CN102116641B - Semi-physical simulation testing system and method for deep space autonomous navigation star sensor - Google Patents
Semi-physical simulation testing system and method for deep space autonomous navigation star sensor Download PDFInfo
- Publication number
- CN102116641B CN102116641B CN2009102169117A CN200910216911A CN102116641B CN 102116641 B CN102116641 B CN 102116641B CN 2009102169117 A CN2009102169117 A CN 2009102169117A CN 200910216911 A CN200910216911 A CN 200910216911A CN 102116641 B CN102116641 B CN 102116641B
- Authority
- CN
- China
- Prior art keywords
- star sensor
- star
- asteroid
- independent navigation
- simulator
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Navigation (AREA)
Abstract
The invention provides a semi-physical simulation testing system for a deep space autonomous navigation star sensor and a method thereof. A star sensor simulator is placed on a similar support frame, and an autonomous navigation star sensor is fixed on a three-axis rate rotating table; the center of an entrance pupil of the autonomous navigation star sensor is arranged on a horizontal rotation central axis of the three-axis rate rotating table; an emergent pupil of the star sensor simulator is in butt joint with the entrance pupil of the autonomous navigation star sensor, and an optical axis of the star sensor simulator is superposed with the optical axis of the autonomous navigation star sensor; and the autonomous navigation star sensor, the three-axis rate rotating table and the star sensor simulator are all connected with a control and information processing computer. By adopting the system and the method, star simulation for the very high-precision star sensor for autonomous navigation of a minor planet can be solved, and the measurement precision of the star sensor and the autonomous navigation positioning precision are verified, thereby having broad application prospects for developing the deep space autonomous navigation sensors.
Description
Technical field
The present invention relates to a kind of semi-physical simulation system and method for autonomous deep-space nautical star sensor, it can be applicable to autonomous deep-space navigation optical sensor semi-physical simulation experiment.
Background technology
In the spationautics field, survey of deep space optical guidance Star Sensor is a very high precision star sensor, as: its accuracy requirement 0.5 "; with traditional Star Sensor very big difference is arranged relatively; like the entrance pupil bore is about 150mm, focal length is about 1000m, and field angle is at 1 °～2 °.Such one type of sensor is mainly discerned the asteroid around the deep space probe section of the cruising track; And definite its position, angle with respect to inertial space; Utilize the asteroid almanac data, calculate position and the speed of deep space probe with respect to geocentric inertial coordinate system.
An important ring of survey of deep space optical guidance Star Sensor development process detects its function and performance index exactly; This detection comprises that Static Detection and semi-physical simulation detect, and the general textbook of static detection method all has description, and the dynamic function of this type star sensor and Performance Detection generally all are the comparison difficulties; The report that does not have the laboratory dynamic testing method at present; A way that adopts outdoor sight star when the ground experiment, directly adopts the method for outdoor sight star like U.S. DS-1 Mars probes independent navigation star sensor; Though the performance that it is certain can be described; But receive the influence and the influence of temperature change of atmospheric agitation, its precision of verifying is interfered, and can not objectively respond the precision of star sensor fully.Also be to adopt outdoor sight star plan-validation sensor combination property during autonomous navigation sensor ground experiment that the mars exploration task of European Space Agency is adopted, also have the problems referred to above certainly.
Here said star sensor is one type of optical sensor confirming spacecraft attitude through the imaging measurement fixed star in the method for position, inertial space angle.When Star Sensor is carried out functional check and service check; A kind of common method is to generate star analog imaging target through the fixed star simulator; Enter into lens of star sensor; Be imaged on the Star Sensor focal plane, according to the target angle range distribution analog imaging star picture that relevant star chart distributes in the space that comes out.
Through investigation and data check, fixed star simulation at present has single star simulator and many star simulators, many star simulators to be divided into static again and dynamic two types.Static fixed star simulator adopts fixedly star chart and lens imaging, simulation infinity fixed star, and dynamic many star simulators generally adopt liquid crystal light valve as dynamic goal simulator, adopt collimation lens will simulate fixed star and are imaged onto infinity.All present liquid crystal light valve fixed star simulators receive the restriction of fixed star photofit picture outgoing precision, only are used as the functional check of Star Sensor, not as the accuracy test instrument.
Summary of the invention
The present invention provides a kind of semi-physical simulation system and method for autonomous deep-space nautical star sensor; It can solve and be used for the very fixed star simulation of high-accuracy and constant star sensor of asteroid independent navigation; The measuring accuracy and the independent navigation bearing accuracy of checking Star Sensor, development has broad application prospects for the autonomous deep-space navigation sensor.
Realize the technical scheme of the object of the invention: a kind of semi-physical simulation system of autonomous deep-space nautical star sensor, it comprises a Star Sensor simulator and an independent navigation star sensor.Described Star Sensor simulator is placed on the simulator bracing frame; Described independent navigation star sensor is fixed on three rate tables, and the entrance pupil center of independent navigation star sensor horizontally rotates on the central shaft at three rate tables; The entrance pupil of the emergent pupil of described Star Sensor simulator and independent navigation star sensor connects, the optical axis coincidence of the optical axis of Star Sensor simulator and independent navigation star sensor; Independent navigation star sensor, three rate tables all are connected with the information processing computing machine with control with the Star Sensor simulator.
The semi-physical simulation system of aforesaid a kind of autonomous deep-space nautical star sensor, the optical axis coincidence of the optical axis of its described independent navigation star sensor and Star Sensor simulator, coincidence error is no more than 2mm; Described the emergent pupil of Star Sensor simulator and the entrance pupil of independent navigation star sensor are connected, error is no more than 5mm.
The semi-physical simulation system of aforesaid a kind of autonomous deep-space nautical star sensor; Its described three rate tables impose the angular velocity that moves along three turning axles according to deep space probe attitude stability rule; With three unsteady motions of simulation deep space probe, thereby simulate the image motion that analog variation produced of autonomous navigation sensor along with the detector attitude.
The semi-physical simulation system of aforesaid a kind of autonomous deep-space nautical star sensor, its described control and information processing computing machine are used for the control of three rate tables, and the information that the simulation attitude changes resulting motion smear image is handled.
The semi-physical simulation method of a kind of autonomous deep-space nautical star sensor of the present invention, its step is following:
(a) the independent navigation star sensor is installed on three rate tables, guarantees that it changes consistent with angle with the deep space probe attitude around three axle velocities of rotation; The entrance pupil center of independent navigation star sensor is installed to three rate tables horizontally rotates on the central shaft, and make the optical axis of independent navigation star sensor and the optical axis coincidence of Star Sensor simulator, coincidence error is no more than 2mm;
(b) emergent pupil of Star Sensor simulator and the entrance pupil of independent navigation star sensor are connected, error is no more than 5mm;
(c) three rate tables, independent navigation star sensor and Star Sensor simulator are all powered up operation, carry out work through control and three rate tables of information processing computer control, Star Sensor simulator and independent navigation star sensor;
(d) produce fixed star and asteroid infinity image through the simulation of Star Sensor simulator, this image should be consistent at the motion angular velocity of inertial space with deep space probe with respect to the movement angle of Star Sensor simulator entrance pupil;
(e) the independent navigation star sensor obtains several that come from Star Sensor simulator simulation and contains fixed star and asteroidal target image; Carry out processing and identification for these images and go out fixed star and asteroid, according to asteroid and fixed star ephemeris and then obtain separately asteroid with respect to the position, angle of inertial space; Utilize the asteroid ephemeris to obtain at this very moment asteroid relative point vector and the relative distance between the asteroid; Utilize pointing vector that above-mentioned deep space probe measures for asteroid as observed quantity again, adopt Kalman filtering algorithm to carry out confirming of deep space probe position.
The semi-physical simulation method of aforesaid a kind of autonomous deep-space nautical star sensor; It carries out l-G simulation test through simulation software on control and information processing computing machine; This simulation software will control three rate tables, Star Sensor simulator and independent navigation star sensor automatically and carry out work, and the information processing result is retained in the computing machine behind the end of run; Described simulation software comprises a master routine and the 6 sub program modules that receive master routine control: master routine is used for System self-test, powers on and resets, the generation of the calling of subroutine, sequential control, navigation simulation data; 6 sub program modules are respectively that the time shutter control module of three rate table control modules, independent navigation star sensor, the star chart of Star Sensor simulator asterism target are selected image processing module, asteroid position determination module and the Upper machine communication module of control module, independent navigation star sensor; Wherein
Three rate table control modules: receive deep space probe attitude variation angular speed and sensing change information that master routine transmits, and control three rate tables and do corresponding servo-actuated operation, make three axles of three rate tables produce to simulate and rotate;
The time shutter control module of independent navigation star sensor: when three rate tables rotate; Communication information according to host computer is sent was imported the autonomous navigation sensor detector time shutter; And make the independent navigation star sensor carry out image sampling; Store in the storer, supply the image processing module of independent navigation star to handle;
The star chart of Star Sensor simulator asterism target is selected control module: asterism target illumination array control in the Star Sensor simulator is carried out in the preset star chart instruction according to master routine transmits; Make asterism target asterism produce the asterism array of expection; Space Angle position distribution with fixed star in the simulation space; This asterism array distribution will be imaged onto infinity through the Star Sensor simulator, form images through sensor again;
The image processing module of independent navigation star sensor: be kept at crosscorrelation that the image that integration sampling became in the storer carries out the identification of pre-service asterism for the independent navigation star sensor and handle the identification of fixed star star chart matching treatment asteroid and handle, obtain in day district, asteroid place and position, fixed star angle relation;
Asteroid position determination module: through the fixed star ephemeris with asteroid is capable goes through,, confirm the sensing of asteroid at inertial space with the asteroid that identifies and fixed star and ephemeris contrast;
With Upper machine communication module: accomplish with upper control navigational computer and realize the information bidirectional transmission, obtain the orbit parameter that the switching on and shutting down instruction time shutter is provided with the instruction autonomous navigation simulation from host computer.
Effect of the present invention is:
The semi-physical simulation system and method for autonomous deep-space nautical star sensor of the present invention; It can solve and be used for the very fixed star simulation of high-accuracy and constant star sensor of asteroid independent navigation; The measuring accuracy and the independent navigation bearing accuracy of checking Star Sensor; Have broad application prospects for autonomous deep-space navigation sensor development, whether the precision that can be used for estimating the autonomous deep-space navigation sensor satisfies mission requirements, and this is different with the effect of star simulator in the past.Concrete advantage is:
(1) make the complicated autonomous deep-space navigation simulation test based on optical sensor in the laboratory, to accomplish, simulation precision is high, and the data of obtaining do not receive atmospheric environment and influence of temperature change, are a kind of reliable methods of star sensor Performance Detection therefore;
(2) very high precision star simulator can the true asteroid of high fidelity simulation and its near zone fixed star to adopt a kind of big visual field, makes the target source of independent navigation test near actual position and brightness, and the observation data of being obtained has credibility;
(3) adopt the three-axis attitude that three rate tables can the emulation deep space probe to change; The test star sensor that it carried will obtain the very high precision observation star chart under the long time shutter; Make the star chart of testing laboratory's semi-physical simulation have in the rail picture characteristics; Therefore make Flame Image Process and star Pattern Recognition Algorithm, and the asteroid position confirms that precision obtains check.
The control of (4) three rate tables is extracted with observed quantity and all can on a computing machine, be accomplished, and makes testing program feasibility height.
Description of drawings
Fig. 1 is a kind of autonomous deep-space navigation semi-physical simulation system schematic of the present invention;
Fig. 2 is a Star Sensor simulator structural representation of the present invention;
Fig. 3. be the simulation software functional block diagram.
Among the figure: 1. collimator objective; 2. spectrum groupware; 3. asterism target; 4. detection target; 5. target lighting device; 6. focal plane adjusting mechanism; 7. autocollimation catoptron; 8. independent navigation star sensor; 9. Star Sensor simulator; 10. coincidence pupil; 11. three rate tables; 12. simulator bracing frame; 13. control and information processing computing machine; 14. ground.
Embodiment
Further describe below in conjunction with accompanying drawing and specific embodiment semi-physical simulation system and method a kind of autonomous deep-space nautical star sensor of the present invention.
Survey of deep space autonomous navigation sensor semi-physical simulation system and method for the present invention adopts a kind of Star Sensor simulator 9 emulation survey of deep space sections of cruising to go up fixed star and asteroid that independent navigation star sensor 8 observes; Be different from the dynamic physical emulation experiment of in the past carrying out the independent navigation Star Sensor in the actual starry sky background of outdoor employing, the present invention can simulate the asteroid and the fixed star of autonomous deep-space navigation in the laboratory.
Survey of deep space autonomous navigation sensor semi-physical simulation of the present invention system is placed on the ground 14; Comprise that 9, one in a Star Sensor simulator that is placed on the simulator bracing frame 12 is fixed on three independent navigation star sensors 8 on the rate table 11.The entrance pupil center of independent navigation star sensor 8 horizontally rotates on the central shaft at three rate tables 11.The entrance pupil of the emergent pupil of Star Sensor simulator 9 and independent navigation star sensor 8 connects, the optical axis coincidence of the optical axis of Star Sensor simulator 9 and independent navigation star sensor 8.Independent navigation star sensor 8, three rate tables 11 all are connected with information processing computing machine 13 with control with Star Sensor simulator 9.
Above-mentioned Star Sensor simulator 9 be used to simulate the observable asteroid of the deep space probe section of cruising on the way and near fixed star luminous.It can adopt the applicant to apply for a patent " a kind of simulator of Star Sensor " same period, asterism target 3 is imaged onto through a collimator objective 1 infinity realizes.The concrete structure of Star Sensor simulator 9 is as shown in Figure 2, and it comprises collimator objective 1, on the focal plane of collimator objective 1, is provided with asterism target 3, through collimator objective 1 asterism target 3 is imaged onto infinity; Asterism target 3 is fixed on the focal plane adjusting mechanism 6 to realize the multiple degrees of freedom adjustment; Target lighting device 5 provides illumination for asterism target 3; Between collimator objective 1 and asterism target 3, spectrum groupware 2 is set, the distance of spectrum groupware 2 and asterism target 3 is greater than the entrance pupil radius of collimator objective 1; Also be provided with detection target 4 in spectrum groupware 2 sides, detection target 4 equates with the centre distance of asterism target 3 to spectrum groupware 2 to the centre distance of spectrum groupware 2; In collimator objective 1 front autocollimation catoptron 7 is set.
Above-mentioned independent navigation star sensor 8 is used for the measurement of the asteroid observed quantity of the survey of deep space section of cruising independent navigation; Mainly take the asteroid of the known ephemeris of the section of cruising and fixed star on every side thereof through this sensor; Confirm the sensing of asteroid through importance in star map recognition at inertial space; Can obtain of the sensing of many asteroids through repeatedly taking like this at inertial space; Carry out how much according to ephemeris again and resolve with Filtering Processing and obtain orbital position and the speed of deep space probe at inertial space, it can adopt the applicant to apply for a patent " a kind of star sensor " same period.
Three above-mentioned rate tables 11 impose the angular velocity that moves along three turning axles according to deep space probe attitude stability rule; With three unsteady motions of simulation deep space probe, thereby simulate the image motion that analog variation produced of autonomous navigation sensor along with the detector attitude.
Above-mentioned control and information processing computing machine 13 are used for the control of three rate tables 11 and the information processing that the simulation attitude changes resulting motion smear image.The selection of the asterism pattern of may command target lighting device 5 in addition.
The semi-physical simulation method of a kind of autonomous deep-space nautical star sensor of the present invention, its step is following:
(a) independent navigation star sensor 8 is installed on three rate tables 11 through frock; Guarantee that it changes consistent with angle with attitude around three axle velocities of rotation; The entrance pupil center of independent navigation star sensor 8 is installed to turntable to horizontally rotate on the central shaft; And making the optical axis coincidence of its optical axis and Star Sensor simulator 9, coincidence error is no more than 2mm.
(b) emergent pupil (being the light hurdle of outgoing directional light) of Star Sensor simulator 9 and the entrance pupil of independent navigation star sensor 8 are connected, error is no more than 5mm.
(c) three rate tables 11, independent navigation star sensor 8 and simulator 9 are all powered up operation, carry out through the control program of control with information processing computing machine 13.The motion control of three rate tables 11 and target conversion be controlled at accomplish on the algorithm unconnected.
(d) adopt the Star Sensor simulator that very exceed ejaculation degree 9 simulations more bigger than independent navigation star sensor field angle to produce fixed star and asteroid infinity image, this image should be consistent at the motion angular velocity of inertial space with deep space probe with respect to the movement angle of Star Sensor simulator 9 entrance pupils.
(e) independent navigation star sensor 8 obtains several that come from Star Sensor simulator 9 simulation and contains fixed star and asteroidal target image; These target images have comprised long-time attitude instability and noise information; Handle for these images; Identify fixed star and asteroid, according to asteroid and fixed star ephemeris and then obtain separately asteroid with respect to the position, angle of inertial space; Utilize the asteroid ephemeris to obtain at this very moment asteroid relative point vector and the relative distance between the asteroid; Utilize pointing vector that above-mentioned deep space probe measures for asteroid as observed quantity again, adopt Kalman filtering algorithm to carry out confirming of deep space probe position.
On control and information processing computing machine 13, carry out l-G simulation test through simulation software; This simulation software will control three rate tables 11, Star Sensor simulator 9 and independent navigation star sensor 8 automatically and carry out work, and the information processing result is retained in the computing machine behind the end of run.As shown in Figure 3, described simulation software comprises a master routine and the 6 sub program modules that receive master routine control: master routine is used for System self-test, powers on and resets, the generation of the calling of subroutine, sequential control, navigation simulation data; 6 sub program modules are respectively that the time shutter control module of three rate table control modules, independent navigation star sensor, the star chart of Star Sensor simulator asterism target are selected image processing module, asteroid position determination module and the Upper machine communication module of control module, independent navigation star sensor; Wherein
Three rate table control modules: receive deep space probe attitude variation angular speed and sensing change information that master routine transmits, and control three rate tables 11 and do corresponding servo-actuated operation, make 11 3 axles of three rate tables produce to simulate and rotate;
The time shutter control module of independent navigation star sensor: when three rate tables 11 rotate; Communication information according to host computer is sent was imported the autonomous navigation sensor detector time shutter; And make independent navigation star sensor 8 carry out image sampling; Store in the storer, supply the image processing module of independent navigation star to handle;
The star chart of Star Sensor simulator asterism target is selected control module: preset star chart instruction carrying out asterism target 3 illumination arrays according to master routine transmits are controlled; Make asterism target 3 asterisms produce the asterism array of expection; Space Angle position distribution with fixed star in the simulation space; This asterism array distribution will be imaged onto infinity through Star Sensor simulator 9, form images through sensor again;
The image processing module of independent navigation star sensor: be kept at crosscorrelation that the image that integration sampling became in the storer carries out the identification of pre-service asterism for the independent navigation star sensor and handle the identification of fixed star star chart matching treatment asteroid and handle, obtain in day district, asteroid place and position, fixed star angle relation;
Asteroid position determination module: through the fixed star ephemeris with asteroid is capable goes through,, confirm the sensing of asteroid at inertial space with the asteroid that identifies and fixed star and ephemeris contrast;
With Upper machine communication module: the main completion with upper control navigational computer realized the information bidirectional transmission, obtains the orbit parameter that the switching on and shutting down instruction time shutter is provided with the instruction autonomous navigation simulation from host computer.
The present invention proposes a kind of star sensor Performance Detection of in the laboratory, carrying out and independent navigation precision test method, adopt test method that this method can change this type of test in the past (in the past in the outdoor overall performance evaluation of accomplishing star sensor by means of natural starry sky and earth rotation.Adopt this method can obtain precision test, the physical simulation image that can obtain under the rail attitude changes carries out the independent navigation proof of algorithm.Control through three-axle table realizes the image effect that the attitude instability is brought under the long time shutter.Star chart changes and can carry out through the adjusting of asterism target, has avoided the frame per second of liquid crystal light valve simulation to change the simulation uncontinuity influence that brings.
Claims (5)
1. the semi-physical simulation system of an autonomous deep-space nautical star sensor; It comprises a Star Sensor simulator (9) and an independent navigation star sensor (8), it is characterized in that: described Star Sensor simulator (9) is placed on the simulator bracing frame (12); Described independent navigation star sensor (8) is fixed on three rate tables (11), and the entrance pupil center of independent navigation star sensor (8) horizontally rotates on the central shaft at three rate tables (11); The entrance pupil of the emergent pupil of described Star Sensor simulator (9) and independent navigation star sensor (8) connects, the optical axis coincidence of the optical axis of Star Sensor simulator (9) and independent navigation star sensor (8); Independent navigation star sensor (8), three rate tables (11) and Star Sensor simulator (9) all are connected with information processing computing machine (13) with control;
Above-mentioned Star Sensor simulator (9) be used to simulate the observable asteroid of the deep space probe section of cruising on the way and near fixed star luminous; The concrete structure of Star Sensor simulator (9) is: it comprises collimator objective (1); On the focal plane of collimator objective (1), be provided with asterism target (3), asterism target (3) be imaged onto infinity through collimator objective (1); Asterism target (3) is fixed on focal plane adjusting mechanism (6) and goes up to realize the multiple degrees of freedom adjustment; Target lighting device (5) provides illumination for asterism target (3); Between collimator objective (1) and asterism target (3), spectrum groupware (2) is set, the distance of spectrum groupware (2) and asterism target (3) is greater than the entrance pupil radius of collimator objective (1); Also be provided with detection target (4) in spectrum groupware (2) side, detection target (4) equates with the centre distance of asterism target (3) to spectrum groupware (2) to the centre distance of spectrum groupware (2); In collimator objective (1) front autocollimation catoptron (7) is set;
Above-mentioned independent navigation star sensor (8) is used for the measurement of the asteroid observed quantity of the survey of deep space section of cruising independent navigation; Take the asteroid of the known ephemeris of the section of cruising and fixed star on every side thereof through this sensor; Confirm the sensing of asteroid through importance in star map recognition at inertial space; Obtain of the sensing of many asteroids through repeatedly taking like this, to carry out resolving with Filtering Processing for how much according to ephemeris again and obtain orbital position and the speed of deep space probe at inertial space at inertial space;
Described control and information processing computing machine (13) are used for the control of three rate tables (11), and the information that the simulation attitude changes resulting motion smear image is handled.
2. the semi-physical simulation system of a kind of autonomous deep-space nautical star sensor according to claim 1; It is characterized in that: the optical axis coincidence of the optical axis of described independent navigation star sensor (8) and Star Sensor simulator (9), coincidence error is no more than 2mm; Described the emergent pupil of Star Sensor simulator (9) and the entrance pupil of independent navigation star sensor (8) are connected, error is no more than 5mm.
3. the semi-physical simulation system of a kind of autonomous deep-space nautical star sensor according to claim 1 and 2; It is characterized in that: described three rate tables (11) impose the angular velocity that moves along three turning axles according to deep space probe attitude stability rule; With three unsteady motions of simulation deep space probe, thereby simulate the image motion that analog variation produced of autonomous navigation sensor (8) along with the detector attitude.
4. the semi-physical simulation method of an autonomous deep-space nautical star sensor, it is characterized in that: this method step is following:
(a) independent navigation star sensor (8) is installed on three rate tables (11), guarantees that it changes consistent with angle with the deep space probe attitude around three axle velocities of rotation; The entrance pupil center of independent navigation star sensor (8) is installed to three rate tables (11) horizontally rotates on the central shaft, and make the optical axis of independent navigation star sensor (8) and the optical axis coincidence of Star Sensor simulator (9), coincidence error is no more than 2mm;
(b) emergent pupil of Star Sensor simulator (9) and the entrance pupil of independent navigation star sensor (8) are connected, error is no more than 5mm;
(c) three rate tables (11), independent navigation star sensor (8) and Star Sensor simulator (9) are all powered up operation, carry out work through control and information processing computing machine (13) control three rate tables (11), Star Sensor simulator (9) and independent navigation star sensor (8);
(d) produce fixed star and asteroid infinity image through Star Sensor simulator (9) simulation, this image should be consistent at the motion angular velocity of inertial space with deep space probe with respect to the movement angle of Star Sensor simulator (9) entrance pupil;
(e) independent navigation star sensor (8) obtains several that come from Star Sensor simulator (9) simulation and contains fixed star and asteroidal target image; Carry out processing and identification for these images and go out fixed star and asteroid, according to asteroid and fixed star ephemeris and then obtain separately asteroid with respect to the position, angle of inertial space; Utilize the asteroid ephemeris to obtain at this very moment asteroid relative point vector and the relative distance between the asteroid; Utilize pointing vector that above-mentioned deep space probe measures for asteroid as observed quantity again, adopt Kalman filtering algorithm to carry out confirming of deep space probe position.
5. the semi-physical simulation method of a kind of autonomous deep-space nautical star sensor according to claim 4; It is characterized in that: go up with information processing computing machine (13) in control and carry out l-G simulation test through simulation software; This simulation software will control three rate tables (11), Star Sensor simulator (9) and independent navigation star sensor (8) automatically and carry out work, and the information processing result is retained in the computing machine behind the end of run; Described simulation software comprises a master routine and the 6 sub program modules that receive master routine control: master routine is used for System self-test, powers on and resets, the generation of the calling of subroutine, sequential control, navigation simulation data; 6 sub program modules are respectively that the time shutter control module of three rate table control modules, independent navigation star sensor, the star chart of Star Sensor simulator asterism target are selected image processing module, asteroid position determination module and the Upper machine communication module of control module, independent navigation star sensor; Wherein
Three rate table control modules: receive deep space probe attitude variation angular speed and sensing change information that master routine transmits, and control three rate tables and do corresponding servo-actuated operation, make three axles of three rate tables produce to simulate and rotate;
The time shutter control module of independent navigation star sensor: when three rate tables rotate; Communication information according to host computer is sent was imported the autonomous navigation sensor detector time shutter; And make the independent navigation star sensor carry out image sampling; Store in the storer, supply the image processing module of independent navigation star to handle;
The star chart of Star Sensor simulator asterism target is selected control module: asterism target illumination array control in the Star Sensor simulator is carried out in the preset star chart instruction according to master routine transmits; Make asterism target asterism produce the asterism array of expection; Space Angle position distribution with fixed star in the simulation space; This asterism array distribution will be imaged onto infinity through the Star Sensor simulator, form images through sensor again;
The image processing module of independent navigation star sensor: be kept at crosscorrelation processings, fixed star star chart matching treatment, the asteroid identification that the image that integration sampling became in the storer carries out pre-service, asterism identification for the independent navigation star sensor and handle, obtain in day district, asteroid place and concern with position, fixed star angle;
Asteroid position determination module: through the fixed star ephemeris with asteroid is capable goes through,, confirm the sensing of asteroid at inertial space with the asteroid that identifies and fixed star and ephemeris contrast;
With Upper machine communication module: accomplish with upper control navigational computer and realize the information bidirectional transmission, obtain the orbit parameter that switching on and shutting down instruction, time shutter are provided with instruction, autonomous navigation simulation from host computer;
Above-mentioned Star Sensor simulator (9) be used to simulate the observable asteroid of the deep space probe section of cruising on the way and near fixed star luminous; The concrete structure of Star Sensor simulator (9) is: it comprises collimator objective (1); On the focal plane of collimator objective (1), be provided with asterism target (3), asterism target (3) be imaged onto infinity through collimator objective (1); Asterism target (3) is fixed on focal plane adjusting mechanism (6) and goes up to realize the multiple degrees of freedom adjustment; Target lighting device (5) provides illumination for asterism target (3); Between collimator objective (1) and asterism target (3), spectrum groupware (2) is set, the distance of spectrum groupware (2) and asterism target (3) is greater than the entrance pupil radius of collimator objective (1); Also be provided with detection target (4) in spectrum groupware (2) side, detection target (4) equates with the centre distance of asterism target (3) to spectrum groupware (2) to the centre distance of spectrum groupware (2); In collimator objective (1) front autocollimation catoptron (7) is set.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009102169117A CN102116641B (en) | 2009-12-31 | 2009-12-31 | Semi-physical simulation testing system and method for deep space autonomous navigation star sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009102169117A CN102116641B (en) | 2009-12-31 | 2009-12-31 | Semi-physical simulation testing system and method for deep space autonomous navigation star sensor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102116641A CN102116641A (en) | 2011-07-06 |
| CN102116641B true CN102116641B (en) | 2012-08-08 |
Family
ID=44215514
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009102169117A Active CN102116641B (en) | 2009-12-31 | 2009-12-31 | Semi-physical simulation testing system and method for deep space autonomous navigation star sensor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102116641B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107063270A (en) * | 2016-12-07 | 2017-08-18 | 北京控制与电子技术研究所 | A kind of universal optical autonomous navigation system |
Families Citing this family (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102506894A (en) * | 2011-10-11 | 2012-06-20 | 北京航空航天大学 | Stationary base platform absolute space attitude reference establishing method based on precise timing |
| CN102538819B (en) * | 2011-12-08 | 2015-04-22 | 北京控制工程研究所 | Autonomous navigation semi-physical simulation test system based on biconical infrared and star sensors |
| CN103017788B (en) * | 2012-11-30 | 2015-02-11 | 北京控制工程研究所 | Interplanetary autonomous navigation ground test verification system based on information fusion |
| CN103364011B (en) * | 2013-07-11 | 2015-10-21 | 中国科学院西安光学精密机械研究所 | Ultra-large vision field multiple goal object simulation system |
| CN103575274B (en) * | 2013-11-20 | 2016-06-01 | 中国人民解放军海军大连舰艇学院 | High-performance star pattern matching Camera calibration system |
| CN105891851B (en) * | 2015-01-23 | 2018-06-08 | 北京空间飞行器总体设计部 | One kind carries out positioning in-orbit verification experimental verification method based on aeronautical satellite leakage signal |
| CN104792340B (en) * | 2015-05-15 | 2017-08-25 | 哈尔滨工业大学 | A kind of star sensor installation error matrix and navigation system star ground combined calibrating and the method for correction |
| CN106643788B (en) * | 2015-11-02 | 2019-10-18 | 北京振兴计量测试研究所 | Star sensor vacuum correction device |
| CN105572692B (en) * | 2015-12-16 | 2018-02-06 | 上海卫星工程研究所 | Satellite image navigates and registering full physical test device and method of testing |
| CN106441374B (en) * | 2016-12-15 | 2019-10-29 | 北京仿真中心 | A kind of real-time semi-physical emulation whole day area Star navigation system simulator |
| CN107145081B (en) * | 2017-06-27 | 2020-08-14 | 北京仿真中心 | Air-fed low-frequency searching semi-physical simulation test method and system |
| CN109682395B (en) * | 2018-12-13 | 2021-02-02 | 上海航天控制技术研究所 | Star sensor dynamic noise equivalent angle evaluation method and system |
| CN110553664B (en) * | 2019-08-14 | 2021-04-13 | 北京控制工程研究所 | Sub-arc-second star sensor ground precision test verification system and method |
| CN110501026B (en) * | 2019-08-24 | 2022-11-01 | 西安应用光学研究所 | Camera internal orientation element calibration device and method based on array star points |
| CN110595506B (en) * | 2019-09-19 | 2021-05-18 | 中国科学院长春光学精密机械与物理研究所 | Instrument autonomous alignment device and alignment method in starlight simulation test |
| CN111947686B (en) * | 2020-08-05 | 2024-04-09 | 南京理工大学 | Ground semi-physical simulation system and method for remote angle-measurement-only relative navigation |
| CN113686361B (en) * | 2021-08-31 | 2024-04-02 | 上海卫星工程研究所 | Ground verification system and method for satellite detection and space-earth collaborative navigation |
| CN115373321A (en) * | 2022-09-14 | 2022-11-22 | 中国人民解放军96963部队 | Multi-path star simulator calibrating device |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6411871B1 (en) * | 2000-08-05 | 2002-06-25 | American Gnc Corporation | Autonomous navigation, guidance and control using LDRI |
| CN101275842A (en) * | 2007-03-29 | 2008-10-01 | 北京控制工程研究所 | Near infrared light imaging type autonomous navigation sensor system of middle and high orbit spacecraft |
| CN101275843A (en) * | 2007-03-29 | 2008-10-01 | 北京控制工程研究所 | Visual light imaging type autonomous navigation sensor system of middle and high orbit spacecraft |
| CN100451548C (en) * | 2006-05-12 | 2009-01-14 | 哈尔滨工业大学 | Verification system for fast autonomous deep-space optical navigation control prototype |
| CN100495261C (en) * | 2007-09-04 | 2009-06-03 | 北京控制工程研究所 | Half-physical emulation test system for controlling and guiding, navigating and controlling soft landing for moon |
| CN102116642A (en) * | 2009-12-31 | 2011-07-06 | 北京控制工程研究所 | Simulator of star sensor |
| CN102116627A (en) * | 2009-12-31 | 2011-07-06 | 北京控制工程研究所 | Star sensor |
-
2009
- 2009-12-31 CN CN2009102169117A patent/CN102116641B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6411871B1 (en) * | 2000-08-05 | 2002-06-25 | American Gnc Corporation | Autonomous navigation, guidance and control using LDRI |
| CN100451548C (en) * | 2006-05-12 | 2009-01-14 | 哈尔滨工业大学 | Verification system for fast autonomous deep-space optical navigation control prototype |
| CN101275842A (en) * | 2007-03-29 | 2008-10-01 | 北京控制工程研究所 | Near infrared light imaging type autonomous navigation sensor system of middle and high orbit spacecraft |
| CN101275843A (en) * | 2007-03-29 | 2008-10-01 | 北京控制工程研究所 | Visual light imaging type autonomous navigation sensor system of middle and high orbit spacecraft |
| CN100495261C (en) * | 2007-09-04 | 2009-06-03 | 北京控制工程研究所 | Half-physical emulation test system for controlling and guiding, navigating and controlling soft landing for moon |
| CN102116642A (en) * | 2009-12-31 | 2011-07-06 | 北京控制工程研究所 | Simulator of star sensor |
| CN102116627A (en) * | 2009-12-31 | 2011-07-06 | 北京控制工程研究所 | Star sensor |
Non-Patent Citations (6)
| Title |
|---|
| JP特开平11-183192A 1999.07.09 |
| 徐文明等.可视化分布式自主深空探测器系统仿真.《系统仿真学报》.2006,第18卷(第6期),全文. * |
| 王大轶等.深空探测自主导航与控制技术综述.《空间控制技术与应用》.2009,第35卷(第3期),全文. * |
| 蓝朝桢等.深空探测自主导航光学信号模拟器设计与实现.《系统仿真学报》.2009,第21卷(第2期),全文. * |
| 黄翔宇等.深空探测自主导航与控制系统研究.《中国宇航学会深空探测技术专业委员会第二届学术会议论文集》.2005,全文. * |
| 黄翔宇等.深空自主导航的观测模型与可观测分析.《中国宇航学会深空探测技术专业委员会第一届学术会议》.2005,全文. * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107063270A (en) * | 2016-12-07 | 2017-08-18 | 北京控制与电子技术研究所 | A kind of universal optical autonomous navigation system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102116641A (en) | 2011-07-06 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102116641B (en) | Semi-physical simulation testing system and method for deep space autonomous navigation star sensor | |
| CN102252673B (en) | Correction method for on-track aberration of star sensor | |
| CN102288199B (en) | Ground testing method of star sensor | |
| CN103234512B (en) | Triaxial air bearing table high-precision attitude angle and angular velocity measuring device | |
| CN103308028B (en) | Binocular stereovision measuring device and method for attitude angle of triaxial air floating platform | |
| CN103245364B (en) | Method for testing dynamic performance of star sensor | |
| CN101082497A (en) | Heavenly body sensor measuring basis transform method and apparatus thereof | |
| CN104006787A (en) | High-precision attitude determination method for spacecraft attitude motion simulation platform | |
| CN104990533B (en) | Satellite ground physical simulation system superhigh precision attitude measurement method and device | |
| CN110095659B (en) | Dynamic testing method for pointing accuracy of communication antenna of deep space exploration patrol device | |
| CN105953803A (en) | Method for measuring deviation between digital sun sensor measuring coordinate system and prism coordinate system | |
| CN102393213A (en) | Space-based detecting and tracking imaging system testing device and testing method | |
| CN104197835B (en) | Spatial position simulation and calibration method | |
| CN102997935B (en) | Autonomous global navigation chart (GNC) simulation test system based on optical and inertial combined measurement | |
| CN103591966A (en) | Star simulator test platform and test calibration method | |
| CN1332176C (en) | Space-target real-time astronomical positioning method | |
| CN105783944B (en) | sun sensor calibration method and system | |
| CN203857967U (en) | Initial posture field calibration system of combined guidance system | |
| CN105424060B (en) | A kind of measurement method of aircraft star sensor and strapdown inertial measurement unit installation error | |
| CN108168462B (en) | A kind of method and system for the measurement of scope of freedom shape sub-aperture stitching | |
| CN111947686B (en) | Ground semi-physical simulation system and method for remote angle-measurement-only relative navigation | |
| CN110553664B (en) | Sub-arc-second star sensor ground precision test verification system and method | |
| CN107329191B (en) | Imaging test system and method for image navigation and registration of static meteorological satellite | |
| CN109960027A (en) | A kind of movable type can automatic capture championship astronomical observation device | |
| KR101885920B1 (en) | An astronomical device and its driving method for calculating astronomical physical quantity and tracking sun position with automatic tracking function |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |