CN102538825B - A method for calibrating the optical axis pointing of a star sensor probe assembly - Google Patents

Abstract

The invention discloses an optical axis orientation calibrating method of a star sensor probe assembly, which comprises the steps of: before the star sensor probe assembly is assembled and mounted, respectively calibrating three star sensors of the star sensor probe assembly by using a photographic surveying method, so as to obtain a conversion relation between each star sensor coordinate system and a corresponding star sensor standard lens; establishing a theodolite surveying system at least comprising six theodolites: at first, establishing the theodolite surveying system by mutually pointing of any two of the theodolites, secondly, collimating the standard lens of one of the star sensors by using each two theodolites to obtain a relation of the three star sensor standard lenses relative to the star sensor coordinate system, and finally, obtaining a relation among the three star sensor standard lenses according to the relation of the three star sensor standard lenses relative to the star sensor coordinate system; and finally, obtaining the relation among the three star sensor coordinate systems according to the relation among the three star sensor standard lenses, so as to calibrate an optical axis orientation of the star sensor probe assembly.

Description

A method for calibrating the optical axis pointing of a star sensor probe assembly

technical field

The invention relates to a method for calibrating the optical axis pointing of a star sensor probe, in particular to a method for calibrating the optical axis pointing of a star sensor probe assembly, which belongs to the field of visual measurement.

Background technique

The star sensor assembly is an integrated structure that uses a three-probe high-precision star sensor and a star sensor bracket with a complex configuration. This configuration reduces the transfer error between the attitude of the satellite using the star sensor and the attitude of the payload. , improving the high stability of the azimuth elements of the satellite in orbit. According to the measurement plan, the measurement of the relationship between the star-sensitive reference mirrors of the star sensor assembly needs to establish the conversion relationship between the mechanical coordinate system and the platform cube mirror through measurement, and the relationship between the platform cube mirror and the star-sensitive cube mirror. The three-axis azimuth relationship among the three cubic mirror coordinate systems. Since the determination of the three-axis azimuth relationship between the coordinate systems of the three cube mirrors requires high precision, the original equipment and software cannot meet the test accuracy requirements, and the test method needs to be improved to achieve accurate measurement of the relationship between the cube mirrors.

Contents of the invention

The technical problem of the present invention is: to overcome the deficiencies of the prior art, to provide a star sensor probe assembly optical axis pointing calibration method, to achieve accurate measurement of the star sensor assembly optical axis pointing, work efficiency and calibration accuracy high.

The technical solution of the present invention is: a method for calibrating the optical axis pointing of a star sensor probe assembly, the steps are as follows:

(1) Before the assembly and installation of the star sensor probe assembly, the photogrammetry method is used to calibrate the three star sensors of the star sensor probe assembly respectively, and the coordinate system of each star sensor and the reference mirror of the star sensor are obtained. The conversion relationship between them, install the calibrated star sensor probe in combination;

(2) Establish a theodolite measurement system including at least 6 theodolites. First, use any two theodolites to aim at each other to establish the theodolite coordinate system, and then use every two theodolites to collimate the reference mirror of one of the star sensors to obtain 3 star sensors. The relationship between the sensor reference mirrors relative to the theodolite coordinate system, and finally the relationship between the three star sensor reference mirrors is obtained according to the relationship between the three star sensor reference mirrors relative to the theodolite coordinate system;

(3) Using the conversion relationship between the single star sensor coordinate system obtained in step (1) and the reference mirror of the star sensor and the relationship between the three star sensor reference mirrors obtained in step (2) to obtain three stars The relationship between the sensor coordinate systems, so as to realize the calibration of the optical axis of the star sensor probe assembly.

The realization method of described step (1) is:

(1) establish the coordinate system of the theodolite measuring system, collimate the reference mirror of each star sensor under the theodolite measuring system coordinate system, obtain the relative parameters of the star sensor reference mirror under the theodolite measuring system coordinate system;

(2) Use the theodolite measuring system to measure the calibration field, and obtain the three-dimensional coordinates of the calibration field mark in the coordinate system of theodolite measuring system;

(3) Utilize the common point conversion to obtain the conversion relationship between the coordinate system of the calibration field and the coordinate system of the theodolite measurement system, thereby obtaining the relationship between the star sensor reference mirror and the coordinate system of the calibration field;

(4) Use a single star sensor to take pictures of the calibration field, use the resection method to obtain the relationship between the coordinate system of the star sensor and the coordinate system of the calibration field, and obtain the relationship between the coordinate system of the single star sensor and the reference mirror of the star sensor relationship between.

In the described step (2), the method of utilizing any two theodolites to aim at each other to establish the theodolite coordinate system is:

(1) Adjust the focal length of the telescopes of the two theodolites to the infinity position, and make the crosshairs of the two theodolites parallel to each other to complete mutual aiming;

(2) Take any one of the 6 theodolites as station 1, station 1 as the coordinate origin, select any one of the other 5 theodolites as station 2, and the connection between station 1 and station 2 The projection of the line in the horizontal direction is the X-axis, the vertical direction of the station 1 is the Z-axis, and the Y-axis is determined by the right-hand rule to form the theodolite coordinate system.

4. A method for calibrating the optical axis of a star sensor probe assembly according to claim 1, characterized in that: in the step (2), the method for obtaining the relationship between the three star sensor reference mirrors relative to the theodolite coordinate system It is: every two theodolites collimate two adjacent mirrors of a star sensor reference mirror, obtain the X-axis vector and Y-axis vector of the two adjacent mirrors, use the right-hand rule to obtain the Z-axis vector, according to The three axial vectors of the reference mirror establish the reference mirror coordinate system, and the rotation matrix of the reference mirror coordinate system and the theodolite coordinate system is:

$\mathrm{<span\; class="notranslate">\; R</span>}<span\; class="notranslate">\; =</span>\left[\begin{array}{ccc}\mathrm{<span\; class="notranslate">\; cos</span>}{\mathrm{<span\; class="notranslate">\; \&alpha;</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}}& \mathrm{<span\; class="notranslate">\; cos</span>}{\mathrm{<span\; class="notranslate">\; \&beta;</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}}& \mathrm{<span\; class="notranslate">\; cos</span>}{\mathrm{<span\; class="notranslate">\; \&gamma;</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}}\\ \mathrm{<span\; class="notranslate">\; cos</span>}{\mathrm{<span\; class="notranslate">\; \&alpha;</span>}}_{\mathrm{<span\; class="notranslate">\; the\; y</span>}}& \mathrm{<span\; class="notranslate">\; cos</span>}{\mathrm{<span\; class="notranslate">\; \&beta;</span>}}_{\mathrm{<span\; class="notranslate">\; the\; y</span>}}& \mathrm{<span\; class="notranslate">\; cos</span>}{\mathrm{<span\; class="notranslate">\; \&gamma;</span>}}_{\mathrm{<span\; class="notranslate">\; the\; y</span>}}\\ \mathrm{<span\; class="notranslate">\; cos</span>}{\mathrm{<span\; class="notranslate">\; \&alpha;</span>}}_{\mathrm{<span\; class="notranslate">\; z</span>}}& \mathrm{<span\; class="notranslate">\; cos</span>}{\mathrm{<span\; class="notranslate">\; \&beta;</span>}}_{\mathrm{<span\; class="notranslate">\; z</span>}}& \mathrm{<span\; class="notranslate">\; cos</span>}{\mathrm{<span\; class="notranslate">\; \&gamma;</span>}}_{\mathrm{<span\; class="notranslate">\; z</span>}}\end{array}\right]<span\; class="notranslate">\; ,</span>$

in:

α _x is the angle between the X-axis of the reference mirror coordinate system and the X-axis of theodolite coordinate system,

β _x is the angle between the X-axis of the reference mirror coordinate system and the Y-axis of the theodolite coordinate system,

γ _x is the angle between the X-axis of the reference mirror coordinate system and the Z-axis of the theodolite coordinate system,

α _y is the angle between the Y axis of the reference mirror coordinate system and the X axis of the theodolite coordinate system,

β _y is the angle between the Y axis of the reference mirror coordinate system and the Y axis of theodolite coordinate system,

γ _y is the angle between the Y axis of the reference mirror coordinate system and the Z axis of the theodolite coordinate system,

α _z is the angle between the Z axis of the reference mirror coordinate system and the X axis of the theodolite coordinate system,

β _z is the angle between the Z-axis of the reference mirror coordinate system and the Y-axis of theodolite coordinate system,

γ _z is the angle between the Z-axis of the reference mirror coordinate system and the Z-axis of theodolite coordinate system.

Compared with the prior art, the present invention has the advantages that: the present invention uses photogrammetry technology to measure the outer azimuth elements of the star sensor, adopts the three-dimensional coordinate measurement of the industrial measurement system and the high-precision non-focusing based on the optical reference conversion of the three-probe star sensor The inter-pointing and multi-measurement calculation method finally obtains the high-precision conversion relationship between the star sensor coordinate system and the reference mirror, which solves the problem of the star sensor assembly optical axis pointing to the space orientation calibration problem, and has high work efficiency And calibration accuracy, the calibration error reaches second-level accuracy.

Description of drawings

Fig. 1 is the structural representation of star sensor probe assembly;

Fig. 2 is a schematic diagram of the optical axis pointing of the star sensor probe assembly;

Fig. 3 is a calibration flow chart of the present invention;

Figure 4 is a schematic diagram of space forward rendezvous;

Figure 5 is a schematic diagram of the star sensor reference mirror coordinate system.

Detailed ways

The star sensor assembly is shown in Figure 1. The star sensor assembly is an integrated structure using a three-probe high-precision star sensor 3, a star sensor bracket 2 and a base 1. The star sensor bracket 2 is composed of three branches. Composed of branched configurations, this configuration reduces the transfer error between the satellite's star sensor measurement attitude and the payload's working attitude, and improves the high stability of the satellite's in-orbit azimuth elements. The star sensor base 1 and the star sensor bracket 2 are integrated by casting or welding, and a star sensor probe 3 is installed on each branch of the star sensor bracket 2 .

Star sensor pointing requirements, in order to ensure that the star sensor has a better field of view when it is in orbit, the optical axis pointing of the star sensor in the whole star coordinate system is designed, as shown in Figure 2, the star sensor When designing the bracket, it is necessary to ensure the pointing requirements of the star sensor (the following reference coordinate system is the whole star coordinate system): the whole star coordinate system is defined as follows: coordinate origin O: the separation surface of the star and arrow (that is, the lower end surface of the lower flange of the satellite bearing tube) The theoretical center of the circle; X-axis: through the origin of the coordinates, perpendicular to the separation plane of the satellite and arrow, along the longitudinal axis of the satellite, pointing to the same longitudinal axis; Z-axis: passing through the origin of the coordinates, located in the separation plane of the satellite and arrow, pointing to the place where the satellite flies normally Direction; Y-axis: located in the separation plane of the star and arrow, forming a right-handed system with the X-axis and Z-axis.

The relationship between the three branches of the star sensor bracket is: the angle between the central axis of the first branch and the YOZ plane of the whole star coordinate system is 25°, and the angle between the center axis of the first branch and the +X axis of the whole star coordinate system is 65°. The angle between the projection of the OYZ plane of the star coordinate system and the +Y axis of the whole star coordinate system is 25°, and the angle between the -Z axis of the whole star coordinate system is 65°; The angle is 30°, the included angle with the whole star coordinate system +Y axis is 60°, the projection on the whole star coordinate system OXZ plane is 70° with the whole star coordinate system -X axis, and the whole star coordinate system -Z axis The angle is 20°; the angle between the central axis of the third branch and the OXZ plane of the whole star coordinate system is 25°, and the angle between the axis of the third branch and the +Y axis of the whole star coordinate system is 65°. The angle between the +X axis of the coordinate system is 25°, and the angle between the -Z axis of the whole star coordinate system is 65°.

As shown in Figure 3, it is a flowchart of the inventive method, and the specific implementation steps are as follows:

(1) Before the assembly and installation of the star sensor probe assembly, the photogrammetry method is used to calibrate the three star sensors of the star sensor probe assembly respectively, and the coordinate system of each star sensor and the reference mirror of the star sensor are obtained. The conversion relationship between them, install the calibrated star sensor probe in combination;

The implementation method of step (1) is:

(a) establish the coordinate system of the theodolite measurement system, collimate the reference mirror of each star sensor under the coordinate system of theodolite measurement system, and obtain the relative parameters of the reference mirror of the star sensor under the coordinate system of theodolite measurement system; Relative external parameters of the star sensor: a set of parameters used to represent the position and direction of the star sensor in a specific coordinate system, including the space coordinates Xs, Ys, Zs of its center point and the angular orientation elements RX, RY, RZ of its space axis system.

(b) Use the theodolite measurement system to measure the calibration field, and obtain the three-dimensional coordinates of the calibration field mark in the coordinate system of theodolite measurement system;

(c) Utilize the common point conversion to obtain the conversion relationship between the coordinate system of the calibration field and the coordinate system of the theodolite measurement system, thereby obtaining the relationship between the reference mirror of the star sensor and the coordinate system of the calibration field;

(d) Use a single star sensor to take pictures of the calibration field, use the resection method to obtain the relationship between the coordinate system of the star sensor and the coordinate system of the calibration field, and obtain the relationship between the coordinate system of the single star sensor and the reference mirror of the star sensor relationship between.

(2) Establish a theodolite measurement system including at least 6 theodolites. First, use any two theodolites to aim at each other to establish the theodolite coordinate system, and then use every two theodolites to collimate the reference mirror of one of the star sensors to obtain 3 star sensors. The relationship between the sensor reference mirrors relative to the theodolite coordinate system, and finally the relationship between the three star sensor reference mirrors is obtained according to the relationship between the three star sensor reference mirrors relative to the theodolite coordinate system;

Establishment of the theodolite measurement system: each star sensor must be measured in two directions of the reference mirror, that is, two theodolites are needed for each reference mirror; when establishing the measurement system, the references of the three star sensors must be collimated first After collimation, the instrument cannot be adjusted in any way. Measuring the star sensor probe assembly requires 6 instruments to participate at the same time, so the star sensor measurement system must have at least 6 theodolites. In order to establish the theodolite measurement system, in addition to the 6 theodolites, a reference ruler, power supply and data transmission cables, tripod, control box, control and calculation software, etc. are required. The system uses theodolite as a tool to obtain the spatial three-dimensional coordinate value of the target point, and can analyze the geometric quantity and measure the shape error of the measurement data.

In step (2), the method of using any two theodolites to aim at each other to establish the theodolite coordinate system is:

(a) Adjust the focal length of the telescopes of the two theodolites to the infinity position, and make the crosshairs of the two theodolites parallel to each other to complete mutual aiming;

(b) Take any one of the 6 theodolites as station 1, station 1 as the coordinate origin, select any one of the other 5 theodolites as station 2, and the connection between station 1 and station 2 The projection of the line in the horizontal direction is the X-axis, the vertical direction of the station 1 is the Z-axis, and the Y-axis is determined by the right-hand rule to form the theodolite coordinate system.

For example: two theodolites A and B, with A as the coordinate origin, the projection of the AB line in the horizontal direction is the X-axis, the vertical direction passing through A is the Z-axis, and the Y-axis is determined by the right-hand rule, thus forming the theodolite coordinate system .

As shown in Fig. 4, the observed values (horizontal direction value, zenith distance) of A, B mutual aiming and separately observed target P are α _AB , γ _BA , α _BA , γ _AP α _AP , α _BP , respectively. Let the horizontal angles A and B be: A=γ _AB -γ _AP , B=γ _BP -γ _BA , then the three-dimensional coordinates of point P are:

$\left\{\begin{array}{c}\mathrm{<span\; class="notranslate">\; x</span>}<span\; class="notranslate">\; =</span>\frac{\mathrm{<span\; class="notranslate">\; sin</span>}\mathrm{<span\; class="notranslate">\; B</span>}\mathrm{<span\; class="notranslate">\; cos</span>}\mathrm{<span\; class="notranslate">\; A</span>}}{\mathrm{<span\; class="notranslate">\; sin</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; A</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; B</span>}<span\; class="notranslate">\; )</span>}\mathrm{<span\; class="notranslate">\; b</span>}\\ \mathrm{<span\; class="notranslate">\; Y</span>}<span\; class="notranslate">\; =</span>\frac{\mathrm{<span\; class="notranslate">\; sin</span>}\mathrm{<span\; class="notranslate">\; B</span>}\mathrm{<span\; class="notranslate">\; sin</span>}\mathrm{<span\; class="notranslate">\; A</span>}}{\mathrm{<span\; class="notranslate">\; sin</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; A</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; B</span>}<span\; class="notranslate">\; )</span>}\mathrm{<span\; class="notranslate">\; b</span>}\\ \mathrm{<span\; class="notranslate">\; Z</span>}<span\; class="notranslate">\; =</span>\frac{\mathrm{<span\; class="notranslate">\; 1</span>}}{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; [</span>\frac{\mathrm{<span\; class="notranslate">\; sin</span>}\mathrm{<span\; class="notranslate">\; Bctg</span>}{\mathrm{<span\; class="notranslate">\; \&alpha;</span>}}_{\mathrm{<span\; class="notranslate">\; AP</span>}}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; sin</span>}\mathrm{<span\; class="notranslate">\; Actg</span>}{\mathrm{<span\; class="notranslate">\; \&alpha;</span>}}_{\mathrm{<span\; class="notranslate">\; BP</span>}}}{\mathrm{<span\; class="notranslate">\; sin</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; A</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; B</span>}<span\; class="notranslate">\; )</span>}\mathrm{<span\; class="notranslate">\; b</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; h</span>}<span\; class="notranslate">\; ]</span>\end{array}\right.<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span>$

In formula (1), b is the baseline length (that is, the horizontal distance between the two instruments A and B); h is the height difference between the two instruments, satisfying: $h=\frac{1}{2}(\mathrm{ctg}{\mathrm{\&alpha;}}_{\mathrm{AB}}-\mathrm{ctg}{\mathrm{\&alpha;}}_{\mathrm{BA}})b$

Assuming that the horizontal angle measurement accuracy is m _β , then the plane point error of point P is:

${\mathrm{<span\; class="notranslate">\; m</span>}}_{\mathrm{<span\; class="notranslate">\; P</span>}}<span\; class="notranslate">\; =</span>\frac{\mathrm{<span\; class="notranslate">\; L</span>}}{{\mathrm{<span\; class="notranslate">\; sin</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}\mathrm{<span\; class="notranslate">\; \&gamma;</span>}}\sqrt{{\mathrm{<span\; class="notranslate">\; sin</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}\mathrm{<span\; class="notranslate">\; A</span>}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; sin</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}\mathrm{<span\; class="notranslate">\; B</span>}}<span\; class="notranslate">\; (</span>\frac{{\mathrm{<span\; class="notranslate">\; m</span>}}_{\mathrm{<span\; class="notranslate">\; \&beta;</span>}}}{\mathrm{<span\; class="notranslate">\; \&rho;</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; )</span>$

Assuming that the vertical angle measurement accuracy is also m _β , then the elevation error of point P is:

${\mathrm{<span\; class="notranslate">\; m</span>}}_{{\mathrm{<span\; class="notranslate">\; Z</span>}}_{\mathrm{<span\; class="notranslate">\; P</span>}}}<span\; class="notranslate">\; =</span>\sqrt{\frac{{\mathrm{<span\; class="notranslate">\; S</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}}{{\mathrm{<span\; class="notranslate">\; cos</span>}}^{\mathrm{<span\; class="notranslate">\; 4</span>}}{\mathrm{<span\; class="notranslate">\; \&alpha;</span>}}_{\mathrm{<span\; class="notranslate">\; AP</span>}}}<span\; class="notranslate">\; (</span>\frac{{\mathrm{<span\; class="notranslate">\; m</span>}}_{\mathrm{<span\; class="notranslate">\; \&beta;</span>}}}{\mathrm{<span\; class="notranslate">\; \&rho;</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; Z</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}{<span\; class="notranslate">\; (</span>\frac{{\mathrm{<span\; class="notranslate">\; m</span>}}_{\mathrm{<span\; class="notranslate">\; the\; s</span>}}}{\mathrm{<span\; class="notranslate">\; S</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}\mathrm{<span\; class="notranslate">\; B</span>}}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 3</span>}<span\; class="notranslate">\; )</span>$

In formula (3), S is the horizontal distance of AP, Therefore, the point error of the spatial point P can be expressed as:

${\mathrm{<span\; class="notranslate">\; m</span>}}_{\mathrm{<span\; class="notranslate">\; P</span>}}<span\; class="notranslate">\; =</span>\sqrt{{{\mathrm{<span\; class="notranslate">\; m</span>}}_{\mathrm{<span\; class="notranslate">\; p</span>}}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{{\mathrm{<span\; class="notranslate">\; m</span>}}_{{\mathrm{<span\; class="notranslate">\; Z</span>}}_{\mathrm{<span\; class="notranslate">\; P</span>}}}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 4</span>}<span\; class="notranslate">\; )</span>$

In step (2), the method for obtaining the relationship between the three star sensor reference mirrors relative to the theodolite coordinate system is as follows: every two theodolites collimate two adjacent mirror surfaces of a star sensor reference mirror to obtain two adjacent mirror surfaces The X-axis vector and Y-axis vector of , as shown in Figure 5, use the right-hand rule to obtain the Z-axis vector, establish the reference mirror coordinate system according to the three axis vectors of the reference mirror, and the rotation of the reference mirror coordinate system and the theodolite coordinate system The matrix is: $R=\left[\begin{array}{ccc}\cos {\mathrm{\&alpha;}}_x& \cos {\mathrm{\&beta;}}_x& \cos {\mathrm{\&gamma;}}_x\\ \cos {\mathrm{\&alpha;}}_{\mathrm{the\; y}}& \cos {\mathrm{\&beta;}}_{\mathrm{the\; y}}& \cos {\mathrm{\&gamma;}}_{\mathrm{the\; y}}\\ \cos {\mathrm{\&alpha;}}_z& \cos {\mathrm{\&beta;}}_z& \cos {\mathrm{\&gamma;}}_z\end{array}\right],$

in:

α _x is the angle between the X-axis of the reference mirror coordinate system and the X-axis of theodolite coordinate system,

β _x is the angle between the X-axis of the reference mirror coordinate system and the Y-axis of the theodolite coordinate system,

γ _x is the angle between the X-axis of the reference mirror coordinate system and the Z-axis of the theodolite coordinate system,

α _y is the angle between the Y axis of the reference mirror coordinate system and the X axis of the theodolite coordinate system,

β _y is the angle between the Y axis of the reference mirror coordinate system and the Y axis of theodolite coordinate system,

γ _y is the angle between the Y axis of the reference mirror coordinate system and the Z axis of the theodolite coordinate system,

α _z is the angle between the Z axis of the reference mirror coordinate system and the X axis of the theodolite coordinate system,

β _z is the angle between the Z-axis of the reference mirror coordinate system and the Y-axis of theodolite coordinate system,

γ _z is the angle between the Z-axis of the reference mirror coordinate system and the Z-axis of theodolite coordinate system.

(3) Using the conversion relationship between the single star sensor coordinate system obtained in step (1) and the reference mirror of the star sensor and the relationship between the three star sensor reference mirrors obtained in step (2) to obtain three stars The relationship between the sensor coordinate systems, so as to realize the calibration of the optical axis of the star sensor probe assembly.

The content that is not described in detail in the description of the present invention belongs to the well-known technology of those skilled in the art.

Claims (3)

1. a star sensor probe assembly optical axis orientation calibrating method, is characterized in that step is as follows:

(1) before the combination of star sensor probe assembly is installed, utilize photogrammetric survey method to demarcate respectively 3 of star sensor probe assembly star sensors, obtain the transformational relation between the quick device reference mirror of each star sensor coordinate system and this star, the star sensor probe of having demarcated is combined to installation;

(2) set up the transit survey system that comprises at least 6 transits, first utilize any 2 transits mutually to take aim at mutually and set up transit coordinate system, then utilize every two transits to collimate and obtain the relation of 3 relative transit coordinate systems of star sensor reference mirror the reference mirror of one of them star sensor, finally obtain 3 relations between star sensor reference mirror according to the relation of 3 relative transit coordinate systems of star sensor reference mirror;

(3) utilize the relation between 3 star sensor reference mirror that transformational relation between single star sensor coordinate system and this star sensor reference mirror that step (1) obtains and step (2) obtain to obtain the relation between three star sensor coordinate systems, thereby realize the demarcation that star sensor probe assembly optical axis is pointed to;

The method that obtains the relation of 3 relative transit coordinate systems of star sensor reference mirror in described step (2) is: every two transits collimate to adjacent two minute surfaces of a star sensor reference mirror, obtain the X-axis vector sum Y-axis amount of adjacent two minute surfaces, utilize right-hand rule to obtain Z-axis direction amount, set up reference mirror coordinate system according to three axial vectors of reference mirror, the rotation matrix of reference mirror coordinate system and transit coordinate system is:

$R=\left[\begin{array}{ccc}\cos {\mathrm{\&alpha;}}_x& \cos {\mathrm{\&beta;}}_x& \cos {\mathrm{\&gamma;}}_x\\ \cos {\mathrm{\&alpha;}}_y& \cos {\mathrm{\&beta;}}_y& \cos {\mathrm{\&gamma;}}_y\\ \cos {\mathrm{\&alpha;}}_z& \cos {\mathrm{\&beta;}}_z& \cos {\mathrm{\&gamma;}}_z\end{array}\right],$

Wherein:

α _xfor the X-axis of reference mirror coordinate system is with respect to the angle of transit coordinate system X-axis,

β _xfor the X-axis of reference mirror coordinate system is with respect to the angle of transit coordinate system Y-axis,

γ _xfor the X-axis of reference mirror coordinate system is with respect to the angle of transit coordinate system Z axis,

α _yfor the Y-axis of reference mirror coordinate system is with respect to the angle of transit coordinate system X-axis,

β _yfor the Y-axis of reference mirror coordinate system is with respect to the angle of transit coordinate system Y-axis,

γ _yfor the Y-axis of reference mirror coordinate system is with respect to the angle of transit coordinate system Z axis,

α _zfor the Z axis of reference mirror coordinate system is with respect to the angle of transit coordinate system X-axis,

β _zfor the Z axis of reference mirror coordinate system is with respect to the angle of transit coordinate system Y-axis,

γ _zfor the Z axis of reference mirror coordinate system is with respect to the angle of transit coordinate system Z axis.

2. a kind of star sensor probe assembly optical axis orientation calibrating method according to claim 1, is characterized in that: the implementation method of described step (1) is:

(1) set up the coordinate system of transit survey system, the reference mirror to each star sensor under transit survey system coordinate system collimates, and obtains the relative parameter of star sensor reference mirror under transit survey system coordinate system;

(2) utilize transit survey system to measure Calibration Field, obtain the three-dimensional coordinate of Calibration Field mark under transit survey system coordinate system;

(3) utilize common point conversion, obtain the transformational relation of Calibration Field coordinate system and transit survey system coordinate system, thereby obtain the relation of star sensor reference mirror and Calibration Field coordinate system;

(4) utilize separate unit star sensor to the Calibration Field imaging of taking pictures, utilize resection method to obtain the relation of star sensor coordinate system and Calibration Field coordinate system, obtain the relation between separate unit star sensor coordinate system and this star sensor reference mirror.

3. a kind of star sensor probe assembly optical axis orientation calibrating method according to claim 1, is characterized in that: in described step (2), utilize any 2 transits mutually to take aim at mutually to set up the method for transit coordinate system to be:

(1) the telescope Focussing of two transits is arrived to position, infinite distance, thereby take aim at mutually crosshair, two parallel to each other completing mutually of transit collimation axis are taken aim at;

(2) taking any transit in 6 transits as survey station 1, survey station 1 is true origin, any transit of choosing in all the other 5 transits is survey station 2, the line of survey station 1 and survey station 2 in the horizontal direction be projected as X-axis, the vertical of crossing survey station 1 is Z axis, determine Y-axis with right-hand rule, form transit coordinate system.