deficiency is that 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.
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 UV navigation sensor that is used for earth satellite is provided, and this navigation sensor utilization divides spectral coverage, branch visual field, divides the imaging regional development and technology to solve optical sensor to imaging problem when the earth, 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 UV navigation sensor adopts the optical system with two spectral coverages 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 the earth, fixed star is carried out imaging; Photodetector looks like to convert to simulating signal output with the earth, star chart; Circuits System obtains digital picture to described analog signal sampling, extraction and after changing; Last image and attitude calculation unit are handled ultraviolet earth image information and visible light fixed star image information respectively, by calculating the earth's core vector, orbit altitude and the inertia attitude that satellite navigation needs.
Described optical system comprises angle mount catoptron, plane mirror, N face cone catoptron, a N optical filtering, combination globe lens, binary optical device, optical fiber combination panel; Described optical fiber combination panel is a curved surface, form by annular visual field fibre faceplate and visual field, center fibre faceplate, visual field, center fibre faceplate places annular visual field fibre faceplate and keeps with one heart, and the curved surface of visual field, center fibre faceplate is lower than the curved surface of annular visual field fibre faceplate; 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 annular visual field fibre faceplate; The light of visual field, center directly enters combination globe lens imaging after the angle mount mirror reflects, this imaging flattens laggardly to go into photodetector and carry out opto-electronic conversion through visual field, center fibre faceplate; Described N is 4～10 natural number.
Described image and attitude calculation unit to ultraviolet earth image information processing flow process are: earth image is carried out brightness analysis, the image that meets the demands is carried out outer earth 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 at last.
Described image and attitude calculation unit to the visible light 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 UV 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 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; 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 UV 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 UV 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 the ultraviolet spectral coverage over the ground ball carry out imaging, imaging region is positioned at photodetector target surface outer ring portion; Adopt visible spectrum that fixed star is carried out imaging, imaging region is positioned at photodetector target surface central area.
The present invention's advantage compared with prior art is:
(1) the two spectral coverage technology of our bright use have solved optical sensor to imaging problem when the earth, fixed star are on same target surface, earth imaging passage is used stable ultraviolet spectral coverage, fixed star imaging passage is used visible spectrum, not only reached two channel energy balances but also realized preferred spectral coverage two kinds of different targets; Compare with existing total visible light spectral coverage imaging technique and to have improved earth image quality, compare with full ultraviolet spectral coverage imaging technique and improved the fixed star image quality.
(2) optical system optical fiber combination panel of the present invention adopts the version of annular visual field assembled panel and visual field, center assembled panel, visual field, center assembled panel can receive the visible light of fixed star, annular visual field assembled panel can receive the ultraviolet light of the earth, can realize that double image face, two spectrum receive, and have improved the spectrum range of receiving of UV navigation sensor compared to existing technology.
(3) our bright use branch visual field, divide the imaging regional development and technology that the space, visual field is divided into earth passage, fixed star passage, imaging space is divided into separate earth imaging region, fixed star imaging region, compares with existing technology to make the information processing work difficulty of the earth and fixed star simplify greatly.
(4) the present invention has normal imaging pattern and binning imaging pattern and corresponding Processing Algorithm 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 by captured image and obtains the earth's core vector and orbit altitude, and comparing prior art the present invention does not need a priori that the soccer star goes through information, thereby calculated amount is simplified.
(6) the present invention on header circuit, realized integral time, 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 UV navigation sensor one-piece construction figure of the present invention;
Fig. 2 is a UV navigation sensor fundamental diagram of the present invention;
Fig. 3 is optical system structure of the present invention and schematic diagram;
Fig. 4 is an optical fiber combination panel structure chart of the present invention;
Fig. 5 is binary optical device result of calculation figure of the present invention;
Fig. 6 is a header circuit composition frame chart of the present invention;
Fig. 7 is a digital processing circuit composition frame chart of the present invention;
Fig. 8 is image of the present invention and attitude calculation unit information processing overall flow figure;
Fig. 9 is the message processing flow figure of the ultraviolet earth;
Figure 10 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 ultraviolet earth visual field passage, and 104 is earth 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;
Among Fig. 4: 31 is annular visual field fibre faceplate, and 32 is visual field, center fibre faceplate.
Embodiment
Below in conjunction with the drawings and specific embodiments the present invention is done to describe in further detail:
Fig. 1 is UV navigation sensor one-piece construction figure of the present invention.This UV 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 UV navigation sensor fundamental diagram of the present invention.The earth image of ultraviolet band 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 circuit conversion 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, 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 photodetector (CCD) 8 and formed photo-translating system; Described N is 4～10 natural number.
Fig. 4 is an optical fiber combination panel structure chart of the present invention.Optical fiber combination panel 7 is a curved surface, form by annular visual field fibre faceplate 31 and visual field, center fibre faceplate 32, visual field, center fibre faceplate 32 places annular visual field fibre faceplate 31 and keeps with one heart, in order to guarantee that aberration does not appear in the imaging on optical fiber combination panel 7 of ultraviolet light and visible light, need move forward the ultraviolet band image planes, make the curved surface of visual field, center fibre faceplate 32 will be lower than the curved surface of annular visual field fibre faceplate 31 like this.
When the present invention works, the light of annular visual field is injected N face cone catoptron 3 after optical filtering 4 filters the spectrum outside the service band, 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 31; The light of visual field, center directly enters combination globe lens 5, binary optical device 6 imagings after 45 ° of catoptrons 1 reflection, this imaging flattens laggardly to go into photodetector (CCD) 8 and carry out opto-electronic conversion through visual field, center fibre faceplate 32.
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; Extract effective service band by optical filtering, alternative strong; The reflective array of 8 sub-visual field compositions has increased by 2 computing parameters than 6 sub-visual fields, helps improving measuring accuracy.
Differ bigger on the UV radiation energy of the ultraviolet fixed star and the earth, 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, earth edge UV 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 355～365nm as observation earth service band, the radiation of these two wave bands is calculated all within the trend of work scope of ccd detector from energy, but want an optical system to finish the imaging simultaneously of two wave bands, this is the important techniques problem of two light spectrum image-formings, and general conventional camera lens is not easy to realize.The present invention adopts globe lens and binary optical device to form lens combination, globe lens camera lens material selection sapphire wherein, this material shock resistance, corrosion-resistant, high temperature resistant, big in shortwave scope refractive index, help eliminating the optical system spherical aberration, constitute ultra-large vision field angle optical system with two mirror reflection array systems, binary optical device is on the plane at aperture diaphragm place, the aperture diaphragm size is φ 6mm, and the globe lens bore is φ 19mm, and the relative aperture of optical system is near 1/1.The binary optical device step shape as shown in Figure 5, adopt eight steps, the step periodicity is 22, minimum feature is 10 μ m, visible light wave range centre wavelength is μ m O.550, utilize like this lens combination that binary optical device and globe lens form with the spectrum diffraction of two different-wavebands on the optical fiber combination panel, add binary optical device in the globe lens system and can eliminate aberration in the optical system, the image quality in the raising system.Because two image planes are left certain distance, visual field, the center assembled panel of optical fiber combination panel and the radius-of-curvature of annular visual field assembled panel are designed to 12.980 ± 0.01mm, and the curved surface that makes visual field, center fibre faceplate will be lower than the curved surface 0.18 ± 0.01mm of annular visual field fibre faceplate, guaranteed that the diffraction image of two visual fields is the first-order diffraction picture.
Fig. 6 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 ultraviolet spectrum, 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. 7 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. 8 is image of the present invention and attitude calculation unit information processing overall flow figure.It is handled by the ultraviolet Earth Information and fixed star star chart processing two parts are formed, overall flow is implemented according to serial computing, at first earth 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. 9 is the message processing flow figure of the ultraviolet earth.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 the ultraviolet earth 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 earth figure marginal point, carrying out true edge according to the imaging difference of marginal point and terminator and the aspect of model determines, afterwards true marginal point is carried out the positional precision compensation according to nominal data, carry out the earth's core vector with least-squares algorithm then, the optimal fitting of orbit altitude, by the earth's core vector meter ground diaxon attitude angle of getting it right, 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.
Figure 10 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 the figure image intensifying, can use methods such as comprising the 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 size, length breadth ratios 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 apart from group according to the K vector operation from ludcida, search for the possible star group of each angular distance then, calculating angular distance in the visual field and storage angular distance are compared, if difference is thought then that the match is successful otherwise is thought failure with interior in threshold value, determines asterism position in star catalogue in conjunction with the pyramid recognizer.At last attitude battle array characteristic is carried out the attitude correctness 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 (11)
1, UV navigation sensor, it is characterized in that: described UV navigation sensor adopts the optical system with two spectral coverages 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 the earth, fixed star is carried out imaging; Photodetector looks like to convert to simulating signal output with the earth, star chart; Circuits System obtains digital picture to described analog signal sampling, extraction and after changing; Last image and attitude calculation unit are handled ultraviolet earth image information and visible light fixed star image information respectively, by calculating the earth's core vector, orbit altitude and the inertia attitude that satellite navigation needs.
2, UV navigation sensor according to claim 1 is characterized in that: 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), optical fiber combination panel (7); Described optical fiber combination panel (7) is a curved surface, form by annular visual field fibre faceplate (31) and visual field, center fibre faceplate (32), visual field, center fibre faceplate (32) places annular visual field fibre faceplate (31) and keeps with one heart, and the curved surface of visual field, center fibre faceplate (32) is lower than the curved surface of annular visual field fibre faceplate (31); 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 annular visual field fibre faceplate (31); The light of visual field, center directly enters the imaging of combination globe lens (5) after angle mount catoptron (1) reflection, this imaging flattens laggardly to go into photodetector and carry out opto-electronic conversion through visual field, center fibre faceplate (32); Described N is 4～10 natural number.
3, UV navigation sensor according to claim 1, it is characterized in that: described image and attitude calculation unit to ultraviolet earth image information processing flow process are: earth image is carried out brightness analysis, the image that meets the demands is carried out outer earth 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 at last.
4, UV navigation sensor according to claim 1, it is characterized in that: described image and attitude calculation unit to the visible light 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.
5, according to claim 1 or 3 or 4 described UV 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.
6, UV navigation sensor according to claim 1 is characterized in that: the Circuits System of described UV 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 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;
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.
7, UV navigation sensor according to claim 1 and 2, it is characterized in that: the optical system of described UV 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 (1O) connects firmly with N face cone catoptron (3) and prevents veiling glare incident.
8, UV navigation sensor according to claim 1 and 2, it is characterized in that: the optical system of described UV 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.
9, according to claim 2 or 7 described UV navigation sensors, it is characterized in that: the angle mount catoptron (1) of described optical system adopts 45 ° of catoptrons.
10, UV 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 the ultraviolet spectral coverage over the ground ball carry out imaging, imaging region is positioned at photodetector target surface outer ring portion; Adopt visible spectrum that fixed star is carried out imaging, imaging region is positioned at photodetector target surface central area.
11, according to claim 1 or 2 or 6 or 10 described UV navigation sensors, it is characterized in that: described photodetector is CCD or APS.
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| CN2008100573525A CN101236092B (en) | 2008-01-31 | 2008-01-31 | Ultraviolet navigation sensor |
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