CN102538786B - Full field solar sensing device and method for micro satellite - Google Patents
Full field solar sensing device and method for micro satellite Download PDFInfo
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- CN102538786B CN102538786B CN201210012271.XA CN201210012271A CN102538786B CN 102538786 B CN102538786 B CN 102538786B CN 201210012271 A CN201210012271 A CN 201210012271A CN 102538786 B CN102538786 B CN 102538786B
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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 determine field, be specifically related to a kind of full filed sun sensor assembly for microsatellite and method.
Background technology
Microsatellite is short with its lead time, cost is low, dirigibility is strong, is more and more subject to 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, common as gyroscope, magnetometer, infrared earth detector, sun sensor and star sensor etc.For microsatellite development, gyro accumulates in time due to its drift, measuring error greatly, general less employing, infrared earth detector and star sensor due to power consumption, high cost, calculation of complex, also rare employing.Sun sensor is compared with other a few class attitude sensors, and having the advantages such as simplicity of design, low in energy consumption and volume be little, is a kind of very conventional attitude sensor.
Sun sensor is a kind of angle by measuring between sunray and satellite shaft, thus determine the position of the sun in sensor body coordinate system, then obtain the position of the sun in satellite body coordinate system by coordinates matrix conversion, 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 analog sun sensor and digital sun sensor two class usually: analog sun sensor many employings photoelectric cell is as light sensor, utilize the size of its output current to judge the incident angle of sunshine, visual field is generally at 20 ° ~ about 30 °; Digital sun sensor is the sensor that deviation by calculating the sunray position of relative centre on the detector calculates sunshine angle, mainly based on two class imageing sensors, one class is ccd image sensor, one class 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 at about ± 60 °.
Although sun sensor has many advantages, and the attitude being widely used in satellite is determined, but due to the restriction of device and optical system, visual field still also exists some shortcomings, usually at least needs that three sun sensors are installed on satellite and measure to realize omnibearing sun angle.For microsatellite, the quantitative increase of sensor can increase the weight of the burden in its power consumption.Therefore the tool of catching adopting a small amount of sun sensor to realize whole visual field on microsatellite is of great significance.
Summary of the invention
The technical problem to be solved in the present invention is to provide that a kind of volume is little, lightweight, low in energy consumption, cost is low, structure is simply for full filed sun sensor assembly and the method for microsatellite.
For solving the problems of the technologies described above, the technical solution used in the present invention is:
A kind of full filed sun sensor assembly for microsatellite, comprise the panoramic picture formula sun sensor for gathering panoramic optical image and the signal processing unit for calculating output three axle solar vector information, the output terminal of described panoramic picture formula sun sensor is connected with signal processing unit, described full filed sun sensor assembly gathers the differential sun sensor of four-piece type of the sun sensitive information when also comprising for being positioned at the solar facula of described panoramic picture formula sun sensor imaging and measuring blind area, the differential sun sensor of described four-piece type comprises the light shield that top offers printing opacity square hole, be provided with four in described light shield to contact with each other and solar battery sheet in the same plane, described solar battery sheet is square, described printing opacity square hole is located at directly over four solar battery sheets, the output terminal of described solar battery sheet is connected with signal processing unit.
Further improvement as technique scheme:
The upper surface of described solar battery sheet meets h=L/tan α to the spacing h between printing opacity square hole, wherein L is the half 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 of the measurement blind area being greater than or equal to described panoramic picture formula sun sensor.
Described signal processing unit comprises digital signal processor, analog to digital converter, operational amplification circuit and program storage block and external interface module, described digital signal processor is connected with analog to digital converter, program storage block, external interface module respectively, and described analog to digital converter is connected with solar battery sheet by operational amplification circuit.
Described digital signal processor comprises the image buffer of dma controller and two parallel distributed, and the distribution of described image buffer is connected with panoramic picture formula sun sensor by dma controller.
Described panoramic picture formula sun sensor comprises interconnective panoramic ring optical lens and imageing sensor, filter coating is posted in the rear end of described panoramic ring optical lens, the output terminal of described imageing sensor is connected with signal processing unit, and described imageing sensor is cmos image sensor.
The present invention also provides a kind of full filed sun sensitive method based on the above-mentioned full filed sun sensor assembly for microsatellite, and implementation step is as follows:
1) described signal processing unit obtains view data by panoramic picture formula sun sensor;
2) described signal processing unit carries out binaryzation conversion to view data;
3) described signal processing unit solves solar facula center to the view data after binaryzation conversion;
4) described signal processing unit judges whether solar facula center is positioned at the measurement blind area of panoramic picture formula sun sensor, measures outside blind area, basis if solar facula position is positioned at
α＝arctan〔Y
s/X
s〕、β＝R/f、
Calculate the distance R between angle value β on coordinate axis Z of the angle value α of sunray on coordinate axis X, sunray and solar facula to true origin, wherein X
s, Y
sfor solar facula center, f is lens focus, then described α, β and R is converted to three axle solar vector information and exports; If solar facula center is positioned at measure blind area, perform next step;
5) current signal or voltage signal, then basis that each solar battery sheet (32) inputs is detected
Solve solar facula coordinate S
b, wherein A
1, A
2, A
3, A
4be respectively current value or magnitude of voltage that solar battery sheet (32) inputs, A is the current value summation that inputs of four solar battery sheets (32) or magnitude of voltage summation, h be the upper surface of solar battery sheet (32) to the spacing between printing opacity square hole (311), L is the half of solar battery sheet (32) length of side; Then by described solar facula coordinate S
bbe converted to three axle solar vector information and export.
Further improvement as technique scheme of the present invention:
Described step 1) detailed step comprise: described step 1) in signal processing unit by interrupt mode by panoramic picture formula sun sensor acquisition of image data, and described signal processing unit opens up two block buffers in inside simultaneously, alternately moved in view data to two block buffer line by line by direct memory access, and described signal processing unit carries out binary conversion treatment to the view data of another buffer zone when moving view data to buffer zone.
Described step 2) detailed step comprise:
It is interval that A) effective luminance threshold is set, the valid interval of threshold point number was set;
B) scan image data from the minimum value in effective luminance threshold interval,
C) in scanning process, carrying out record to meeting the described threshold value crossing the valid interval of threshold point number, after scanning completes, getting the mean value of these qualified threshold values as final threshold parameter;
D) luminance threshold being binaryzation according to described final threshold parameter carries out binaryzation to view data.
Described step 3) in signal processing unit solve solar facula center and specifically refer to and pass through
Solve the X-coordinate X of solar facula center
swith Y-coordinate Y
s, wherein N
thfor the mistake threshold point number detected
The full filed 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 for being positioned at the solar facula of panoramic picture formula sun sensor imaging and measuring blind area time gather the differential sun sensor of four-piece type of sun sensitive information, the solar vector being measured gained by panoramic picture formula sun sensor is adopted within the measurement range of 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, namely both combine can obtain 180 ° × 180 ° full filed solar vectors, there is measuring accuracy high, measure accurately, volume is little, lightweight, low in energy consumption, cost is low, the simple advantage of structure, the attitude being especially suitable for microsatellite is determined.
2, the present invention take signal processing unit as core signal processing element, and imageing sensor is directly accessed signal processing unit, reduces cost and the complexity of system, simplifies the design of signal processing circuit.
3, the upper surface of solar battery sheet of the present invention meets h=L/tan α further to the spacing h between printing opacity square hole, and the visual field size of the differential sun sensor of four-piece type is greater than or equal to the angle value of the measurement blind area of described panoramic picture formula sun sensor further, can guarantee that panoramic picture formula sun sensor forms and do not have blind area together with the differential sun sensor of four-piece type, thus the sun guaranteeing to realize full filed is responsive.
4, digital signal processor of the present invention comprises the image buffer of dma controller and two parallel distributed further, thus can realize the parallel processing to view data, can accelerate the speed of image procossing, improves the efficiency of image procossing.
5, panoramic picture formula sun sensor comprises interconnective panoramic ring optical lens and imageing sensor further, imageing sensor is cmos image sensor, compare with traditional C CD imageing sensor and there is low in energy consumption, that integrated level is high, volume is little, cost is low and antijamming capability is strong advantage, thus be more suitable for being applied on microsatellite.
Due to the full filed sun sensitive method that full filed sun sensitive method of the present invention is based on the full filed sun sensor assembly for microsatellite, the aforementioned advantage corresponding based on the advantage of the full filed sun sensor assembly for microsatellite therefore also should be possessed.
Accompanying drawing explanation
Fig. 1 is the framed structure schematic diagram of the embodiment of the present invention.
Fig. 2 is the structural representation of the differential sun sensor of embodiment of the present invention four-piece type.
Fig. 3 is the sectional structure schematic diagram of the differential sun sensor of embodiment of the present invention four-piece type.
Fig. 4 is the principle of work structural representation of the differential sun sensor of embodiment of the present invention four-piece type.
Fig. 5 is the principle of work schematic diagram of panoramic ring optical lens.
Fig. 6 is the perspective view of the two-dimensional image plane of panoramic ring optical lens.
Fig. 7 is embodiment of the present invention imageing sensor and digital signal processor syndeton schematic diagram.
Fig. 8 is the circuit theory diagrams of embodiment of the present invention operational amplifier.
Fig. 9 is the basic skills schematic flow sheet of the embodiment of the present invention.
Figure 10 is that the principal function of embodiment of the present invention digital signal processor performs schematic flow sheet.
Figure 11 is the frame synchronizing signal interrupt processing schematic flow sheet of embodiment of the present invention digital signal processor.
Figure 12 is the line synchronizing signal interrupt processing schematic flow sheet of embodiment of the present invention digital signal processor.
Figure 13 is the DMA interrupt processing schematic flow sheet of embodiment of the present 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 filed sun sensor assembly that the present embodiment is used for microsatellite comprises the panoramic picture formula sun sensor 1 for gathering panoramic optical image and the signal processing unit 2 for calculating output three axle solar vector information, the output terminal of panoramic picture formula sun sensor 1 is connected with signal processing unit 2, full filed sun sensor assembly gathers the differential sun sensor 3 of four-piece type of the sun sensitive information when also comprising for being positioned at the solar facula of panoramic picture formula sun sensor 1 imaging and measuring blind area, the differential sun sensor 3 of four-piece type comprises the light shield 31 that top offers printing opacity square hole 311, be provided with four in light shield 31 to contact with each other and solar battery sheet 32 in the same plane, solar battery sheet 32 is square, printing opacity square hole 311 is located at directly over four solar battery sheets 32, the output terminal of solar battery sheet 32 is connected with signal processing unit 2.As shown in Figure 2, Figure 3 and Figure 4, in the present embodiment, four solar battery sheets 32 mutually bond together and to arrange in sphere of movements for the elephants shape, printing opacity square hole 311 is located at directly over four solar battery sheets 32 of sphere of movements for the elephants shape arrangement, and solar battery sheet 32 is silicon solar cell.The upper surface of solar battery sheet 32 meets h=L/tan α to the spacing h between printing opacity square hole 311, wherein L is the half of solar battery sheet 32 length of side, α is the visual field size of the differential sun sensor 3 of four-piece type, and α is the angle value of the measurement blind area being greater than or equal to panoramic picture formula sun sensor 1.
As shown in Figure 3 and Figure 4, the present embodiment comprises four solar battery sheets 32 (I, II, III, IV).Four-piece type simulated solar sensitivity 2 is fixed on the base plate of light shield 31, and light shield 31 covers four solar battery sheets 32.Due to blocking of light shield 31, the exposed area of solar battery sheet 32 is different, and the sunshine electric current that surface produces thereon is respectively I
1, I
2, I
3, I
4.Three-dimensional xyz coordinate system is set up with the central point o of four solar battery sheets 32, solar irradiation is mapped on four solar battery sheets 32, form the light area surrounded by A, B, C and D as shown in Figure 5, its center coordinate of o ' under xyz coordinate system is exactly the solar facula coordinate required for us.Wherein, I
1+ I
2and I
3+ I
4difference can determine the value of x; I
2+ I
3and I
1+ I
4difference can determine the value of y; H determines the coordinate of z-axis.By adjustment h and L (such as getting L=5.5mm, h=3mm), the visual field of simulated solar sensor can be made to reach 60 ° but because the restriction of technique, h should not be too little; And the length of side L of monolithic square silicon solar cell should not be too large, otherwise can affect the precision of simulated solar sensor, therefore in general, the visual field of simulated solar sensor can not reach very large.
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 is connected with signal processing unit 2.Panoramic ring optical lens 11 can realize the image acquisition based on plane cylindrical projection.As shown in Figure 5, plane cylindrical projection projects to two-dimensional finite plane with projective techniques by around the cylindrical field of view within the scope of system optical axis 360 °.In plane cylinder projection mapping, all parallel light focusings are on a point, and the parallel rays of different directions focuses on a horizontal difference in traditional perspective method.As shown in Figure 6, can the part of imaging be the 3 D stereo regions that two limits at θ angle are formed after optical axis Z rotates 360.This region is projected in an annulus in two-dimensional image plane.And the both sides of cone angle 2 jiaos rotate around Z axis the conical area that formed after 360 can not imaging, the circular blind area of this region on two dimensional surface within corresponding internal diameter.In the present embodiment, the check frequency of panoramic ring optical lens 11 is the conical area of 60 °.Imageing sensor 12 adopts OmniVision company model to be the cmos image sensor of OV2640, ultimate resolution is 1600 × 1200, imageing sensor and image processor is integrated with in one single chip, CMOS sun sensor realizes low-power consumption to a great extent by realizing imageing sensor fenestration procedure, the windowing function of OV2640 can be used in the present invention, its resolution is set to 640*480.In the present embodiment, between panoramic picture formula sun sensor 1 and the differential sun sensor 3 of four-piece type, be provided with shadow shield.
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, digital signal processor 21 is connected with analog to digital converter 22, program storage block 24, external interface module 25 respectively, and analog to digital converter 22 is connected with solar battery sheet 32 by operational amplification circuit 23.For completing, imageing sensor drives digital signal processor 21, the control work of imaging, and view data is processed, obtain the sun angle information of CMOS sun sensor, simultaneously when the sun is positioned at the measurement blind area of CMOS sun sensor, the sample voltage value of simulated solar sensor is processed, finally current sun sensor quantity of information is converted to three required axle solar vectors.In the present embodiment, digital signal processor 21 comprises the image buffer 212 of dma controller 211 and two parallel distributed, and image buffer 212 is distributed and to be connected with panoramic picture formula sun sensor 1 by dma controller 211.Digital signal processor 21 adopts TI company model to be the dsp chip of TMS320C6747, the I2C bus interface that dsp chip passes through, universaling I/O port are connected with imageing sensor 12, universaling I/O port is for receiving view data, and I2C bus interface is used for the parameter of configuration image sensor.Analog to digital converter 22 carries out analog to digital conversion for the analog voltage exported the differential sun sensor 3 of four-piece type.Operational amplification circuit 23 carries out current-voltage conversion for the electric current exported by four-piece type simulated solar sensor 3 and realizes voltage amplification function.As shown in Figure 7, the present embodiment operational amplification circuit 23 realizes based on MAX4292 chip, MAX4292 chip is by 3.3V power voltage supply, first the four road electric currents that four-piece type simulated solar sensor 3 exports convert voltage signal to by resistance R1, because four road electric currents are negative current, therefore to amplify through sign-changing amplifier.The enlargement factor A of this operational amplification circuit is determined by resistance R3 and R4, and its expression formula is A=R4/R3.The effect of Fig. 7 electric capacity is eliminated alternating component, and resistance R2=R3||R4, for the voltage that affords redress, the effect of resistance R5 is to mate with the impedance of outer end A/D.The four road voltage signals amplified by operational amplification circuit output to rear class analog to digital converter, carry out finally by DSP the solar vector information that signal transacting converts needs to.The four road electric currents that four-piece type simulated solar sensor 3 exports all take same circuit through the process of amplifier, and Fig. 7 only lists the discharge circuit on a wherein road, and its excess-three road processing mode is identical.
As shown in Figure 8, imageing sensor 12 is connected with the I2C bus interface of digital signal processor 21, universaling I/O port respectively.Digital signal processor 21 is by I2C bus configuration imageing sensor; DSP, by the judgement to synchronous reference signal, reads view data.
As shown in Figure 9, the present embodiment is as follows based on the implementation step of the full filed sun sensitive method of full filed sun sensor assembly:
1) signal processing unit 2 obtains view data by panoramic picture formula sun sensor 1;
2) signal processing unit 2 pairs of view data carry out binaryzation conversion;
3) view data after signal processing unit 2 pairs of binaryzation conversions solves solar facula center;
4) signal processing unit 2 judges whether solar facula center is positioned at the measurement blind area of panoramic picture formula sun sensor 1, measures outside blind area, basis if solar facula position is positioned at
α＝arctan〔Y
s/X
s〕、β＝R/f、
Calculate the distance R between angle value β on coordinate axis Z of the angle value α of sunray on coordinate axis X, sunray and solar facula to true origin, wherein X
s, Y
sfor solar facula center, f is lens focus, then α, β and R is converted to three axle solar vector information and exports; If solar facula center is positioned at measure blind area, then the coordinate of solar facula center is (0,0), needs could realize obtaining normal position of sun information by four-piece type simulated solar sensor 3, then performs next step;
5) current signal or voltage signal, the then basis of the input of each solar battery sheet 32 is detected
Solve solar facula coordinate S
b, wherein A
1, A
2, A
3, A
4be respectively current value or the magnitude of voltage of solar battery sheet 32 input, A is 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 printing opacity square hole 311, L is the half of solar battery sheet 32 length of side; Then by solar facula coordinate S
bbe converted to three axle solar vector information and export.
Step 1) detailed step comprise: in step 1 signal processing unit 2 by interrupt mode by panoramic picture formula sun sensor 1 acquisition of image data, and signal processing unit 2 opens up two block buffers in inside simultaneously, alternately moved in view data to two block buffer line by line by 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 converts it to view data as the sun picture in plane and sends digital signal processor 21 (dsp chip) to, digital signal processor 21 gathers image information by interrupt mode, open up two pieces of image buffers 212 in inside simultaneously, direct memory access (Direct Memory Access is carried out by dma controller 211, be called for short DMA) moving data, alternately cushions every row view data.While DMA moves view data to piece image buffer 212, DSP processes the data in another block image buffer 212, to improve the speed of image real time transfer, and can effectively solve read-write operation collision problem.When a two field picture processes, digital signal processor 21 obtains solar facula coordinate information, and compare with the luminance threshold arranged, judge whether the current sun is positioned at and measure blind area, if be judged as NO, be then corresponding sun angle by current solar facula coordinate conversion, calculate solar vector according to sun angle information, carry out collection and the buffer memory of next frame image simultaneously; If be judged as YES, then give up this frame information, the digital voltage amount that four-piece type simulated solar sensor 3 of simultaneously sampling is exported by operational amplification circuit 23 and analog to digital converter 22, obtain four-piece type simulated solar sensor 3 by computing and obtain three axle solar vector information.
Step 2) detailed step comprise:
It is interval that A) effective luminance threshold is set, the valid interval of threshold point number was set;
B) scan image data from the minimum value in effective luminance threshold interval,
C) in scanning process, record is carried out to the threshold value of the valid interval meeting threshold point number, after scanning completes, get the mean value of these qualified threshold values as final threshold parameter;
D) be that the luminance threshold of binaryzation carries out binaryzation to view data according to final threshold parameter.
Step 3) in signal processing unit 2 solve solar facula center and specifically refer to and pass through
Solve the X-coordinate X of solar facula center
swith Y-coordinate Y
s, wherein N
thfor the mistake threshold point number detected.Dsp chip becomes very simple when realizing centroid detection algorithm, only relate to simple cumulative sum division arithmetic, can process with behavior unit, finally again in conjunction with the information determination solar facula centre coordinate of a frame.
In the present embodiment, step 5) detect the current signal of each solar battery sheet 32 input, then basis
Solve solar facula coordinate S
b, wherein I
1, I
2, I
3, I
4be respectively the current value that solar battery sheet 32 inputs, I is the current value summation that four solar battery sheets 32 input.
In the present embodiment, imageing sensor 12 is as follows with the communication detailed process of digital signal processor 21:
1., after digital signal processor 21 powers on and loaded in program storage block 24 program, first imageing sensor 12 is carried out to the configuration of picture format and resolution.
2. output image under the clock that provides at crystal oscillator of imageing sensor 12, interrupt at the rising edge triggered digital signal processor 21 of frame synchronizing signal VSYNC, arranging zone bit Flag_End is 1, represents the end of a two field picture, if first time enters to interrupt, then also need to carry out initialization operation to DMA.Digital signal processor 21 inquires this zone bit when being 1, changes, obtain three axle solar vector information to coordinate information in the solar facula of previous frame.
3. line synchronizing signal HREF rising edge again triggered digital signal processor 21 interrupt, buffer flag is initialized as 1 when entering to interrupt by first time, by buffer flag negate later at every turn when entering, enable dma controller 211 simultaneously, the rising edge trigger DMA controller 211 of PCLK moves a line view data to image buffer A (B) from GPIO, and after data-moving completes, trigger DMA interruption, reconfigure dma controller 211, switch the address of buffer zone, alternately every row view data is cushioned.When carrying out buffer memory with behavior unit to view data, have employed the method for opening up double buffering.Concrete grammar is: when buffer flag is 1, image buffer A is used as the buffer zone of current line view data, namely dma controller 211 by current line view data stored in image buffer A, and digital signal processor 21 couples of image buffer B carry out peek operation and process, otherwise, when buffer flag is 0, image buffer B is used as the image buffer of current line view data, digital signal processor 21 couples of image buffer A carry out peek operation and process, realize the isolation in the physical space of buffer zone with this, efficiently solve read-write operation collision problem.
As shown in Figure 10, Figure 11, Figure 12 and Figure 13, the workflow of digital signal processor 21 is as follows:
The first step: system electrification, loads the program in FLASH, has loaded rear configuration image sensor 12.Configuration image sensor 12 is mainly completed by 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, DSP directly can be used as SCCB by I2C bus and use, be configured imageing sensor 23, mainly comprise it and take the form of image and the resolution of image.The picture format adopted in the present invention is YUV422 form, and wherein major concern is Y-component, namely obtains the half-tone information of sun image.The resolution that the present invention sets cmos image sensor is 640*480.
Second step: gather image.Crystal oscillator provides the clock signal of 24M for imageing sensor, this clock is produced its work major clock through its Clock Managing Unit by imageing sensor 12 inside, first, digital signal processor 21 is triggered interrupts when the rising edge of frame synchronizing signal VSYNC being detected, initialize DMA controller 211 (when interrupting first), puts Flag_End and is masked as 1.Next, DSP interrupt is triggered at the rising edge of line synchronizing signal HREF, enable dma controller 211, moves data that GPIO mouth gathers to image buffer A (B) at the rising edge trigger DMA controller 211 of pixel clock signal PCLK with behavior unit.Because the picture format adopted is YUV422 form, corresponding two the pixel clock signal PCLK of each pixel (2bytes), namely DMA moves the twice that the pixel clock signal PCLK required for data line is pixel number.And digital signal processor 21 only processes Y-component when processing data, abandons UV component.
3rd step: obtain image.After DMA has moved data line, trigger DMA interrupt, reconfigure dma controller 211, namely switch store data buffer zone address.Meanwhile, digital signal processor 21 carries out image procossing according to buffer flag in image buffer B (A).At the rising edge triggered interrupts again of line synchronizing signal HREF, dma controller 211 moves again next line view data to another block image buffer, like this, while DSP process lastrow data, dma controller 211 can move the data of descending image, to accelerate the speed of system.Often receive raw 480 the row HREF of a frame image data common property to interrupt and 480 DMA data transmission.
4th step: carry out data processing and export solar vector information.DSP inquires about Flag_End zone bit, represents that a two field picture transmission completes when it is 1, now goes the view data processing previous frame, and converts sun angle information to processing the solar facula centre coordinate obtained, and the three axle solar vector information that calculate export; If the sun is positioned at the measurement blind area of cmos image sensor, then processing the solar facula centre coordinate obtained is (0,0), now abandon the information processing CMOS sun sensor, by the sun information of voltage that I2C bus collection four-piece type simulated solar sensor is exported by A/D converter, and convert the output of solar vector information to, thus overcome the blind area of CMOS sun sensor.
Digital signal processor 21, in the whole course of work, constantly repeats the operation of second step ~ the 4th step.
The foregoing is only the preferred embodiment of the present invention, protection scope of the present invention is not limited in above-mentioned embodiment, and every technical scheme belonging to the principle of the invention all belongs to protection scope of the present invention.For a person skilled in the art, some improvements and modifications of carrying out under the prerequisite not departing from principle of the present invention, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (2)
1. the full filed sun sensitive method for the full filed sun sensor assembly of microsatellite, the described full filed sun sensor assembly for microsatellite comprises the panoramic picture formula sun sensor (1) for gathering panoramic optical image and the signal processing unit (2) for calculating output three axle solar vector information, the output terminal of described panoramic picture formula sun sensor (1) is connected with signal processing unit (2), it is characterized in that: the differential sun sensor of four-piece type (3) gathering the sun sensitive information when described full filed sun sensor assembly also comprises for being positioned at the solar facula of described panoramic picture formula sun sensor (1) imaging and measuring blind area, the differential sun sensor of described four-piece type (3) comprises the light shield (31) that top offers printing opacity square hole (311), be provided with four in described light shield (31) to contact with each other and solar battery sheet in the same plane (32), described solar battery sheet (32) is square, described printing opacity square hole (311) is located at directly over four solar battery sheets (32), the upper surface of described solar battery sheet (32) meets h=L/tan α to the spacing h between printing opacity square hole (311), wherein L is the half of solar battery sheet (32) length of side, α is the visual field size of the differential sun sensor of four-piece type (3), α is for being greater than or equal to the angle value of the measurement blind area of described panoramic picture formula sun sensor (1), the output terminal of described solar battery sheet (32) is connected with signal processing unit (2), described 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), described digital signal processor (21) respectively with analog to digital converter (22), program storage block (24), external interface module (25) is connected, described analog to digital converter (22) is connected with solar battery sheet (32) by operational amplification circuit (23), described digital signal processor (21) comprises the image buffer (212) of dma controller (211) and two parallel distributed, described image buffer (212) distribution is connected with panoramic picture formula sun sensor (1) by dma controller (211), it is characterized in that, described full filed sun sensitive method implementation step is as follows:
1) described signal processing unit (2) obtains view data by panoramic picture formula sun sensor (1);
2) described signal processing unit (2) carries out binaryzation conversion to view data, described step 2) detailed step comprise:
It is interval that A) effective luminance threshold is set, the valid interval of threshold point number was set;
B) scan image data from the minimum value in effective luminance threshold interval,
C) in scanning process, carrying out record to meeting the described threshold value crossing the valid interval of threshold point number, after scanning completes, getting the mean value of these qualified threshold values as final threshold parameter;
D) luminance threshold being binaryzation according to described final threshold parameter carries out binaryzation to view data;
3) described signal processing unit (2) solves solar facula center, described step 3 to the view data after binaryzation conversion) in signal processing unit (2) solve solar facula center and specifically refer to and pass through
Solve the X-coordinate X of solar facula center
swith Y-coordinate Y
s, wherein N
thfor the mistake threshold point number detected;
4) described signal processing unit (2) judges whether solar facula center is positioned at the measurement blind area of panoramic picture formula sun sensor (1), measures outside blind area, basis if solar facula position is positioned at
α＝arctan(Y
s/X
s)、β＝R/f、
Calculate the distance R between angle value β on coordinate axis Z of the angle value α of sunray on coordinate axis X, sunray and solar facula to true origin, wherein X
s, Y
sfor solar facula center, f is lens focus, then described α, β and R is converted to three axle solar vector information and exports; If solar facula center is positioned at measure blind area, perform next step;
5) current signal or voltage signal, then basis that each solar battery sheet (32) inputs is detected
Solve solar facula coordinate S
b, wherein A
1, A
2, A
3, A
4be respectively current value or magnitude of voltage that solar battery sheet (32) inputs, A is the current value summation that inputs of four solar battery sheets (32) or magnitude of voltage summation, h be the upper surface of solar battery sheet (32) to the spacing between printing opacity square hole (311), L is the half of solar battery sheet (32) length of side; Then by described solar facula coordinate S
bbe converted to three axle solar vector information and export.
2. full filed sun sensitive method according to claim 1, it is characterized in that, described step 1) detailed step comprise: described step 1) in signal processing unit (2) by interrupt mode by panoramic picture formula sun sensor (1) acquisition of image data, and described signal processing unit (2) opens up two block buffers in inside simultaneously, alternately moved line by line in view data to two block buffer by direct memory access, and described signal processing unit (2) carries out binary conversion treatment to the view data of another buffer zone when moving view data to buffer zone.
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| 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 |
| CN106647793B (en) * | 2017-02-20 | 2019-11-05 | 上海航天控制技术研究所 | A kind of Direct to the sun method based on magnetometer and sun sensor |
| 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 |
| 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 |
| CN113177257B (en) * | 2021-03-26 | 2023-06-09 | 上海卫星工程研究所 | Modeling method for ground simulation of current output of two-axis 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 |
| 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 |
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