CN102538786A - Full field solar sensing device and method for micro satellite - Google Patents
Full field solar sensing device and method for micro satellite Download PDFInfo
- Publication number
- CN102538786A CN102538786A CN201210012271XA CN201210012271A CN102538786A CN 102538786 A CN102538786 A CN 102538786A CN 201210012271X A CN201210012271X A CN 201210012271XA CN 201210012271 A CN201210012271 A CN 201210012271A CN 102538786 A CN102538786 A CN 102538786A
- Authority
- CN
- China
- Prior art keywords
- solar
- sensor
- sun sensor
- processing unit
- signal processing
- 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.)
- Granted
Links
Images
Landscapes
- Studio Devices (AREA)
Abstract
The invention discloses a full field solar sensing device and a full field solar sensing method for a micro satellite. The device comprises a full view image type solar sensor, a signal processing unit and a four patch differential sun sensor which is used for acquiring solar sensing information when a solar facula imaged on the full view image type solar sensor is positioned in a measurement dead zone; the method comprises the following steps of: acquiring image data by the full view image type solar sensor; solving the central position of the solar facula by using the image data; judging whether the central position of the solar facula is positioned in the measurement dead zone of the full view image type solar sensor; if the solar facula is positioned outside the measurement dead zone, outputting three-axis solar vector information according to the central position of the solar facula; and outputting the three-axis solar vector information according to input data of the four patch differential sun sensor, if the solar facula is positioned in the measurement dead zone. The device has the advantages of small volume, light weight, low power consumption and cost and simple structure, and is particularly suitable for determining postures of the micro satellite.
Description
Technical field
The present invention relates to microsatellite attitude and confirm the field, be specifically related to a kind of full visual field sun sensor assembly and method that is used for microsatellite.
Background technology
Microsatellite is short with its lead time, cost is low, dirigibility is strong, more and more receives the attention of each space research mechanism.Satellite Attitude Determination System is the important component part of microsatellite, and attitude sensor is the key component of Satellite Attitude Determination System, and is common like gyroscope, magnetometer, infrared earth detector, sun sensor and star sensor etc.For microsatellite development, gyro is because its drift accumulation in time, and measuring error is big, general less employing, and infrared earth detector and star sensor be owing to power consumption, cost are too high, calculation of complex, also rare employing.Several types of attitude sensors of sun sensor and other are compared, and have advantages such as simplicity of design, low in energy consumption and volume are little, are a kind of ten minutes attitude sensors commonly used.
Sun sensor is a kind of through measuring the angle between sunray and a certain axon of satellite; Thereby confirm the position of the sun in the sensor body coordinate system; Obtain the position of the sun in the satellite body coordinate system through the coordinates matrix conversion then, finally in the posture control system of satellite, try to achieve the sensor of satellite in the orientation in space.Sun sensor is divided into two types of analog sun sensor and digital sun sensors usually: analog sun sensor adopts photoelectric cell as light sensor more; Utilize the size of its output current to judge the incident angle of sunshine, the visual field is generally about 20 °～30 °; Digital sun sensor is the sensor that calculates the sunshine angle through the deviation of calculating sunray position at relative center on detector; Mainly based on two types of imageing sensors; One type is ccd image sensor; One type is CMOS (full name is " complementary metal oxide semiconductor (CMOS) ", Complementary Metal Oxide Semiconductor) imageing sensor.Based on the visual field of the digital sun sensor of imageing sensor generally about ± 60 °.
Although sun sensor has many advantages; And the attitude that has been widely used in satellite is confirmed; But because the restriction of device and optical system; On the visual field, still exist some shortcomings, three sun sensors need be installed on satellite usually at least realize omnibearing sun angle measurement.For microsatellite, the quantitative increase of sensor can increase the weight of the burden on its power consumption.Therefore on microsatellite, adopt a small amount of sun sensor to realize that catching of whole visual field has crucial meaning.
Summary of the invention
The technical matters that the present invention will solve provides the full visual field sun sensor assembly and the method that are used for microsatellite that a kind of volume is little, in light weight, low in energy consumption, cost is low, simple in structure.
For solving the problems of the technologies described above, the technical scheme that the present invention adopts is:
A kind of full visual field sun sensor assembly that is used for microsatellite; Comprise the panoramic picture formula sun sensor and the signal processing unit that is used to calculate three solar vector information of output that are used to gather the panoramic optical image; The output terminal of said panoramic picture formula sun sensor links to each other with signal processing unit; Said full visual field sun sensor assembly also comprises the differential sun sensor of four-piece type that is used for when the solar facula of said panoramic picture formula sun sensor imaging is positioned at the measurement blind area, gathering sun sensitive information; The differential sun sensor of said four-piece type comprises that the top offers the light shield of printing opacity square hole; Being provided with four in the said light shield is in contact with one another and solar battery sheet in the same plane; Said solar battery sheet be the square, said printing opacity square hole be located at four solar battery sheets directly over, the output terminal of said solar battery sheet links to each other with signal processing unit.
Further improvement as technique scheme:
The upper surface of said solar battery sheet satisfies h=L/tan α to the spacing h between the printing opacity square hole; Wherein L is the half the of the solar battery sheet length of side; α is the visual field size of the differential sun sensor of four-piece type, and α is the angle value that is greater than or equal to the measurement blind area of said panoramic picture formula sun sensor.
Said signal processing unit comprises digital signal processor, analog to digital converter, operational amplification circuit and program storage block and external interface module; Said digital signal processor links to each other with analog to digital converter, program storage block, external interface module respectively, and said analog to digital converter links to each other with solar battery sheet through operational amplification circuit.
Said digital signal processor comprises the image buffer of dma controller and two parallel distributed, and said image buffer distributes and links to each other with panoramic picture formula sun sensor through dma controller.
Said panoramic picture formula sun sensor comprises interconnective panoramic ring optical lens and imageing sensor; Filter coating is posted in the rear end of said panoramic ring optical lens; The output terminal of said imageing sensor links to each other with signal processing unit, and said imageing sensor is a cmos image sensor.
It is a kind of based on the above-mentioned full visual field sun sensitivity method that is used for the full visual field sun sensor assembly of microsatellite that the present invention also provides, and implementation step is following:
1) said signal processing unit obtains view data through panoramic picture formula sun sensor;
2) said signal processing unit carries out the binaryzation conversion to view data;
3) view data after said signal processing unit is changed binaryzation is found the solution the solar facula center;
4) said signal processing unit judges whether the solar facula center is positioned at the measurement blind area of panoramic picture formula sun sensor, measures outside the blind area then basis if the solar facula position is positioned at
α＝arctan〔Y
s/X
s〕、β＝R/f、
Calculate sunray at the angle value α on the coordinate axis X, sunray at the angle value β on the coordinate axis Z and solar facula to the distance R between the true origin, wherein X
s, Y
sBe the solar facula center, f is a lens focus, converts said α, β and R into three solar vector information and output then; If the solar facula center is positioned at the measurement blind area then carries out next step;
5) detect current signal or the voltage signal that each solar battery sheet (32) is imported, basis then
Find the solution solar facula coordinate S
b, A wherein
1, A
2, A
3, A
4Be respectively the current value or the magnitude of voltage of solar battery sheet (32) input; A is the current value summation or the magnitude of voltage summation of four solar battery sheets (32) input; H be the upper surface of solar battery sheet (32) to the spacing between the printing opacity square hole (311), L is the half the of solar battery sheet (32) length of side; Then with said solar facula coordinate S
bConvert three solar vector information and output into.
Further improvement as technique scheme of the present invention:
The detailed step of said step 1) comprises: signal processing unit passes through panoramic picture formula sun sensor acquisition of image data through interrupt mode in the said step 1); And said signal processing unit is opened up two block buffers simultaneously in inside; Alternately move in view data to two block buffer line by line through direct memory access, and said signal processing unit carries out binary conversion treatment to the view data of another buffer zone when moving view data to buffer zone.
Said step 2) detailed step comprises:
A) effective luminance threshold interval is set, the valid interval of threshold point number was set;
B) begin scan image data from the interval minimum value of effective luminance threshold,
C) in scanning process, carry out record to meeting the said threshold value of crossing the valid interval of threshold point number, after scanning was accomplished, the mean value of getting these qualified threshold values was as final threshold parameter;
D) luminance threshold that is binaryzation according to said final threshold parameter carries out binaryzation to view data.
In the said step 3) signal processing unit find the solution the solar facula center specifically be meant through
Find the solution the X coordinate X of solar facula center
sWith Y coordinate Y
s, N wherein
ThBe the detected threshold point number of crossing
The full visual field sun sensor assembly that the present invention is used for microsatellite has following advantage:
1, the present invention includes panoramic picture formula sun sensor and the solar facula that is used in panoramic picture formula sun sensor imaging is positioned at the differential sun sensor of four-piece type of gathering sun sensitive information when measuring the blind area; Within the measurement range of panoramic picture formula sun sensor, adopt the solar vector of measuring gained by panoramic picture formula sun sensor; In the measurement blind area of panoramic picture formula sun sensor, then adopt the differential sun sensor of four-piece type to measure solar vector; Both combinations promptly can be obtained 180 ° * 180 ° full visual field solar vectors; Have the measuring accuracy height, measure accurately, volume is little, in light weight, low in energy consumption, cost is low, advantage of simple structure, the attitude that especially is suitable for microsatellite is confirmed.
2, the present invention is the core signal processing element with the signal processing unit, and imageing sensor is directly inserted signal processing unit, has reduced the cost and the complexity of system, has simplified design of signal processing.
3, the upper surface of solar battery sheet of the present invention further satisfies h=L/tan α to the spacing h between the printing opacity square hole; And the visual field size of the differential sun sensor of four-piece type further is greater than or equal to the angle value of the measurement blind area of said panoramic picture formula sun sensor; Can guarantee that the differential sun sensor of panoramic picture formula sun sensor and four-piece type forms together and do not have the blind area, thereby guarantee to realize that the sun of full visual field is responsive.
4, digital signal processor of the present invention further comprises the image buffer of dma controller and two parallel distributed, thereby can realize the parallel processing to view data, can accelerate the speed of Flame Image Process, improves the efficient of Flame Image Process.
5, panoramic picture formula sun sensor further comprises interconnective panoramic ring optical lens and imageing sensor; Imageing sensor is a cmos image sensor; Compare with traditional C CD imageing sensor and to have advantage low in energy consumption, that integrated level is high, volume is little, cost is low and antijamming capability is strong, thereby be suitable for more being applied on the microsatellite.
Because full visual field of the present invention sun sensitivity method is the full visual field sun sensitivity method based on the full visual field sun sensor assembly that is used for microsatellite, therefore also should possess the aforementioned corresponding advantage of advantage based on the full visual field sun sensor assembly that is used for microsatellite.
Description of drawings
Fig. 1 is the framed structure synoptic diagram of the embodiment of the invention.
Fig. 2 is the structural representation of the differential sun sensor of embodiment of the invention four-piece type.
Fig. 3 is the sectional structure synoptic diagram of the differential sun sensor of embodiment of the invention four-piece type.
Fig. 4 is the principle of work structural representation of the differential sun sensor of embodiment of the invention four-piece type.
Fig. 5 is the principle of work synoptic diagram of panoramic ring optical lens.
Fig. 6 is the perspective view on the two-dimensional image plane of panoramic ring optical lens.
Fig. 7 is embodiment of the invention imageing sensor and digital signal processor syndeton synoptic diagram.
Fig. 8 is the circuit theory diagrams of embodiment of the invention operational amplifier.
Fig. 9 is the basic skills schematic flow sheet of the embodiment of the invention.
Figure 10 is that the principal function of embodiment of the invention digital signal processor is carried out schematic flow sheet.
Figure 11 is the frame synchronizing signal Interrupt Process schematic flow sheet of embodiment of the invention digital signal processor.
Figure 12 is the line synchronizing signal Interrupt Process schematic flow sheet of embodiment of the invention digital signal processor.
Figure 13 is the DMA Interrupt Process schematic flow sheet of embodiment of the invention digital signal processor.
Marginal data: 1, panoramic picture formula sun sensor; 11, panoramic ring optical lens; 12, imageing sensor; 2, signal processing unit; 21, digital signal processor; 211, dma controller; 212, image buffer; 22, analog to digital converter; 23, operational amplification circuit; 24, program storage block; 25, external interface module; 3, the differential sun sensor of four-piece type; 31, light shield; 311, printing opacity square hole; 32, solar battery sheet.
Embodiment
As depicted in figs. 1 and 2; The full visual field sun sensor assembly that present embodiment is used for microsatellite comprises the panoramic picture formula sun sensor 1 and the signal processing unit 2 that is used to calculate three solar vector information of output that is used to gather the panoramic optical image; The output terminal of panoramic picture formula sun sensor 1 links to each other with signal processing unit 2; Full visual field sun sensor assembly also comprises the differential sun sensor 3 of four-piece type that is used for when the solar facula of panoramic picture formula sun sensor 1 imaging is positioned at the measurement blind area, gathering sun sensitive information; The differential sun sensor 3 of four-piece type comprises that the top offers the light shield 31 of printing opacity square hole 311; Being provided with four in the light shield 31 is in contact with one another and solar battery sheet 32 in the same plane; Solar battery sheet 32 be the square, printing opacity square hole 311 be located at four solar battery sheets 32 directly over, the output terminal of solar battery sheet 32 links to each other with signal processing unit 2.Like Fig. 2, Fig. 3 and shown in Figure 4; Four solar battery sheets 32 bond together each other and are the arrangement of sphere of movements for the elephants shape in the present embodiment; Printing opacity square hole 311 be located at four solar battery sheets 32 that sphere of movements for the elephants shape arranges directly over, solar battery sheet 32 is a silicon solar cell.The upper surface of solar battery sheet 32 satisfies h=L/tan α to the spacing h between the printing opacity square hole 311; Wherein L is the half the of solar battery sheet 32 length of sides; α is the visual field size of the differential sun sensor 3 of four-piece type, and α is the angle value that is greater than or equal to the measurement blind area of panoramic picture formula sun sensor 1.
Like Fig. 3 and shown in Figure 4, present embodiment comprises four solar battery sheets 32 (I, II, III, IV).Four-piece type simulated solar responsive 2 is fixed on the base plate of light shield 31, and light shield 31 covers four solar battery sheets 32.Because blocking of light shield 31, the exposed area of solar battery sheet 32 has nothing in common with each other, and the electric current of sunshine surface generation above that is respectively I
1, I
2, I
3, I
4Central point o with four solar battery sheets 32 sets up three-dimensional xyz coordinate system; Solar irradiation is mapped on four solar battery sheets 32; Form the light area that is surrounded by A, B, C and D as shown in Figure 5, its center coordinate of o ' under the xyz coordinate system is exactly our needed solar facula coordinate.Wherein, I
1+ I
2And I
3+ I
4Difference can confirm the value of x; I
2+ I
3And I
1+ I
4Difference can confirm the value of y; H has determined the coordinate of z axle.Through adjustment h and L (for example get L=5.5mm, h=3mm), yet can be so that the visual field of simulated solar sensor reaches 60 ° of restrictions because of technology, h should not be too little; And the length of side L of monolithic square silicon solar cell should not be too big, otherwise can influence the precision of simulated solar sensor, and therefore generally speaking, it is very big that the visual field of simulated solar sensor can not reach.
Panoramic picture formula sun sensor 1 comprises interconnective panoramic ring optical lens 11 and imageing sensor 12, and filter coating is posted in the rear end of panoramic ring optical lens 11, and the output terminal of imageing sensor 12 links to each other with signal processing unit 2.Panoramic ring optical lens 11 can be realized the IMAQ based on plane cylinder sciagraphy.As shown in Figure 5, plane cylinder sciagraphy is will project to the two-dimensional finite plane around the cylindrical field of view in 360 ° of scopes of system optical axis with projective techniques.In the cylinder projection mapping of plane, all parallel light focusings are on a point, and the parallel rays of different directions focuses on the horizontal difference in traditional perspective method.As shown in Figure 6, the part that can form images is formed 3 D stereo zone after optical axis Z rotation 360, two limits at θ angle.This zone is projected in the annulus on the two-dimensional image plane.Formed conical area can not form images and the both sides of 2 jiaos of cone angles are around Z axle rotation 360 backs, this zone on two dimensional surface corresponding internal diameter with interior circular blind area.In the present embodiment, the detection blind area of panoramic ring optical lens 11 is one 60 ° a conical area.It is the cmos image sensor of OV2640 that imageing sensor 12 adopts OmniVision company model; Ultimate resolution is 1600 * 1200; Integrated imageing sensor and image processor in the single chip; The CMOS sun sensor realizes that to a great extent low-power consumption is through realizing that to the imageing sensor fenestration procedure can use the windowing function of OV2640 among the present invention, its resolution is set to 640*480.In the present embodiment, be provided with shadow shield between the differential sun sensor 3 of panoramic picture formula sun sensor 1 and four-piece type.
As shown in Figure 8, imageing sensor 12 is connected with I2C EBI, the universaling I/O port of digital signal processor 21 respectively.Digital signal processor 21 is through I2C bus configuration imageing sensor; DSP reads view data through the judgement to synchronous reference signal.
As shown in Figure 9, present embodiment is following based on the implementation step of the full visual field sun sensitivity method of full visual field sun sensor assembly:
1) signal processing unit 2 obtains view data through panoramic picture formula sun sensor 1;
2) 2 pairs of view data of signal processing unit are carried out the binaryzation conversion;
3) view data after 2 pairs of binaryzation conversions of signal processing unit is found the solution the solar facula center;
4) signal processing unit 2 judges whether the solar facula center is positioned at the measurement blind area of panoramic picture formula sun sensor 1, measures outside the blind area then basis if the solar facula position is positioned at
α＝arctan〔Y
s/X
s〕、β＝R/f、
Calculate sunray at the angle value α on the coordinate axis X, sunray at the angle value β on the coordinate axis Z and solar facula to the distance R between the true origin, wherein X
s, Y
sBe the solar facula center, f is a lens focus, converts α, β and R into three solar vector information and output then; Measure the blind area if the solar facula center is positioned at, then the coordinate of solar facula center is (0,0), need could realize obtaining normal position of sun information through four-piece type simulated solar sensor 3, carries out next step then;
5) detect current signal or the voltage signal that each solar battery sheet 32 is imported, basis then
Find the solution solar facula coordinate S
b, A wherein
1, A
2, A
3, A
4Be respectively the current value or the magnitude of voltage of solar battery sheet 32 inputs; A is the current value summation or the magnitude of voltage summation of four solar battery sheets, 32 inputs; H be the upper surface of solar battery sheet 32 to the spacing between the printing opacity square hole 311, L is the half the of solar battery sheet 32 length of sides; Then with solar facula coordinate S
bConvert three solar vector information and output into.
The detailed step of step 1) comprises: signal processing unit 2 passes through panoramic picture formula sun sensor 1 acquisition of image data through interrupt mode in the step 1; And signal processing unit 2 is opened up two block buffers simultaneously in inside; Alternately move in view data to two block buffer line by line through direct memory access, and signal processing unit 2 carries out binary conversion treatment to the view data of another buffer zone when moving view data to buffer zone.Imageing sensor 12 looks like to convert to view data with it as the sun on the plane and sends digital signal processor 21 (dsp chip) to; Digital signal processor 21 is through interrupt mode images acquired information; Open up two image buffers 212 simultaneously in inside; Carry out direct memory access (Direct Memory Access is called for short DMA) moving data through dma controller 211, alternately every capable view data is cushioned.When DMA moved view data to an image buffer 212, DSP handled the data in another piece image buffer 212, with the speed of raising view data processing, and can effectively solve the read-write operation collision problem.When a two field picture is handled; Digital signal processor 21 obtains the solar facula coordinate information, and compares with the luminance threshold that is provided with, and judges whether the current sun is positioned at the measurement blind area; If be judged as not; Be corresponding sun angle then, draw solar vector, carry out the collection and the buffer memory of next frame image simultaneously according to the sun angle information calculations with current solar facula coordinate conversion; If be judged as be, then give up this frame information, the four-piece type simulated solar sensor 3 of sampling simultaneously obtains four-piece type simulated solar sensor 3 through computing and obtains three solar vector information through the digital voltage amount of operational amplification circuit 23 with analog to digital converter 22 outputs.
Step 2) detailed step comprises:
A) effective luminance threshold interval is set, the valid interval of threshold point number was set;
B) begin scan image data from the interval minimum value of effective luminance threshold,
C) threshold value to the valid interval that met the threshold point number is carried out record in scanning process, and after scanning was accomplished, the mean value of getting these qualified threshold values was as final threshold parameter;
D) luminance threshold that is binaryzation according to final threshold parameter carries out binaryzation to view data.
In the step 3) signal processing unit 2 find the solution the solar facula center specifically be meant through
Find the solution the X coordinate X of solar facula center
sWith Y coordinate Y
s, N wherein
ThBe the detected threshold point number of crossing.It is very simple that dsp chip becomes when realizing the centroid detection algorithm, only relates to and simply add up and division arithmetic, can handle with behavior unit, combines the information of a frame to confirm the solar facula centre coordinate more at last.
In the present embodiment, step 5) detects the current signal of each solar battery sheet 32 input, basis then
Find the solution solar facula coordinate S
b, I wherein
1, I
2, I
3, I
4Be respectively the current value of solar battery sheet 32 inputs, I is the current value summation of four solar battery sheets, 32 inputs.
In the present embodiment, imageing sensor 12 is following with the detailed process of communicating by letter of digital signal processor 21:
1. after digital signal processor 21 powers on and loaded the program in the program storage block 24, at first imageing sensor 12 is carried out the configuration of picture format and resolution.
2. imageing sensor 12 output image under the clock that crystal oscillator provides; Rising edge triggered digital signal processor 21 at frame synchronizing signal VSYNC interrupts, and it is 1 that zone bit Flag_End is set, and representes the end of a two field picture; If advance to interrupt for the first time, then also need DMA is carried out initialization operation.It is 1 o'clock that digital signal processor 21 inquires this zone bit, and coordinate information in the solar facula of previous frame is changed, and obtains three solar vector information.
The rising edge of line synchronizing signal HREF once more triggered digital signal processor 21 interrupt; When advancing to interrupt for the first time buffer flag is initialized as 1; With the buffer flag negate, enable dma controller 211 simultaneously during each later on the entering, the rising edge of PCLK triggers dma controller 211 and moves delegation's view data to image buffer A (B) from GPIO; And triggering DMA interrupts after data-moving is accomplished; Reconfigure dma controller 211, switch the address of buffer zone, alternately every capable view data is cushioned.When view data being carried out buffer memory, adopted the method for opening up double buffering with behavior unit.Concrete grammar is: when buffer flag is 1; Image buffer A is as the buffer zone of current line view data, and promptly dma controller 211 deposits the current line view data in image buffer A, and peek operation and handling of 21 couples of image buffer B of digital signal processor; Otherwise; When buffer flag was 0, image buffer B was as the image buffer of current line view data, and 21 couples of image buffer A of digital signal processor peek and operate and handle; Realize the isolation on the buffer zone physical space with this, efficiently solve the read-write operation collision problem.
Like Figure 10, Figure 11, Figure 12 and shown in Figure 13, the workflow of digital signal processor 21 is following:
The first step: system powers on, and loads the program among the FLASH, configuration image sensor 12 after loading is accomplished.Configuration image sensor 12 mainly is to accomplish through serial camera control bus (Serial Camera Control Bus is called for short SCCB).SCCB is formulated by OmniVision company to be used for the bus of control chart image-position sensor, on DSP, can directly be used as SCCB through the I2C bus and use, and imageing sensor 23 is configured, and mainly comprises the resolution of the form and the image of its photographic images.The picture format that adopts in the present invention is the YUV422 form, and wherein major concern is the Y component, promptly obtains the half-tone information of sun image.The resolution that the present invention sets cmos image sensor is 640*480.
Second step: images acquired.Crystal oscillator is the clock signal that imageing sensor provides 24M; Imageing sensor 12 inside are with this clock its work major clock of Clock Managing Unit generation through it; At first; Digital signal processor 21 triggers interruption when detecting the rising edge of frame synchronizing signal VSYNC, initialization dma controller 211 (when interrupting first) is put Flag_End and is masked as 1.Next, trigger DSP at the rising edge of line synchronizing signal HREF and interrupt, enable dma controller 211, trigger dma controller 211 at the rising edge of pixel clock signal PCLK and move the data of gathering on the GPIO mouth with behavior unit to image buffer A (B).Because the picture format that adopts is the YUV422 form, corresponding two the pixel clock signal PCLK of each pixel (2bytes), i.e. the DMA twice that to move the needed pixel clock signal PCLK of data line be the pixel number.And only handle the Y component during digital signal processor 21 deal with data, abandon the UV component.
The 3rd step: obtain image.After DMA has moved data line, trigger DMA and interrupt, reconfigure dma controller 211, promptly switch the store data buffer zone address.Simultaneously, digital signal processor 21 carries out Flame Image Process according to buffer flag in image buffer B (A).Rising edge at line synchronizing signal HREF triggers interruption once more; Dma controller 211 is moved the next line view data again to another piece image buffer, like this, and when DSP handles the lastrow data; Dma controller 211 can be moved the data of descending image, to accelerate the speed of system.Every reception one frame image data common property is given birth to 480 capable HREF and is interrupted and 480 DMA data transmission.
The 4th step: carry out data processing output solar vector information.DSP inquiry Flag_End zone bit representes that when it is 1 a two field picture transmits completion, and go to handle the view data of previous frame this moment, and convert the solar facula centre coordinate that processing obtains to sun angle information, calculates three solar vector information outputs; If the sun is positioned at the measurement blind area of cmos image sensor; Then handling the solar facula centre coordinate that obtains is (0; 0), abandons handling the information of CMOS sun sensor this moment, gather the sun information of voltage of four-piece type simulated solar sensor through A/D converter output through the I2C bus; And convert the output of solar vector information to, thereby overcome the blind area of CMOS sun sensor.
The above is merely preferred implementation of the present invention, and protection scope of the present invention is not limited in above-mentioned embodiment, and every technical scheme that belongs to the principle of the invention all belongs to protection scope of the present invention.For a person skilled in the art, some improvement and the retouching under the prerequisite that does not break away from principle of the present invention, carried out, these improvement and retouching also should be regarded as protection scope of the present invention.
Claims (9)
1. full visual field sun sensor assembly that is used for microsatellite; Comprise the signal processing unit (2) that is used to gather the panoramic picture formula sun sensor (1) of panoramic optical image and is used to calculate three solar vector information of output; The output terminal of said panoramic picture formula sun sensor (1) links to each other with signal processing unit (2); It is characterized in that: said full visual field sun sensor assembly also comprises the differential sun sensor of four-piece type (3) that is used for when the solar facula of said panoramic picture formula sun sensor (1) imaging is positioned at the measurement blind area, gathering sun sensitive information; The differential sun sensor of said four-piece type (3) comprises that the top offers the light shield of printing opacity square hole (311) (31); Being provided with four in the said light shield (31) is in contact with one another and solar battery sheet (32) in the same plane; Said solar battery sheet (32) is a square; Said printing opacity square hole (311) be located at four solar battery sheets (32) directly over, the output terminal of said solar battery sheet (32) links to each other with signal processing unit (2).
2. the full visual field sun sensor assembly that is used for microsatellite according to claim 1; It is characterized in that: the upper surface of said solar battery sheet (32) satisfies h=L/tan α to the spacing h between the printing opacity square hole (311); Wherein L is the half the of solar battery sheet (32) length of side; α is the visual field size of the differential sun sensor of four-piece type (3), and α is the angle value that is greater than or equal to the measurement blind area of said panoramic picture formula sun sensor (1).
3. the full visual field sun sensor assembly that is used for microsatellite according to claim 2; It is characterized in that: said signal processing unit (2) comprises digital signal processor (21), analog to digital converter (22), operational amplification circuit (23) and program storage block (24) and external interface module (25); Said digital signal processor (21) links to each other with analog to digital converter (22), program storage block (24), external interface module (25) respectively, and said analog to digital converter (22) links to each other with solar battery sheet (32) through operational amplification circuit (23).
4. the full visual field sun sensor assembly that is used for microsatellite according to claim 3; It is characterized in that: said digital signal processor (21) comprises the image buffer (212) of dma controller (211) and two parallel distributed, and said image buffer (212) distributes and links to each other with panoramic picture formula sun sensor (1) through dma controller (211).
5. according to claim 1 or 2 or the 3 or 4 described full visual field sun sensor assemblies that are used for microsatellite; It is characterized in that: said panoramic picture formula sun sensor (1) comprises interconnective panoramic ring optical lens (11) and imageing sensor (12); Filter coating is posted in the rear end of said panoramic ring optical lens (11); The output terminal of said imageing sensor (12) links to each other with signal processing unit (2), and said imageing sensor (12) is a cmos image sensor.
6. one kind based on any said full visual field sun sensitivity method that is used for the full visual field sun sensor assembly of microsatellite in the claim 1～4, it is characterized in that implementation step is following:
1) said signal processing unit (2) obtains view data through panoramic picture formula sun sensor (1);
2) said signal processing unit (2) carries out the binaryzation conversion to view data;
3) view data after said signal processing unit (2) is changed binaryzation is found the solution the solar facula center;
4) said signal processing unit (2) judges whether the solar facula center is positioned at the measurement blind area of panoramic picture formula sun sensor (1), measures outside the blind area then basis if the solar facula position is positioned at
α＝arctan〔Y
s/X
s〕、β＝R/f、
Calculate sunray at the angle value α on the coordinate axis X, sunray at the angle value β on the coordinate axis Z and solar facula to the distance R between the true origin, wherein X
s, Y
sBe the solar facula center, f is a lens focus, converts said α, β and R into three solar vector information and output then; If the solar facula center is positioned at the measurement blind area then carries out next step;
5) detect current signal or the voltage signal that each solar battery sheet (32) is imported, basis then
Find the solution solar facula coordinate S
b, A wherein
1, A
2, A
3, A
4Be respectively the current value or the magnitude of voltage of solar battery sheet (32) input; A is the current value summation or the magnitude of voltage summation of four solar battery sheets (32) input; H be the upper surface of solar battery sheet (32) to the spacing between the printing opacity square hole (311), L is the half the of solar battery sheet (32) length of side; Then with said solar facula coordinate S
bConvert three solar vector information and output into.
7. full visual field according to claim 6 sun sensitivity method; It is characterized in that; The detailed step of said step 1) comprises: signal processing unit in the said step 1) (2) passes through panoramic picture formula sun sensor (1) acquisition of image data through interrupt mode; And said signal processing unit (2) is opened up two block buffers simultaneously in inside; Alternately move in view data to two block buffer line by line through direct memory access, and said signal processing unit (2) carries out binary conversion treatment to the view data of another buffer zone when moving view data to buffer zone.
8. full visual field according to claim 7 sun sensitivity method is characterized in that said step 2) detailed step comprise:
A) effective luminance threshold interval is set, the valid interval of threshold point number was set;
B) begin scan image data from the interval minimum value of effective luminance threshold,
C) in scanning process, carry out record to meeting the said threshold value of crossing the valid interval of threshold point number, after scanning was accomplished, the mean value of getting these qualified threshold values was as final threshold parameter;
D) luminance threshold that is binaryzation according to said final threshold parameter carries out binaryzation to view data.
9. full visual field according to claim 8 sun sensitivity method is characterized in that: signal processing unit in the said step 3) (2) find the solution the solar facula center specifically be meant through
Find the solution the X coordinate X of solar facula center
sWith Y coordinate Y
s, N wherein
ThBe the detected threshold point number of crossing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210012271.XA CN102538786B (en) | 2012-01-16 | 2012-01-16 | Full field solar sensing device and method for micro satellite |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210012271.XA CN102538786B (en) | 2012-01-16 | 2012-01-16 | Full field solar sensing device and method for micro satellite |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102538786A true CN102538786A (en) | 2012-07-04 |
| CN102538786B CN102538786B (en) | 2014-12-24 |
Family
ID=46346277
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210012271.XA Active CN102538786B (en) | 2012-01-16 | 2012-01-16 | Full field solar sensing device and method for micro satellite |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102538786B (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102914285A (en) * | 2012-10-22 | 2013-02-06 | 浙江大学 | Fish-eye lens-based oversized view field sun sensor and method thereof |
| CN106647793A (en) * | 2017-02-20 | 2017-05-10 | 上海航天控制技术研究所 | Magnetometer and sun sensor-based sun pointing method |
| CN106773006A (en) * | 2017-01-20 | 2017-05-31 | 南通斯密特森光电科技有限公司 | Automatic-searching tracks the sun and pinpoint telescope |
| CN106840172A (en) * | 2017-02-27 | 2017-06-13 | 上海微小卫星工程中心 | Analog sun sensor and its mounting structure and measuring method |
| CN107687848A (en) * | 2017-08-16 | 2018-02-13 | 清华大学 | Sun sensor and signal processing method |
| CN111024093A (en) * | 2019-12-23 | 2020-04-17 | 南京航空航天大学 | Method for determining sun vector based on sunlight incident angle by using spherical pole projection method |
| CN111156992A (en) * | 2019-12-31 | 2020-05-15 | 中国船舶重工集团公司第七一七研究所 | Miniature satellite-borne star sensor and working process time sequence thereof |
| CN113177257A (en) * | 2021-03-26 | 2021-07-27 | 上海卫星工程研究所 | Modeling method for simulating current output of two-axis sun sensor on ground |
| CN113788161A (en) * | 2021-09-18 | 2021-12-14 | 北京控制工程研究所 | Dustproof optical device of Mars APS sun sensor |
| CN117387560A (en) * | 2023-12-11 | 2024-01-12 | 长光卫星技术股份有限公司 | Digital sun sensor, error calibration method and sun azimuth acquisition method |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101173984A (en) * | 2007-11-21 | 2008-05-07 | 中国科学院上海技术物理研究所 | Spaceborne target detection tracing camera in sun viewing blind zone |
-
2012
- 2012-01-16 CN CN201210012271.XA patent/CN102538786B/en active Active
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101173984A (en) * | 2007-11-21 | 2008-05-07 | 中国科学院上海技术物理研究所 | Spaceborne target detection tracing camera in sun viewing blind zone |
Non-Patent Citations (2)
| Title |
|---|
| 屠斌杰等: "《大视场数字式太阳敏感器设计》", 《传感技术学报》 * |
| 郁发新等: "《皮卫星太阳敏感器设计和误差分析》", 《太阳能学报》 * |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102914285A (en) * | 2012-10-22 | 2013-02-06 | 浙江大学 | Fish-eye lens-based oversized view field sun sensor and method thereof |
| CN102914285B (en) * | 2012-10-22 | 2015-02-04 | 浙江大学 | Fish-eye lens-based oversized view field sun sensor and method thereof |
| CN106773006A (en) * | 2017-01-20 | 2017-05-31 | 南通斯密特森光电科技有限公司 | Automatic-searching tracks the sun and pinpoint telescope |
| CN106647793A (en) * | 2017-02-20 | 2017-05-10 | 上海航天控制技术研究所 | Magnetometer and sun sensor-based sun pointing method |
| CN106840172B (en) * | 2017-02-27 | 2020-03-17 | 上海微小卫星工程中心 | Analog sun sensor and mounting structure and measuring method thereof |
| CN106840172A (en) * | 2017-02-27 | 2017-06-13 | 上海微小卫星工程中心 | Analog sun sensor and its mounting structure and measuring method |
| CN107687848A (en) * | 2017-08-16 | 2018-02-13 | 清华大学 | Sun sensor and signal processing method |
| CN111024093A (en) * | 2019-12-23 | 2020-04-17 | 南京航空航天大学 | Method for determining sun vector based on sunlight incident angle by using spherical pole projection method |
| CN111156992A (en) * | 2019-12-31 | 2020-05-15 | 中国船舶重工集团公司第七一七研究所 | Miniature satellite-borne star sensor and working process time sequence thereof |
| CN113177257A (en) * | 2021-03-26 | 2021-07-27 | 上海卫星工程研究所 | Modeling method for simulating current output of two-axis sun sensor on ground |
| CN113788161A (en) * | 2021-09-18 | 2021-12-14 | 北京控制工程研究所 | Dustproof optical device of Mars APS sun sensor |
| CN113788161B (en) * | 2021-09-18 | 2023-06-30 | 北京控制工程研究所 | Dustproof optical device of Mars vehicle APS sun sensor |
| CN117387560A (en) * | 2023-12-11 | 2024-01-12 | 长光卫星技术股份有限公司 | Digital sun sensor, error calibration method and sun azimuth acquisition method |
| CN117387560B (en) * | 2023-12-11 | 2024-03-08 | 长光卫星技术股份有限公司 | Digital sun sensor, error calibration method and sun azimuth acquisition method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102538786B (en) | 2014-12-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102538786B (en) | Full field solar sensing device and method for micro satellite | |
| CN104318199B (en) | Composite optical sensor and manufacturing method and using method thereof | |
| US7552026B2 (en) | APS based integrated sun sensor | |
| CN102980585B (en) | Analog-type sun sensor and method | |
| CN102914285B (en) | Fish-eye lens-based oversized view field sun sensor and method thereof | |
| CN102353376A (en) | Panoramic imaging earth sensor | |
| CN108566524B (en) | Pixel unit, image sensor chip, imaging system, pixel unit forming method and depth information measuring and calculating method | |
| Sarkar et al. | Integrated polarization-analyzing CMOS image sensor for detecting the incoming light ray direction | |
| Farian et al. | A miniaturized two-axis ultra low latency and low-power sun sensor for attitude determination of micro space probes | |
| CN102914306B (en) | Double-probe star sensor and method for designing same | |
| CN106908827A (en) | A kind of nuclear radiation detection sensitivity amplifier | |
| Leñero-Bardallo et al. | Sun sensor based on a luminance spiking pixel array | |
| CN113884234B (en) | Complementary single-pixel centroid detection system and method | |
| CN106066496B (en) | A kind of Space-based Space detection device based on photon counting time labelling technique | |
| CN103983237B (en) | A kind of sun sensor and its method for carrying out attitude measurement | |
| CN104316046B (en) | A kind of intensity correlation star sensor | |
| KR101702977B1 (en) | a portable radioactive ray detector and the radioactive ray detecting system using thereof | |
| Gomez-Merchan et al. | A high-speed low-power sun sensor with solar cells and continuous operation | |
| CN107677264A (en) | A kind of reflective star sensor | |
| CN111156992A (en) | Miniature satellite-borne star sensor and working process time sequence thereof | |
| CN102506856A (en) | Method for improving sensitivity of advanced photo system (APS) star sensor | |
| CN105403217B (en) | A kind of imitative compound eye structural sun sensor towards microsatellite | |
| Bretz et al. | Design constraints on Cherenkov telescopes with Davies–Cotton reflectors | |
| JP7405505B2 (en) | Frameless random access image sensing | |
| CN207895648U (en) | Fire source probing apparatus and system |
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 |