CN101750068B - Sun sensor and measuring method thereof - Google Patents
Sun sensor and measuring method thereof Download PDFInfo
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- CN101750068B CN101750068B CN2009102647551A CN200910264755A CN101750068B CN 101750068 B CN101750068 B CN 101750068B CN 2009102647551 A CN2009102647551 A CN 2009102647551A CN 200910264755 A CN200910264755 A CN 200910264755A CN 101750068 B CN101750068 B CN 101750068B
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Abstract
The invention discloses a sun sensor and a measuring method thereof, relating to a device of an attitude sensor for measuring the relative positions of an aerocraft such as a satellite and the like and the sun and a measuring method thereof. The device comprises a light path introducer, a photosensor and a signal processor. The light path introducer consists of a reference optical fiber and introducing optical fibers, wherein the reference optical fiber is arranged at the center of the light path introducer, 2-2n pairs of introducing optical fibers are uniformly distributed on a circular track taking the reference optical fiber as the center of the a circle, wherein n is 2, 4 or 8, each pair of the introducing optical fibers comprise two optical fibers which are symmetrically distributed based on the center of the circle, and the end face normal of each introducing optical fiber and the end face normal of the reference optical fiber form an included angle of 15-60 degrees. The photosensor consists of photoelectric sensing elements with the same number as that of optical fiber, and the output end of each optical fiber is in butt joint with a photoelectric sensing element. The invention has the characteristics of high-precision resolution ratio, small volume, light weight, simple structure, low price and suitability for aerospace environment, and has wide generalization and application prospects.
Description
Technical field
The present invention relates to the device and the measuring method thereof of the attitude sensor between the position of aircraft such as a kind of satellite and the sun, particularly a kind of sun sensor and location measurement method thereof that adopts the multichannel light-conductive optic fibre as the light introducer.
Background technology
Sun sensor is a most widely used class alignment sensor in the Aeronautics and Astronautics field, all will be equipped with sun sensor on aircraft and the satellite.Determine the attitude of self by the position of measuring the relative aircraft body coordinate system of the sun.Select the sun to be because the angular radius of sun apparent disk is almost irrelevant with spacecraft orbit, therefore, great majority are used, regard that a pointolite can have been simplified the sun sensor design and attitude of flight vehicle is determined algorithm as with the sun is approximate as the reference target.Sun sensor is except can also can be used to the star sensor of protecting sensitivity very high for aircraft provides the attitude information.
At present, sun sensor mainly contains following three kinds according to the mode of its work:
1. " 0-1 " formula sun sensor, its structure is comparatively simple, opens a slit on the sensor face, and photoelectric cell is installed below, and when the sun enters the sensor visual field, photoelectric cell produces a step response, illustrates and has found the sun.Continue the step signal indication sun and find detector so be called the sun again.
2. analog sun sensor is called the cosine detecting device again, uses photoelectric cell as senser element, and photronic output signal strength is relevant with the incident angle of sunshine, and its relational expression is:
I(θ)＝I
0cosθ
Wherein:
θ is the angle of sun light beam and photoelectric cell normal direction;
I
0Electric current when being zero for the angle of sun light beam and photoelectric cell normal direction.
Generally speaking, its visual field is about 20～30 °, and precision is about 1 °, is subjected to other interference of light sources such as earth reflected light easily, makes the result to attitude measurement produce error.Present telstar mainly relies on analog sun sensor.
3. digital sun sensor, it has in light weight, low in energy consumption, advantages such as precision is high, modularization.It is the sensor that calculates the angle of sunshine by the departure of calculating sunray center reference position on sensor.At present, digital sun sensor mainly contains two kinds of CCD and CMOS active pixel sensor (APS), and the CCD sun sensor can be divided into line array CCD digital sun sensor and area array CCD formula sun sensor again, and the APS digital sun sensor is based on the face battle array.The visual field of CCD digital sun sensor is generally about ± 60 °, and its precision can reach≤0.05 °.Its detection principle is: sunshine is incident upon on the ccd sensor by slit, departs from the angle that sunshine is calculated in the CCD reference position by calculating the sunshine incident point.Service band mostly is the visible light wave range of 0.4～1.1 μ m.Document " the principle experiment of minitype digital sun sensor " ([J] Tsing-Hua University journal (natural science edition) 2005, Vol.45, No.2,186-189) a kind of minitype digital sun sensor based on novel light introducer and CMOS active pixel sensor (APS) cmos image sensor is disclosed, the principle of work of system, the design feature of light introducer and the characteristics of APS cmos image sensor have been introduced, and system error analysis and experiment have been carried out, experimental result shows that the angle estimation precision of this sun sensor is 0.16 ° in ± 10 ° of field angle.Yet because the universe high energy particle causes damage to the bombardment of light sensors such as CCD easily in space, therefore, digital sun sensor can not be applicable to space environment.
Summary of the invention
The objective of the invention is the deficiency that exists at prior art, provide a kind of and have the high-precision discriminating rate, volume is little, in light weight, simple in structure, and be applicable to the sun sensor and the measuring method thereof of space environment.
For achieving the above object, the technical solution adopted in the present invention is: a kind of sun sensor, it comprises light path introducer, light sensor and signal processor, described light path introducer comprises reference optical fiber and imports optical fiber, reference optical fiber places the center of light path introducer, with the reference optical fiber is the center of circle, on its circle track, evenly distribute 2～2n to importing optical fiber, n is 2,4 or 8, every pair imports optical fiber and comprises 2 optical fiber, they are symmetrical distribution by the center of circle, and the normal line of butt end of every importing optical fiber and the normal line of butt end of reference optical fiber are 15～60 ° angle; Described light sensor is made up of the photo electric sensitive element identical with fiber count, and the output terminal of every optical fiber and a photo electric sensitive element connect.
Described photo electric sensitive element is a photoelectric cell.Described signal processor comprises electric signal amplifier, A/D converter, data processor and data communication interface.
On the sensitive surface of described reference optical fiber light shield is installed.The sensitive surface of described importing optical fiber is provided with light-transmissive film.
A kind of sun sensor is measured the method for the sun and its relative position, comprises the steps:
(1) parallel rays by the light path introducer reference optical fiber and import fiber end face, enter optical fiber by the component of cos θ, obtain incident optical signal; Described θ angle is the incident angle of fiber end face normal and parallel rays, θ＜90 °; Described light path introducer, comprise reference optical fiber and import optical fiber, reference optical fiber places the center of light path introducer, with the reference optical fiber is the center of circle, evenly distribute 2～2n to importing optical fiber on its circle track, n is 2,4 or 8, and every pair imports optical fiber and comprises 2 optical fiber, they are symmetrical distribution by the center of circle, and the normal line of butt end of every importing optical fiber and the normal line of butt end of reference optical fiber are 15～60 ° angle;
(2) the above-mentioned incident optical signal that obtains converts analog electrical signal to through light sensor;
(3) carry out the signal processing and amplifying by signal amplifier, be converted to digital signal through A/D again;
(4) light signal that respectively every pair of importing optical fiber is obtained carries out difference processing, and the light signal that benchmark optical fiber obtains carries out computing by the cosine law, obtains the space vector angle of the sun and sun sensor, i.e. the relative position of the sun and sun sensor.
Compared with prior art, the present invention has following distinguishing feature:
1. adopt optical fiber as the light introducer, can prevent that the universe high energy particle is applicable to space environment to the bombardment damage of light sensor in the space.
2. sun sensor provided by the present invention is taken into account big field angle and the detection of neglecting the rink corner, can obtain high-precision resolution.
3. adopt photoelectric cell as light sensor, have advantage simple in structure, that volume is less, the life-span is long, in light weight, cheap, help applying.
Description of drawings
Fig. 1 is the structural representation of a kind of sun sensor light path introducer of providing of the embodiment of the invention;
Fig. 2 is the vertical view of a kind of sun sensor light path introducer of providing of the embodiment of the invention;
Fig. 3 is the principle schematic of the sun sensor signal processor that provides of the embodiment of the invention.
Wherein, 1, reference optical fiber; 2, import optical fiber; 3, light introducer mount pad; 4, photosensitive sensor; 5, multi-channel electronic switch; 6, signal amplifier; 7, analog to digital converter.
Embodiment
Below in conjunction with embodiment and accompanying drawing the present invention is further described.
Embodiment 1:
Present embodiment provides a kind of sun sensor, and it comprises light path introducer, light sensor and signal processor.
Referring to accompanying drawing 1 and accompanying drawing 2, be the structural representation of a kind of sun sensor light path introducer of providing of the embodiment of the invention and overlook; Reference optical fiber 1 places the center of light path introducer, is the center of circle with the reference optical fiber, evenly distributes 4 to (8) importing optical fiber 2 on its round track, and every pair of importing optical fiber is made up of 2 optical fiber, and these 2 importing optical fiber are symmetrical distribution about the center of circle; In the plane of every pair of importing optical fiber and reference optical fiber, the normal line of butt end of every importing optical fiber and the normal line of butt end of reference optical fiber are 60 ° angle, and they are fixed on the light introducer mount pad 3; The output terminal of every optical fiber and a photo electric sensitive element 4 connect, and in the present embodiment, selecting photoelectric cell for use is photo electric sensitive element.
Referring to accompanying drawing 3, it is the principle schematic of a kind of sun sensor signal processor of providing of present embodiment; Sunray is introduced by multifiber, converts current signal to after photoelectric cell 4 receives, again through multi-channel electronic switch 5 and signal amplifier 6 gatings and amplification.Analog to digital converter 7 converts digital signal to, and intersection number is according to processor processing, by control and the measured position signalling of data-interface output.
The present invention can symmetry set up many to (2n is right, and n is 4 or 8) importing optical fiber, raising measuring accuracy.Also can light-transmissive film be set, improve the utilization factor of sunshine at the sensitive surface of every optical fiber.Sensitive surface in reference optical fiber increases a light shield (ring), to reduce the veiling glare influence of periphery, improves the accuracy of measuring.
A kind of sun sensor that present embodiment provides, adopt 4 pairs 8 to import optical fiber 2 and 1 center reference optical fiber 1 composition light introducer, be converted into electric signal through 9 photoelectric cells 4 as light sensor, for the parameter consistency that guarantees to amplify, adopted an amplifier circuit, signal gating adopts multi-way switch, signal after the amplification converts numerical quantities to through analog to digital converter, data processor will import optical fiber and 1 roadbed quasi-fiber reference value is carried out calculus of differences to 4 pairs 8 the tunnel, and institute's data that obtain are sent through a communication interface.
By a kind of sun sensor that present embodiment provides, be used to measure the relative position of the sun and this sensor, its measuring principle is: sunshine is projeced into ground in the mode of directional light, and reference optical fiber imports the strong and weak reference value (I of sunshine
0), each angle (2 α) to the normal line of butt end of the end face method that imports optical fiber and reference optical fiber is 2 (15～60 °), be 120 ° in the present embodiment, promptly become 60 ° of (α) angles with the reference optical fiber normal line of butt end that is positioned at the center, the energy of the sunshine that receives from every pair of other end that imports optical fiber is by I (θ)=I
0Cos θ obtains, and θ is the incident angle of fiber end face normal and parallel rays, θ＜90 °.When the end face of sun sensor reference optical fiber over against the solar time, be zero by 4 differences that (8) are imported the photoelectric cell electrical signal converted of the optical fiber other end.And when the normal line of butt end of the importing reference optical fiber of sun sensor become with sunshine β (β=α ± θ, in the present embodiment, during the angle of β=60 ° ± θ), the difference that obtains the sunshine electrical signal converted from every pair of importing optical fiber photoelectric cell is:
Δ(θ)＝I
R(θ)-I
L(θ)
Δ(θ)＝I
0cos(α+β)-I
0cos(α-β)
Wherein, I
RFor 1 optical fiber in a pair of importing optical fiber obtains sunshine electrical signal converted, I
LFor this obtains the sunshine electrical signal converted to 1 optical fiber in addition that imports in the optical fiber.
By above-mentioned formula, α is the angle of the normal line of butt end of every normal line of butt end that imports optical fiber and reference optical fiber, by the structures shape of designed sun sensor, is known quantity, I
0Strong and weak signals for the resulting sunshine of reference optical fiber photoelectric cell at center, be the known quantity that measures, Δ I (θ) is every pair and imports the photronic electric signal difference of optical fiber, can obtain through measurements and calculations, and also be known quantity, therefore, finally can obtain the β in the formula, when asking the β value, can be by the inverse operation method of trigonometric function, or set up one and refer to table through the number of demarcating, with the numerical value table look-at of acquisition differential electric signal.
This angle only is sunshine deviation angle of (with respect to certain a pair of lead-in light fibre) on a certain direction of sun sensor coordinate system.In like manner, try to achieve sunshine several deviation angles in addition of (other each to import optical fiber) on other direction of sun sensor coordinate system.It is synthetic the deviation angle on each coordinate to be carried out vector again, obtains the angle of the sun in the skew of sun sensor coordinate system, and this is a three-dimensional vector, is the space vector angle of the sun and sun sensor, the i.e. relative position of the sun and sun sensor.
The light introducer (multi-channel optical fibre) of sun sensor is installed on aircraft outside surfaces such as satellite, in the solar irradiation zone, to export multichannel Electrophotosensitive data, import the difference that optical fiber records by every pair, can obtain the misalignment angle of the satellite and the sun, have only when every pair difference equals zero, think that the angle between a certain axon coordinate planes of aircraft such as solar rays and satellite is zero.Data processor can with reference to sunlight intensity, calculate the three-dimensional angle of the local coordinate plane and the sun according to four difference values that ADC was converted to.Usually the angle data are sent to satellite data system ensemble and aircraft cockpit control desk through communication interface, realize the self-navigation and the location positioning of aircraft.
Because fiber lengths can prolong or shorten according to actual conditions, photoelectric cell can be placed in satellite than the position, deep, damage with the bump that prevents high energy particle in the universe.
Sun sensor provided by the invention, can be used as a kind of have extensive use from motion tracking solar irradiation system core device, utilize inexhaustible, nexhaustible sun power to come industrial and agricultural production and the office service of living for the mankind.For example: sun generating (solar panel group), when solar panel is faced the solar time directly, can obtain maximum photoelectric transformation efficiency.What this device was exported adjusts drive unit about sun angle data process, changes the light receiving position of solar panel, keeps and sun motion track synchronised.Simultaneously, also can be applicable to the measurement of moving object relative position, as sun sensor provided by the present invention (this moment can as light sensor) is installed at the first object, the second object is launched one road light beam, sensor on the first object receives the light beam that the emission of second object comes, can constantly adjust the attitude of first object self, be zero until first, second two object angles, adjusts butt joint and put in place.Light sensor adopts the Sensitive Apparatus of infrared band, and emission light is used infrared light instead and can be designed to the infrared type sensor.
Claims (6)
1. sun sensor, it comprises light path introducer, light sensor and signal processor, it is characterized in that: described light path introducer comprises reference optical fiber (1) and imports optical fiber (2), reference optical fiber places the center of light path introducer, with the reference optical fiber is the center of circle, on the circle track, evenly distribute 2～2n to importing optical fiber, n is 2,4 or 8, every pair imports optical fiber and comprises 2 optical fiber, they are symmetrical distribution by the center of circle, and the normal line of butt end of every importing optical fiber and the normal line of butt end of reference optical fiber are 15～60 ° angle; Described light sensor is made up of the photo electric sensitive element identical with fiber count (4), and the output terminal of every optical fiber and a photo electric sensitive element connect.
2. a kind of sun sensor according to claim 1 is characterized in that: described photo electric sensitive element is a photoelectric cell.
3. a kind of sun sensor according to claim 1 is characterized in that: described signal processor comprises electric signal amplifier (6), A/D converter (7), data processor and data communication interface.
4. a kind of sun sensor according to claim 1 is characterized in that: on the sensitive surface of described reference optical fiber light shield is installed.
5. a kind of sun sensor according to claim 1 is characterized in that: the sensitive surface of described importing optical fiber is provided with light-transmissive film.
6. the method for a sun sensor measurement sun and its relative position is characterized in that comprising the steps:
(1) parallel rays by the light path introducer reference optical fiber and import fiber end face, enter optical fiber by the component of cos θ, obtain incident optical signal; Described θ angle is the incident angle of reference optical fiber normal line of butt end and parallel rays, θ＜90 °; Described light path introducer, comprise reference optical fiber and import optical fiber, reference optical fiber places the center of light path introducer, with the reference optical fiber is the center of circle, evenly distribute 2～2n to importing optical fiber on its circle track, n is 2,4 or 8, and every pair imports optical fiber and comprises 2 optical fiber, they are symmetrical distribution by the center of circle, and the normal line of butt end of every importing optical fiber and the normal line of butt end of reference optical fiber are 15～60 ° angle;
(2) the above-mentioned incident optical signal that obtains converts analog electrical signal to through light sensor;
(3) carry out the signal processing and amplifying by signal amplifier, be converted to digital signal through A/D again;
(4) light signal that respectively every pair of importing optical fiber is obtained carries out difference processing, and the light signal that benchmark optical fiber obtains carries out computing by the cosine law, obtains the space vector angle of the sun and sun sensor, i.e. the relative position of the sun and sun sensor.
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Families Citing this family (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102607565B (en) * | 2012-03-16 | 2015-02-04 | 上海微小卫星工程中心 | Method for eliminating interference of earth reflected light on sun sensor |
| CN103323000B (en) * | 2013-05-22 | 2016-05-25 | 上海新跃仪表厂 | Digital sun sensor sunlight lead and framework junction part thereof and installation method |
| EP2916114A1 (en) * | 2014-03-03 | 2015-09-09 | ams AG | Directional light sensor and method for operating the sensor arrangement |
| CN105136171B (en) * | 2015-09-22 | 2017-11-21 | 中国科学院上海技术物理研究所 | Analogy method based on linear array infrared earth sensor electric signal generation device |
| CN106052677B (en) * | 2016-05-10 | 2019-01-22 | 中国人民解放军国防科学技术大学 | Sun sensor and solar direction swear method for determination of amount |
| CN110291368A (en) | 2017-01-17 | 2019-09-27 | 迈卡赛斯公司 | The assessment of multisensor irradiation level |
| CN106908067A (en) * | 2017-03-24 | 2017-06-30 | 李博 | A kind of sun sensor and the method for determining solar vector |
| CN106873643B (en) * | 2017-04-06 | 2020-07-31 | 江苏大学 | Optical fiber type photoelectric sensor for sun tracking |
| CN107153426B (en) | 2017-05-26 | 2020-06-26 | 江苏大学 | Sun tracking sensor based on optical fiber light guide |
| CN111797527A (en) * | 2020-07-01 | 2020-10-20 | 中国科学院上海技术物理研究所 | Simulation test method and simulation system of sun sensor |
| CN112577595B (en) * | 2020-09-18 | 2023-01-20 | 临沂大学 | Three-dimensional light intensity sensing system, three-dimensional sensing method and unmanned aerial vehicle light intensity sensor |
| CN112212858A (en) * | 2020-09-29 | 2021-01-12 | 中国科学院光电技术研究所 | Daytime star-sensitive imaging system based on field-of-view gating technology |
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