CN102393213B - Space-based detecting and tracking imaging system testing device and testing method - Google Patents

Space-based detecting and tracking imaging system testing device and testing method Download PDF

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Publication number
CN102393213B
CN102393213B CN201110370922.8A CN201110370922A CN102393213B CN 102393213 B CN102393213 B CN 102393213B CN 201110370922 A CN201110370922 A CN 201110370922A CN 102393213 B CN102393213 B CN 102393213B
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air floating
space
rotatable platform
detection
tracking
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CN201110370922.8A
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CN102393213A (en
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田留德
张周峰
薛勋
赵建科
赛建刚
曹昆
周艳
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中国科学院西安光学精密机械研究所
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Abstract

The invention provides a space-based detecting and tracking imaging system testing device and a testing method. The testing device comprises an air-floating platform (1), a high-precision movable target (4), a collimator loaded on the high-precision movable target for providing an infinite-far shooting object, and an angular velocity measuring device mounted on the air-floating platform (1); the space-based detecting and tracking imaging system as a system to be tested (5) is coaxially and fixedly mounted on a rotating platform of the air-floating platform (1), and a triaxial intersection point of the system to be tested is a vertex of a rotating light cone of the high-precision movable target (4); the rotating platform is attached to a pull wire along a tangential direction, and hangs a weight (2) by being winded with a fixed pulley, and tangential force is applied to the rotating platform by the dead weight of the weight. The invention realizes the testing of a plurality of important performance indexes of the space-based detecting and tracking imaging system, and thus further adjustment and optimization, guarantees product quality, and ensures the quality of the space-based detecting and tracking imaging system and the normal operation on rails.

Description

Space-based Detection And Tracking imaging system testing device and method of testing

Technical field

The invention belongs to Space Object Detection and follow the tracks of imaging technique, being specifically related to Space Object Detection and the measuring method of performance parameter and the proving installation of following the tracks of imaging this kind equipment.

Background technology

The function of space-based (spaceborne) Detection And Tracking imaging system is carried out accurately detecting to important extraterrestrial target and follows the tracks of imaging, determines the important goal characteristics such as task, size, shape and the orbit parameter of the extraterrestrial target (comprising: satellite and space junk) that may constitute a threat to aerospace system; Target characteristic data is sorted out and distributes.Development space-based Detection And Tracking imaging system is conducive to improving China to Space Target Surveillance, tracking and recognition capability, enhancing to the real-time perception ability of space battlefield situation and Spatial powers combining ability.In addition, development space-based Detection And Tracking imaging system also helps development and the renewal of China's space launching site, is namely conducive to target range from ground target range to the upgrading of Space-based Range.Compared with ground monitoring and measuring, space-based Detection And Tracking imaging system tool has the following advantages: (1) does not limit by geographic position, and coverage is large, easily realizes the watch-keeping to target, follows the tracks of and accurate pattern measurement; (2) not by the restriction of meteorological condition, Effect on Detecting is good; (3) when fighting, viability is strong, can realize full directive, multi-track launches and global mobility is launched; (4) the space launch turnaround time can greatly be shortened.

The platform that so-called space-based refers to equipment work is the satellite platform of operation on orbit.And space-based Detection And Tracking imaging system is exactly take satellite as the Detection And Tracking imaging system of workbench operation on orbit.Detection And Tracking imaging system is generally made up of two-dimensional tracking turntable, optical detection camera and optical imagery camera.Two-dimensional tracking turntable is the follower of this system, and its major function carries detection camera and image camera, implementation space two-dimensional rotary.Can carry out Continuous Tracking to highest priority according to outer guidance information and the real-time miss distance information that provides of detection camera, in tracing process, image camera and other module related measurement devices can complete imaging to target and target signature measurement.

Space-based Detection And Tracking imaging system is the complication system with larger movable part be mounted on satellite platform.First, the singularity of working environment: under satellite is in space microgravity environment, satellite is not substantially by External Force Acting (ignoring atmospherical drag), and system external is an independently system, system momentum conservation.On satellite, the motion of any one parts and the change of motion state all can bring disturbance to satellite platform, namely moment is had to export to satellite platform, if this moment is comparatively large or the duration longlyer will affect the control of the attitude of satellite, the regulating and control ability having exceeded satellite attitude control system is unanimously to more greatly especially in this impact, will affect the normal work of satellite, this phenomenon is very fearful.

Therefore, in order to ensure space-based Detection And Tracking imaging system quality with normally run in-orbit, need to carry out system performance testing to it in testing laboratory.Thus carry out meticulous adjustment and optimization, ensure the quality of product.

Summary of the invention

The invention provides a kind of space-based Detection And Tracking imaging system testing device and method of testing, to guarantee space-based Detection And Tracking imaging system quality and normally to run in-orbit.

The present invention is based on following theoretical analysis and form technical scheme:

First, when needing to work to space-based Detection And Tracking imaging system, the mechanics of satellite platform is exported and carry out accurate Measurement & Control.The mechanical function characteristic of system and satellite platform can describe with output torque and output angle momentum.Output torque is the temporal effect that system exports satellite platform mechanics, and output angle momentum is the cumulative effect that system exports satellite platform mechanics.Output torque and output angle momentum can be changed mutually by differential and integral relation.

Secondly, space-based Detection And Tracking imaging system is mounted on satellite platform, and satellite platform not only will be subject to the space environment moments such as gravity gradient torque, solar radiation moment, aerodynamic moment, geomagnetic torque in process in orbit, is also subject to the output torque of movable part on star.Space environment moment is smaller and change is mild, within the range of adjustment of satellite attitude control system, although disturbance can be brought to the attitude of satellite, but normally can not work to satellite and threaten, and the output torque of rotatable parts is great changes on star, satellite attitude control system instantaneous being difficult to makes up, and therefore can affect greatly the attitude of satellite.In a word, the workbench of space-based Detection And Tracking imaging system is motion, and this can increase difficulty to the work of system, specifically can influential system tracking accuracy, follow the tracks of smoothness and image quality.

Provide the definition of system core index below.

(1) output torque: space-based Detection And Tracking imaging system is in the course of the work to the opplied moment of satellite platform.Specifically comprise: start output torque and steady tracking output torque.

(2) output angle momentum: space-based Detection And Tracking imaging system is in the course of the work to the output angle momentum of satellite platform.It is output torque integrating effect in time.

(3) dynamic tracking accuracy: system can have moment to export to satellite platform in the course of the work, thus make the attitude of satellite platform be among dynamic change, be equivalent to system be seated in one motion pedestal on work, the tracking accuracy of system in such a case.

(4) dynamically follow the tracks of degree of stability: follow the tracks of the rate of change that degree of stability is tracking accuracy, dynamically follow the tracks of the rate of change that smoothness is exactly dynamic tracking accuracy in system work process.It can affect the sharpness of imaging.

(5) dynamic imaging quality: because target is relative and system is moved, can there is picture and moving in the picture of target in camera image planes, this picture moves the sharpness that can affect imaging, namely affects the image quality of camera.Dynamic imaging quality is the image quality of system in dynamic tracing process.

Technical scheme of the present invention is as follows:

The proving installation of space-based Detection And Tracking imaging system, comprises air floating table (1), high precision moving-target mark (4), is equipped on the angular velocity measurement device that high precision moving-target puts on to provide the parallel light tube of infinite distance photographic subjects and be installed on air floating table (1); Space-based Detection And Tracking imaging system is coaxially fixedly installed on the Table top able to be rotated of air floating table (1) as system under test (SUT) (5), and three axle intersection points of system under test (SUT) are high precision moving-target mark (4) rotating light conical point; Rotatable platform, along its tangential direction bolt draught line and by solderless wrapped connection fixed pulley suspension counterweight (2), utilizes counterweight to conduct oneself with dignity to rotatable platform applying tangential force.

Above-mentioned parallel light tube can be made up of point target parallel light tube (6) and Area Objects parallel light tube (7), and the detection camera and the image camera that are respectively system under test (SUT) provide infinite distance target.

Above-mentioned angular velocity measurement device preferably adopts fibre optic gyroscope (3), and be installed on the Table top able to be rotated of air floating table (1), fibre optic gyroscope input shaft is coaxially parallel with air floating table revolving shaft.

Apply the method that above-mentioned proving installation is tested space-based Detection And Tracking imaging system, comprise the test of three parts: (1) output torque and angular momentum test, (2) dynamic tracking accuracy and the dynamically test of tracking smoothness, (3) dynamic imaging quality test;

Wherein, (1) output torque and angular momentum test comprise the following steps:

(1.1) system under test (SUT) is mounted on the rotatable platform of air floating table, and adjustment makes it coaxial with air floating table revolving shaft;

(1.2) rotatable platform of air floating table is floated, leveling, make rotatable platform and plane-parallel;

(1.3) be that the counterweight of m is connected with rotatable platform through fixed pulley by quality, tie point and air floating table revolving shaft distance I, utilize counterweight to conduct oneself with dignity and apply tangential force T, rotatable platform is rotated;

(1.4) be fixed on the initial angular velocity omegae of the rotatable platform rotation that the fibre optic gyroscope on rotatable platform records, and calculate angular acceleration;

(1.5) total moment of inertia J of rotatable platform and equipment under test is calculated;

(1.6) drive moving-target mark to rotate by the running parameter of setting, space-based Detection And Tracking imaging system follows the tracks of moving-target mark, the angular velocity omega that the rotatable platform that fibre optic gyroscope records rotates ';

(1.7) output torque during work of space-based Detection And Tracking imaging system is calculated;

(1.8) the output angle momentum during work of space-based Detection And Tracking imaging system is calculated;

(2) dynamically tracking accuracy and the test of dynamic tracking smoothness comprise the following steps:

(2.1) system under test (SUT) is mounted on the rotatable platform of air floating table, and adjustment makes it coaxial with air floating table revolving shaft;

(2.2) rotatable platform of air floating table is floated, leveling, make rotatable platform and plane-parallel;

(2.3) drive moving-target mark to rotate by the running parameter of setting, space-based Detection And Tracking imaging system follows the tracks of moving-target mark;

(2.4) extract camera miss distance can calculate dynamic tracking accuracy and dynamically follow the tracks of degree of stability;

(3) dynamic imaging quality test comprises the following steps:

(3.1) system under test (SUT) is mounted on the rotatable platform of air floating table, and adjustment makes it coaxial with air floating table revolving shaft;

(3.2) rotatable platform of air floating table is floated, leveling, make rotatable platform and plane-parallel;

(3.3) installation targets plate on moving-target target focal surface of collimator tube, drive moving-target mark to rotate by the running parameter of setting, space-based Detection And Tracking imaging system is followed the tracks of moving-target mark and is carried out imaging;

(3.4) interpretation carried out to image and determine the dynamic imaging quality of equipment under test.

Present invention achieves space-based Detection And Tracking imaging system output torque, output angle momentum, dynamically tracking accuracy, dynamically follow the tracks of the test of the performance index such as degree of stability, dynamic imaging quality, thus further adjust and optimize, ensure the quality of product, guarantee space-based Detection And Tracking imaging system quality and normally run in-orbit.

Accompanying drawing explanation

Fig. 1 is the structural representation sketch of proving installation of the present invention.

Fig. 2 is the reference diagram in kind of proving installation of the present invention.

Drawing reference numeral illustrates:

1-air floating table; 2-high precision counterweight; 3-fibre optic gyroscope; 4-high precision moving-target mark; 5-space-based Detection And Tracking imaging system (system under test (SUT)); 6-point target parallel light tube; 7-Area Objects parallel light tube.

Embodiment

The present invention mainly describes Space Object Detection and performance parameter measuring method and the proving installation of following the tracks of this kind equipment of imaging.Because this equipment is operated on satellite platform, therefore in order to the operation on orbit performance of Accurate Measurement or assessment apparatus just must simulate the working environment of this equipment in laboratory conditions, and performance measurement and evaluation are carried out to it, to verify whether it meets design and mission requirements.

Consider that space environment and satellite platform attitudes vibration are on the impact of space-based Detection And Tracking imaging system performance, for providing the accurate as far as possible and reliable test result of system performance, the present invention devises environment and the test macro of simulation system operation on orbit.Whole test macro mainly contains following a few part composition: the compositions such as air floating platform, high precision counterweight, fibre optic gyroscope, high precision moving-target mark.Specifically as shown in Figure 1.

High precision moving-target mark can realize the rotation of pinpoint accuracy, high stability, motion state can pass through programmed control, it is equipped with point target parallel light tube and Area Objects parallel light tube, the detection camera and the image camera that are respectively system under test (SUT) provide infinite distance target.System under test (SUT) is arranged on air floating platform, adjustment system under test (SUT) position makes it coaxial with air floating table, the impact of moment of friction on test result of air floating table can be reduced like this, three axle intersection points of system under test (SUT) also should be made to be adjusted to high precision moving-target mark rotating light conical point, the tracking measurement scope of maximum magnitude can be obtained like this.High precision counterweight (only uses when measuring output torque, output angle momentum, measure dynamic tracking accuracy, do not need high precision counterweight when dynamically following the tracks of degree of stability, dynamic imaging quality) be suspended on air floating table edge by a fixed pulley, a constant moment is applied to air floating table.Fibre optic gyroscope is arranged on air floating table Table top able to be rotated, makes fibre optic gyroscope input shaft parallel with air floating table turning axle, measures the angular velocity that air floating table rotates.

(1) air floating table: air floating table has the little feature of moment of friction (can reach < 10 -4n.m), ignore the impact of air floating table moment of friction, system conservation of angular momentum on air floating table rotational freedom of rotatable platform and equipment under test composition.The function of air floating table is the satellite platform of the attitude dynamic change at simulation system operation on orbit place in laboratory conditions.

(2) high precision counterweight: its major function is to provide accurate input torque.It can realize the measurement of equipment under test and the total moment of inertia of air supporting table top together with fibre optic gyroscope.This moment of inertia is output torque and the necessary physical quantity of output angle momentum survey.

(3) fibre optic gyroscope: it is an accurate angular-rate sensor, the rotational angular velocity of air floating table when working for measuring system caused by air floating table moment is exported.

(4) high precision moving-target mark: moving-target is put on and is provided with two or more parallel light tube, intend infinite distance target by installation targets template die on the focal plane of parallel light tube, different Target Boards can simulate different target shapes and character of surface.Moving-target mark can realize two degree of freedom high-precision and stable and rotate, and accurately can be controlled its motion state by program, can simulate the target of different motion speed, acceleration and movement locus.Therefore, moving-target target Main Function is simulation different motion form space infinite distance target.The testing environment similar with outfield is obtained, to realize in laboratory systematic tracking accuracy, the detection following the tracks of degree of stability and dynamic imaging quality in indoor.

Test philosophy of the present invention:

(1) output torque and angular momentum test

Under air floating table inflated condition, moment of friction is very little.When ignoring air floating table friction force, moment of face suffered by air floating table Table top able to be rotated is zero, the system angle momentum conservation that air floating table rotary table top and table top load (mainly containing: equipment under test, other measuring equipment etc.) form.Therefore, air floating platform, can virtual space satellite platform as a momentum conservation system.If air floating table rotating shaft is z-axis, then have:

&Sigma; K J Z , K &omega; Z , K + J D &omega; D = H 0 - - - ( 1 )

J in formula z, K, ω z, Kk the rotating unit being respectively tested rotatable parts around the moment of inertia of z-axis and the rotating speed component along z-axis, J d, ω dbe respectively system stator (comprising: the table top load that air floating table Table top able to be rotated is static with relative table top) around total moment of inertia of z-axis and angular velocity, H 0for the initial angular momentum of system is along the component of z-axis.If system initial angular momentum is zero, then formula (1) is reduced to

&Sigma; K J Z , K &omega; Z , K + J D &omega; D = 0 - - - ( 2 )

Test it is of concern that rotatable parts work time size to its installed surface output angle momentum, be not the size of himself angular momentum.Therefore, formula (2) is arranged and can be obtained: tested rotatable parts output angle momentum H outfor

H out = &Sigma; K J Z , K ( &omega; Z , K - &omega; D ) (3)

= ( J D + &Sigma; K J Z , K ) &omega; D

Be not difficult to find out, ω z, Kdthe rotational angular velocity that K rotating unit is mounted opposite face (i.e. air floating table table top), the total angular momentum that tested rotatable parts export its installed surface, total moment of inertia of system, be the disturbance that rotatable parts mechanics exports to system, differential carried out to it, size and the situation of change of rotatable parts output torque can be obtained.Air floating platform is utilized to realize right and ω ddirect measurement, thus obtain the size of rotatable parts output angle momentum.

Output torque is the time differential of output angle momentum, therefore, to measuring the output angle momentum differential obtained.

(2) dynamically tracking accuracy and the dynamically test of tracking smoothness

Air floating table is floated, the satellite platform of analog machine operation on orbit.According to the characteristic of extraterrestrial target and relative position relation, the relative motion turntable of target and satellite, make corresponding Target Board, and set moving-target target running parameter in conjunction with the performance index of system under test (SUT), make its movement velocity, acceleration consistent with the relevant parameter of extraterrestrial target with movement locus.Move target motion by the driving parameter set, the infinite distance moving target of simulation airflight, equipment under test follows the tracks of moving-target mark, extracts camera miss distance and can calculate dynamic tracking accuracy and dynamically follow the tracks of degree of stability.

(3) dynamic imaging quality test

Air floating table is floated, the satellite platform of analog machine operation on orbit.According to the characteristic of extraterrestrial target and relative position relation, the relative motion turntable of target and satellite, make corresponding Target Board, and set moving-target target running parameter in conjunction with the performance index of system under test (SUT), make its movement velocity, acceleration consistent with the relevant parameter of extraterrestrial target with movement locus.Target motion is moved by the driving parameter set, resolution chart or channel(l)ed plate are placed by moving-target mark focal surface of collimator tube place, the infinite distance moving target of simulation airflight, equipment under test follows the tracks of moving-target mark, and imaging is carried out to the skimulated motion target that moving-target mark provides, interpretation is carried out to image and determines the dynamic imaging quality of equipment under test.

The concrete testing procedure of the present invention to each index of system under test (SUT) is as follows:

(1) output torque and angular momentum test

(1.1) system under test (SUT) is fixedly secured on air floating table Table top able to be rotated, and adjustment makes it coaxial with air floating table revolving shaft;

(1.2) air floating platform is floated, and adjust leveling link, make air floating table table top and plane-parallel;

(1.3) be that the counterweight of m is connected with air floating platform rotating part through pulley by quality, tie point and platform rotating shaft distance I, utilize counterweight to conduct oneself with dignity and apply tangential force T, air floating platform is rotated;

(1.4) be fixed on the angular velocity (ω) of the air floating table rotation that the rate gyro on air floating table table top records, and calculate angular acceleration (α);

(1.5) total moment of inertia (J) of air floating table Table top able to be rotated and equipment under test is calculated;

(1.6) drive moving-target mark to rotate by the running parameter of setting, space-based Detection And Tracking imaging system follows the tracks of moving-target mark, the angular velocity (ω ') of the air floating platform motion that rate gyro records;

(1.7) output torque during work of space-based Detection And Tracking imaging system is calculated;

(1.8) the output angle momentum during work of space-based Detection And Tracking imaging system is calculated.

(2) dynamically tracking accuracy and the dynamically test of tracking smoothness

(2.1) system under test (SUT) is fixedly secured on air floating table Table top able to be rotated, and adjustment makes it coaxial with air floating table revolving shaft;

(2.2) air floating platform is floated, and adjust leveling link, make air floating table table top and plane-parallel;

(2.3) drive moving-target mark to rotate by the running parameter of setting, space-based Detection And Tracking imaging system follows the tracks of moving-target mark;

(2.4) extract camera miss distance can calculate dynamic tracking accuracy and dynamically follow the tracks of degree of stability.

(3) dynamic imaging quality test

(3.1) system under test (SUT) is fixedly secured on air floating table Table top able to be rotated, and adjustment makes it coaxial with air floating table revolving shaft;

(3.2) air floating platform is floated, and adjust leveling link, make air floating table table top and plane-parallel;

(3.3) on moving-target target focal surface of collimator tube, install suitable targets plate, drive moving-target mark to rotate by the running parameter of setting, space-based Detection And Tracking imaging system is followed the tracks of moving-target mark and is carried out imaging;

(3.4) interpretation carried out to image and determine the dynamic imaging quality of equipment under test.

Claims (4)

1. the proving installation of space-based Detection And Tracking imaging system, comprises air floating table (1), high precision moving-target mark (4), is equipped on the angular velocity measurement device that high precision moving-target puts on to provide the parallel light tube of infinite distance photographic subjects and be installed on air floating table (1); Space-based Detection And Tracking imaging system is coaxially fixedly installed on the Table top able to be rotated of air floating table (1) as system under test (SUT) (5), and three axle intersection points of system under test (SUT) are high precision moving-target mark (4) rotating light conical point; Rotatable platform, along its tangential direction bolt draught line and by solderless wrapped connection fixed pulley suspension counterweight (2), utilizes counterweight to conduct oneself with dignity to rotatable platform applying tangential force.
2. the proving installation of space-based Detection And Tracking imaging system according to claim 1, it is characterized in that: described parallel light tube is made up of point target parallel light tube (6) and Area Objects parallel light tube (7), the detection camera and the image camera that are respectively system under test (SUT) provide infinite distance target.
3. the proving installation of space-based Detection And Tracking imaging system according to claim 1, it is characterized in that: described angular velocity measurement device adopts fibre optic gyroscope (3), be installed on the Table top able to be rotated of air floating table (1), fibre optic gyroscope input shaft is coaxially parallel with air floating table revolving shaft.
4. apply the method that proving installation is as claimed in claim 1 tested space-based Detection And Tracking imaging system, comprise the test of three parts: (1) output torque and angular momentum test, (2) dynamic tracking accuracy and the dynamically test of tracking smoothness, (3) dynamic imaging quality test;
Wherein, (1) output torque and angular momentum test comprise the following steps:
(1.1) system under test (SUT) is mounted on the rotatable platform of air floating table, and adjustment makes it coaxial with air floating table revolving shaft;
(1.2) rotatable platform of air floating table is floated, leveling, make rotatable platform and plane-parallel;
(1.3) be that the counterweight of m is connected with rotatable platform through fixed pulley by quality, tie point and air floating table revolving shaft distance I, utilize counterweight to conduct oneself with dignity and apply tangential force T, rotatable platform is rotated;
(1.4) be fixed on the initial angular velocity omegae of the rotatable platform rotation that the fibre optic gyroscope on rotatable platform records, and calculate angular acceleration;
(1.5) total moment of inertia J of rotatable platform and equipment under test is calculated;
(1.6) drive moving-target mark to rotate by the running parameter of setting, space-based Detection And Tracking imaging system follows the tracks of moving-target mark, the angular velocity omega that the rotatable platform that fibre optic gyroscope records rotates ';
(1.7) output torque during work of space-based Detection And Tracking imaging system is calculated;
(1.8) the output angle momentum during work of space-based Detection And Tracking imaging system is calculated;
(2) dynamically tracking accuracy and the test of dynamic tracking smoothness comprise the following steps:
(2.1) system under test (SUT) is mounted on the rotatable platform of air floating table, and adjustment makes it coaxial with air floating table revolving shaft;
(2.2) rotatable platform of air floating table is floated, leveling, make rotatable platform and plane-parallel;
(2.3) drive moving-target mark to rotate by the running parameter of setting, space-based Detection And Tracking imaging system follows the tracks of moving-target mark;
(2.4) extract camera miss distance can calculate dynamic tracking accuracy and dynamically follow the tracks of degree of stability;
(3) dynamic imaging quality test comprises the following steps:
(3.1) system under test (SUT) is mounted on the rotatable platform of air floating table, and adjustment makes it coaxial with air floating table revolving shaft;
(3.2) rotatable platform of air floating table is floated, leveling, make rotatable platform and plane-parallel;
(3.3) installation targets plate on moving-target target focal surface of collimator tube, drive moving-target mark to rotate by the running parameter of setting, space-based Detection And Tracking imaging system is followed the tracks of moving-target mark and is carried out imaging;
(3.4) interpretation carried out to image and determine the dynamic imaging quality of equipment under test.
CN201110370922.8A 2011-11-21 2011-11-21 Space-based detecting and tracking imaging system testing device and testing method CN102393213B (en)

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