CN102914285A - Fish-eye lens-based oversized view field sun sensor and method thereof - Google Patents
Fish-eye lens-based oversized view field sun sensor and method thereof Download PDFInfo
- Publication number
- CN102914285A CN102914285A CN2012104053723A CN201210405372A CN102914285A CN 102914285 A CN102914285 A CN 102914285A CN 2012104053723 A CN2012104053723 A CN 2012104053723A CN 201210405372 A CN201210405372 A CN 201210405372A CN 102914285 A CN102914285 A CN 102914285A
- Authority
- CN
- China
- Prior art keywords
- sun
- image
- sensor
- eye lens
- fish
- 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
Abstract
The invention discloses a fish-eye lens-based oversized view field sun sensor which comprises a fish-eye lens used for acquiring light rays, a CMOS (Complementary Metal Oxide Semiconductor) image sensor used for carrying out sensitizing imaging and converting an image into image data, an image reading unit used for reading and caching the image data, and a control computing unit. The invention also discloses a sun sensing method based on the oversized view field sun sensor, a 180DEG*360DEG panoramic image is acquired through the fish-eye lens and is sensitized to the CMOS image sensor to obtain image data, and light spot information of a panoramic view field is extracted and computed by using combination of a CPLD (Complex Programmable Logic Device) and an MCU (Microprogrammed Control Unit) to obtain a sun vector. The fish-eye lens is creatively adopted as an image acquiring unit of the sun sensor, thus the fish-eye lens-based oversized view field sun sensor has the advantage of oversized view field which is not possessed by the common sun sensor, makes up the defects of multiple devices, complex structure, larger power consumption and inconsistency in precision of a combined panoramic sun sensor, and is suitable for being applied to a microsatellite.
Description
Technical field
The present invention relates to a kind of low-power consumption ultra-large vision field sun sensor, be applied to microsatellite attitude and determine the field.
Background technology
Sun sensor is at the most widely used class sensor of aviation field, sun sensor all is equipped with on all satellites, Main Function is by measuring the angle between sunray and the satellite axon, determine the orientation of the sun in co-ordinates of satellite system, finally determine position and the attitude of satellite with this.From mode of operation and output data type, the development experience of sun sensor by now digital of analog, coding type.And its employed imaging detector has also developed into ccd detector from photoelectric cell, newer adopted CMOS APS detector by now.Along with the day by day raising that Satellite Attitude Control requires, will be higher to the accuracy requirement of sun sensor, require again it to have large visual field, small size, low-power consumption, standardization, modular characteristics simultaneously.Solving large visual field, high-precision contradiction is the key issue of digital sun sensor development.
In order to address this problem, the researcher has proposed the scheme of some increase digital sun sensor visual fields both at home and abroad.As a plurality of sun sensors being combined into a sun sensor, perhaps design special spherical mask structure, although the visual field that the change in these designs has increased sun sensor, band is served problem simultaneously also, such as the increase of system bulk, quality and power consumption, perhaps take the measuring accuracy of sacrificing sun sensor as cost.Therefore adopt ultra-large vision field sun sensor simple in structure to realize catching of whole visual field at microsatellite, provide the high-precision sun Vector Message that the attitude of satellite determined to have very important meaning.
Fish eye lens also is full shot, is a kind of extreme wide-angle lens, reaches maximum Camera angle for making camera lens, and the front optic diameter of this phtographic lens is parabolical to be protruded to camera lens is anterior, and rather similar to the eyes of fish, " fish eye lens " hence obtains one's name.Fish eye lens belongs to a kind of special lens in the bugeye lens, and the scope that human eye can be seen is made every effort to reach or exceed in its visual angle.
Fish eye lens is mainly used in making the panoramic picture based on reality scene, is widely used in publicity and the displaying project of the mechanisms such as amusement, real estate, museum, school, also is found in the streetscape function of Google Maps.Along with the development of technology, also constantly clear, range of application is also more extensive for the panoramic picture that fish eye lens obtains.Be widely used in now safety monitoring, running recording instrument of automobile, radar for backing car etc. need the position of large visual field.The fish eye lens backend arrangement had the image spread reduction unit during these were used, and the scene that photographs is carried out panoramic picture to the conversion of plane picture, showed at screen at last, the convenient observation.The characteristics of fish eye lens ultra-large vision field are conducive to the understanding to whole environment, have reduced simultaneously the loaded down with trivial details and large cost that traditional needed many lens group crossed belt comes, and unique value is arranged.
Summary of the invention
The invention provides that a kind of this sun sensor has ultra-large vision field based on fish-eye ultra-large vision field sun sensor and method thereof, have simultaneously simple in structure and the lower advantage of power consumption.
A kind of based on fish-eye ultra-large vision field sun sensor, comprising: be used for to gather light fish eye lens, be used for photosensitive imaging and with image be converted into view data cmos image sensor, read image fetching unit and control computing unit with the described view data of buffer memory;
Described control computing unit is regulated and control described cmos image sensor and described image fetching unit.
Described fish eye lens has ultra-large vision field, can gather 180 ° * 360 ° panoramic pictures, has remedied the little restriction in common lens visual field, has solved simultaneously the baroque shortcoming of combined type sun sensor; Described cmos image sensor adopts low-power consumption mode, has reduced the configuration of external circuit, has simplified circuit structure and has reduced power consumption.
As preferably, described image fetching unit comprises CPLD that view data is read and view data is carried out buffer memory SRAM that during work, described CPLD can also carry out preliminary simple hot spot Information Statistics and calculate.Described CPLD compares with FPGA with other chip such as DSP, and power consumption is lower, has further reduced the overall power of described ultra-large vision field sun sensor.
Described CPLD is connected with cmos image sensor by universaling I/O port, and described SRAM connects by universaling I/O port with CPLD.
Be provided with filter coating between described fish eye lens and the described cmos image sensor, the light that fish eye lens collects enters cmos image sensor after decaying through described filter coating.
As preferably, described control computing unit is MCU, and described MCU is connected with described CPLD by spi bus, and described MCU is connected with described cmos image sensor by the SCCB bus.Compare with other host-host protocols, when using spi bus to connect, the various duties of control CPLD that can be convenient.
The present invention also provides a kind of sun sensitive method of above-mentioned ultra-large vision field sun sensor, comprising:
(1) described control computing unit is configured according to form and the resolution of external command to the output image of described cmos image sensor, and the mode of operation of described image fetching unit is configured;
(2) described fish eye lens gathers sunray and makes the sunray that collects enter cmos image sensor through configuration;
(3) behind the described cmos image sensor photosensitive imaging image development of evil in febrile disease is become view data, and described image data transmission is arrived described image fetching unit;
(4) described image fetching unit carries out being transferred to the control computing unit after the rough handling to described view data, and described control computing unit is to being further processed and exporting result through view data after the rough handling.
Described control computing unit communicates by UART agreement and outside, obtains external command and outwards exports result.
As preferably, the mode of operation described in the step (1) is divided into exposal model and computation schema, and the conversion of exposal model and computation schema is controlled by external command.
When the mode of operation described in the step (1) was exposal model, the process of step (4) was as follows:
Described image fetching unit directly is transferred to control computing unit and output with view data.
When the mode of operation described in the step (1) was computation schema, the rough handling described in the step (4) comprised: the statistics facula information obtains the solar facula centre coordinate;
Further processing described in the step (4) comprises: utilize described solar facula centre coordinate to calculate, obtain sun angle information.
The statistical method of described facula information is the sum-average arithmetic method, be specially: a luminance threshold is set, compare with described view data, described view data is greater than described luminance threshold, be set to 1, less than described luminance threshold, be set to 0, then carry out sum-average arithmetic, obtain the solar facula centre coordinate.
The method of utilizing described solar facula centre coordinate to calculate can be with reference to the Chinese patent of publication number for CN 102538786A.
Compare with prior art, beneficial effect of the present invention is embodied in:
(1) the complicated way that need to launch to reduce to the image of fish eye lens collection with respect to traditional panorama picture of fisheye lens equipment, the present invention does not need image is launched reduction, but adopt simple algorithm directly to calculate solar vector, optimized computation complexity, computing time and resource requirement have been reduced, reduced power consumption, be suitable for microsatellite and use;
(2) with respect to common sun sensor, the present invention adopts based on fish-eye cmos image sensor, form the ultra-large vision field sun sensor, thereby overcome the in the past common little restriction in sun sensor visual field, be conducive to stability and validity that microsatellite attitude is determined;
(3) with respect to the large visual field of combined type sun sensor, the present invention only utilizes fish eye lens to carry out the collection of image, has reduced number of components, optimized device architecture, realized the integrated of real integral type, power consumption is lower, volume is less, and structure is simpler, satisfies the demand on the microsatellite;
(4) the present invention adopts cmos image sensor as responsive original paper, the circuit such as the clock of cmos image sensor and control circuit, signal processing circuit, A/D converter, compression of images and image sensing array are integrated, 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 being applied on the microsatellite.
Description of drawings
Fig. 1 is the general structure schematic block diagram of ultra-large vision field sun sensor of the present invention;
Fig. 2 (a) is the fish-eye fundamental diagram among the present invention;
Light refraction schematic diagram among Fig. 2 (b) Fig. 2 (a);
Fig. 3 is imageing sensor of the present invention and each parts hardware connection layout of signal processing unit;
Fig. 4 is the workflow diagram of microcontroller of the present invention.
Embodiment
As shown in Figure 1, the present invention comprises for the ultra-large vision field sun sensor of microsatellite: fish eye lens, cmos image sensor, image fetching unit and control computing unit.Fish eye lens has 180 ° * 360 ° ultra-large vision field, can carry out the light collection to whole hemisphere, and filter coating is posted in the fish eye lens rear end, is used for decay fish eye lens light afterwards.Cmos image sensor is used for the solar facula photosensitive imaging after the filter coating decay, and it is looked like to convert to view data as the sun on the plane sends image fetching unit to.Image fetching unit comprises CPLD and SRAM, and wherein CPLD finishes the view data read work, and carries out preliminary simple hot spot Information Statistics and calculate, and SRAM finishes the buffer memory work of view data, cooperates the view data read functions of realizing CPLD.The control computing unit is microcontroller, finishes the control of sun sensor workflow, the configuration of cmos image sensor and the evaluation work of solar vector.
The course of work of the full visual field of the present invention sun sensor is as follows: sun entity is at first by panorama picture of fisheye lens, and the solar facula that the decay of the filter coating of process panoramic optical camera lens rear end forms images on the light-sensitive surface of cmos image sensor.Imageing sensor becomes view data to send CPLD in the image fetching unit to the solar facula image transitions on the light-sensitive surface, the CPLD acquisition of image data, by the view data that sram cache does not calculate, read simultaneously the previous frame view data and carry out solar facula Information Statistics calculating.When a two field picture is handled, CPLD obtains the solar facula coordinate information, and send current solar facula coordinate to MCU and calculate sun angle information, draw solar vector according to the sun angle information calculations again, that carries out simultaneously the next frame image reads buffer memory and calculating.In the whole sun sensor course of work, MCU controls mode of operation by external command simultaneously, and the time sequence status of regulation and control cmos image sensor and image fetching unit, coordinates the job schedule of each unit.
The used fish eye lens of the present invention has 180 ° * 360 ° ultra-large vision fields, has remedied the little restriction in common lens visual field, has solved simultaneously the baroque shortcoming of combined type sun sensor.Fish-eye structure generally is comprised of 8-11 sheet eyeglass, common are: (namely the 1st all is negative lens with the 2nd to 7 group of 8 slice structure, rear group consists of a positive light group jointly by 5 groups 6, near diaphragm, be provided with built-in optical filtering), 8 group of 10 slice structure (namely front 1,2,3 groups all is concavees lens, the 4th group is the curved month type convex lens, be the 5th group of convex lens afterwards, be optical filtering after the 5th group, cemented doublet group 6 and 7 again, be exactly the 8th group of convex lens at last), shown in Fig. 2 (a), (be followed successively by from left to right 1-8 group lens).The front surface of the 1st lens of fish eye lens front end bloats forward, and the front summit of the 1st lens surpasses lens barrel, as the goldfish eye of heaving.Light will reflect at two kinds of groud surface places in communication process, when light by optically thinner medium during to optically denser medium, refraction angle r must be less than shown in the incident angle i (such as Fig. 2 (b))).Therefore, when light glancing incidence (i=90 °), refracted ray also must be folded to optically denser medium.If cmos image sensor is arranged at the bottom, refracted ray can reach sensor, that is to say that cmos sensor can sense the object in the 180 ° of scopes in visual field, namely field angle 2i=180 °.
The selected fish eye lens of the present invention is the camera lens of 0125IR-1/3 for the model that the rugged company of guest produces, camera lens is 6 group of 8 slice structure, practising physiognomy is of a size of 1/3 inch, and the imaging angle reaches 185 ° * 360 °, cooperates the CMOS chip can reach 180 ° * 360 ° ultra-large vision field.Physical dimension is
Weight is 17 grams, has the characteristics of simple small volume and less weight, is conducive to the miniaturization of this sun sensor.
The used cmos image sensor of the present invention is that Micron Technology company model is the cmos image sensor of MT9M131, ultimate resolution is 1280 * 1024, integrated imageing sensor and image processor reduce the configuration of external circuit in the one single chip, oversimplify circuit structure and also reduce power consumption.It is the view data that the CPLD of XC2C256 gathered and processed cmos image sensor that the present invention can select XILINX company model, it is that the SRAM of IS62WV5128DBLL comes view data is carried out buffer memory that the present invention selects the model of ISSI company, and the present invention selects the C8051F340 of SiliconLaboratories company to dispose cmos image sensor, control CPLD process and carries out the calculating of solar vector.
As shown in Figure 3, cmos image sensor MT9M131 is connected universaling I/O port with the SCCB bus interface of MCU respectively and is connected with CPLD.During work, MCU reads or calculates and control CPLD by spi bus by SCCB bus configuration cmos image sensor; CPLD reads view data by the judgement to synchronous reference signal, according to the regulation and control of MCU view data is carried out buffer memory.
Because synchronous reference signal and viewdata signal are simple data volume, therefore coupled with universal input output (General Purpose Input Output the is called for short GPIO) interface of CPLD.
MCU is as follows with the detailed process of communicating by letter of cmos image sensor and CPLD:
1, MCU at first carries out the configuration of picture format and resolution to cmos image sensor, and output format is the YUV422 form, and wherein major concern is the Y component, namely obtains the half-tone information of sun image.The resolution that the present invention sets cmos image sensor is 640*480.
2, cmos image sensor output image under the clock that crystal oscillator provides, CPLD begins to gather image at the rising edge of frame synchronizing signal FV, and a whole two field picture represents the end of a two field picture all at high level when the FV negative edge sets out.At the rising edge of line synchronizing signal LV, CPLD begins to gather every delegation view data, and whole delegation image represents the end of delegation's image all at high level when the LV negative edge sets out.Each clock signal negative edge CPLD gathers a pixel image data.
3, MCU regulation and control CPLD moves each pixel image data to buffer zone from GPIO, and carries out the rough handling of facula information after data-moving is finished.MCU is under exposal model, and CPLD reads a frame image data under MCU regulation and control and directly is cached to SRAM, when a frame image data all reads when finishing, reads this frame image data to MCU from SRAM again, does not do computing output entire image; MCU just does relevant statistical computation when can control the CPLD reads image data under computation schema, when a frame image data all reads when finishing, CPLD can draw solar facula center-of-mass coordinate information, and this result of calculation is sent to MCU.
4, MCU receives the data that CPLD uploads, under the exposal model image information is directly exported, being convenient to extraneous user observes, the solar facula center-of-mass coordinate that under the computation schema CPLD is calculated is changed the solar facula centre coordinate according to formula (1), do further calculating, obtain sun angle information:
α＝arctan〔Y
s/X
s〕
β＝R/f (1)
In the formula (1), α, β are respectively the angle value of sunray on coordinate axis X, Z, X
s, Y
sBe the solar facula centre coordinate, f is lens focus.Again result of calculation is contrasted the body coordinate system conversion and draw solar vector, this result of calculation is uploaded to system does the Satellite Attitude Determination use.
As shown in Figure 4, the workflow of Micro-processor MCV is as follows:
The first step: MCU disposes cmos image sensor.The configuration image sensor mainly is to finish 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, can directly pass through I on DSP
2The C bus is used as the SCCB use, and imageing sensor is configured, and mainly comprises the resolution of 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, namely obtains the half-tone information of sun image.The resolution that the present invention sets cmos image sensor is 640*480.
Second step: MCU control CPLD gathers image.Crystal oscillator provides the clock signal of 24M for imageing sensor, and imageing sensor inside produces its work major clock with this clock through its Clock Managing Unit, and at first, CPLD prepares to begin to gather frame data when detecting the rising edge of frame synchronizing signal FV.Next, prepare to begin to gather data line at the rising edge of line synchronizing signal LV, each pixel data on the negative edge triggering CPLD of pixel clock signal PCLK collection GPIO mouth.Simultaneously with the data buffer storage that collects to buffer area SRAM.
The 3rd step: MCU control CPLD processes image.Different according to instruction, MCU can control CPLD by SPI and carry out different image processing.MCU can control CPLD and directly reads the buffer area view data and send to MCU during photographing instruction; MCU control CPLD reads the processing that the buffer area image carries out solar facula information when resolving instruction.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 process the Y component during CPLD deal with data, abandon the UV component.
The 4th step: MCU carries out data and processes output solar vector information.When CPLD transferred data message by SPI, MCU processed the solar facula centre coordinate that obtains to CPLD and converts sun angle information to, calculates the solar vector information output.
In the whole course of work, constantly repeat the operation in two～four steps.
Claims (9)
1. one kind based on fish-eye ultra-large vision field sun sensor, it is characterized in that, comprising: be used for to gather light fish eye lens, be used for photosensitive imaging and with image be converted into view data cmos image sensor, read image fetching unit and control computing unit with the described view data of buffer memory;
Described control computing unit is regulated and control described cmos image sensor and described image fetching unit.
2. ultra-large vision field sun sensor according to claim 1 is characterized in that, described image fetching unit comprises CPLD that view data is read and view data is carried out buffer memory SRAM.
3. ultra-large vision field sun sensor according to claim 1 is characterized in that, is provided with filter coating between described fish eye lens and the described cmos image sensor.
4. ultra-large vision field sun sensor according to claim 1 is characterized in that, described CPLD is connected with cmos image sensor by universaling I/O port, connects by universaling I/O port between described SRAM and the CPLD.
5. ultra-large vision field sun sensor according to claim 2 is characterized in that, described control computing unit is MCU, and described MCU is connected with described CPLD by spi bus.
6. the sun sensitive method based on each described ultra-large vision field sun sensor of claim 1～5 is characterized in that, comprising:
(1) described control computing unit is configured according to form and the resolution of external command to the output image of described cmos image sensor, and the mode of operation of described image fetching unit is configured;
(2) described fish eye lens gathers sunray and makes the sunray that collects enter cmos image sensor through configuration;
(3) behind the described cmos image sensor photosensitive imaging image development of evil in febrile disease is become view data, and described image data transmission is arrived described image fetching unit;
(4) described image fetching unit carries out being transferred to the control computing unit after the rough handling to described view data, and described control computing unit is to being further processed and exporting result through view data after the rough handling.
7. the sun sensitive method of ultra-large vision field sun sensor according to claim 6 is characterized in that, the mode of operation described in the step (1) is divided into exposal model and computation schema.
8. the sun sensitive method of ultra-large vision field sun sensor according to claim 7 is characterized in that, when the mode of operation described in the step (1) was exposal model, the process of step (4) was as follows:
Described image fetching unit directly is transferred to control computing unit and output with view data.
9. the sun sensitive method of ultra-large vision field sun sensor according to claim 7, it is characterized in that, when the mode of operation described in the step (1) is computation schema, rough handling described in the step (4) comprises: the statistics facula information obtains the solar facula centre coordinate;
Further processing described in the step (4) comprises: utilize described solar facula centre coordinate to calculate, obtain sun angle information.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210405372.3A CN102914285B (en) | 2012-10-22 | 2012-10-22 | Fish-eye lens-based oversized view field sun sensor and method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210405372.3A CN102914285B (en) | 2012-10-22 | 2012-10-22 | Fish-eye lens-based oversized view field sun sensor and method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102914285A true CN102914285A (en) | 2013-02-06 |
| CN102914285B CN102914285B (en) | 2015-02-04 |
Family
ID=47612758
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210405372.3A Active CN102914285B (en) | 2012-10-22 | 2012-10-22 | Fish-eye lens-based oversized view field sun sensor and method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102914285B (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105222776A (en) * | 2015-09-24 | 2016-01-06 | 北京控制工程研究所 | The analog sun sensor of a kind of dual-axis miniature |
| CN105403217A (en) * | 2015-12-07 | 2016-03-16 | 南京航空航天大学 | Compound eye imitating structure sun sensor facing microsatellite |
| CN105737822A (en) * | 2016-02-06 | 2016-07-06 | 上海微小卫星工程中心 | All-day ball view field sun sensor and determination method for sun vector thereof |
| CN106081169A (en) * | 2016-07-06 | 2016-11-09 | 清华大学 | Sun sensor based on ball formation and solar vector direction calculation method |
| CN114001466A (en) * | 2021-11-04 | 2022-02-01 | 中能融合智慧科技有限公司 | Solar energy collecting and utilizing device |
| CN114061753A (en) * | 2021-10-29 | 2022-02-18 | 中国科学院合肥物质科学研究院 | Sunlight meter based on mobile unstable platform |
| CN114543790A (en) * | 2021-12-30 | 2022-05-27 | 浙江众星志连科技有限责任公司 | Ghost removing method and system for microsatellite sun sensor |
| CN114760405A (en) * | 2022-04-25 | 2022-07-15 | 合肥师范学院 | Long-distance wide-view-field sun sensor device |
| CN114543790B (en) * | 2021-12-30 | 2024-05-10 | 浙江众星志连科技有限责任公司 | Ghost image removing method and system for microsatellite sun sensor |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004153203A (en) * | 2002-11-01 | 2004-05-27 | Daido Steel Co Ltd | Concentrating photovoltaic power generator |
| CN102538786A (en) * | 2012-01-16 | 2012-07-04 | 浙江大学 | Full field solar sensing device and method for micro satellite |
-
2012
- 2012-10-22 CN CN201210405372.3A patent/CN102914285B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004153203A (en) * | 2002-11-01 | 2004-05-27 | Daido Steel Co Ltd | Concentrating photovoltaic power generator |
| CN102538786A (en) * | 2012-01-16 | 2012-07-04 | 浙江大学 | Full field solar sensing device and method for micro satellite |
Non-Patent Citations (2)
| Title |
|---|
| 席红霞: "大视场、搞精度数字式太阳敏感器", 《《红外》月刊》 * |
| 郭振东等: "面向微小卫星的可见光地球敏感器设计", 《传感技术学报》 * |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105222776A (en) * | 2015-09-24 | 2016-01-06 | 北京控制工程研究所 | The analog sun sensor of a kind of dual-axis miniature |
| CN105222776B (en) * | 2015-09-24 | 2018-02-09 | 北京控制工程研究所 | A kind of analog sun sensor of dual-axis miniature |
| CN105403217B (en) * | 2015-12-07 | 2018-06-05 | 南京航空航天大学 | A kind of imitative compound eye structural sun sensor towards microsatellite |
| CN105403217A (en) * | 2015-12-07 | 2016-03-16 | 南京航空航天大学 | Compound eye imitating structure sun sensor facing microsatellite |
| CN105737822A (en) * | 2016-02-06 | 2016-07-06 | 上海微小卫星工程中心 | All-day ball view field sun sensor and determination method for sun vector thereof |
| CN105737822B (en) * | 2016-02-06 | 2018-07-24 | 上海微小卫星工程中心 | A kind of sun sensor of whole day ball visual field and its determination method of solar vector |
| CN106081169A (en) * | 2016-07-06 | 2016-11-09 | 清华大学 | Sun sensor based on ball formation and solar vector direction calculation method |
| CN106081169B (en) * | 2016-07-06 | 2017-07-25 | 清华大学 | Sun sensor and solar vector direction calculation method based on ball formation |
| CN114061753A (en) * | 2021-10-29 | 2022-02-18 | 中国科学院合肥物质科学研究院 | Sunlight meter based on mobile unstable platform |
| CN114001466A (en) * | 2021-11-04 | 2022-02-01 | 中能融合智慧科技有限公司 | Solar energy collecting and utilizing device |
| CN114543790A (en) * | 2021-12-30 | 2022-05-27 | 浙江众星志连科技有限责任公司 | Ghost removing method and system for microsatellite sun sensor |
| CN114543790B (en) * | 2021-12-30 | 2024-05-10 | 浙江众星志连科技有限责任公司 | Ghost image removing method and system for microsatellite sun sensor |
| CN114760405A (en) * | 2022-04-25 | 2022-07-15 | 合肥师范学院 | Long-distance wide-view-field sun sensor device |
| CN114760405B (en) * | 2022-04-25 | 2023-12-01 | 合肥师范学院 | Long-distance wide-view-field sun sensor device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102914285B (en) | 2015-02-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102914285B (en) | Fish-eye lens-based oversized view field sun sensor and method thereof | |
| CN202693892U (en) | Image capturing optical system set | |
| CN206348502U (en) | Optical system | |
| CN107957621A (en) | Optical image taking system group, image-taking device and electronic device | |
| CN107948514B (en) | Image blurs processing method, device, mobile device and computer storage medium | |
| CN106443987A (en) | Optical system for image pickup, image capturing device and electronic device | |
| CN102955224A (en) | Optical image capturing lens | |
| CN109313323A (en) | Imaging optical system, lenticular unit and photographic device | |
| CN110166692A (en) | A kind of method and device improving camera automatic focusing accuracy rate and speed | |
| CN105319675A (en) | Imaging optical system, image capturing device and mobile terminal | |
| CN207301457U (en) | Imaging len and camera device | |
| CN110023809A (en) | Imaging optical system, lens unit and photographic device | |
| CN208833995U (en) | A kind of eyepiece optical system, electronic viewfinder and image-pickup device | |
| CN206602579U (en) | A kind of full shot for lens changeable camera | |
| CN105403982A (en) | High-image-quality optical imaging lens for unmanned plane aerial photography | |
| CN102538786A (en) | Full field solar sensing device and method for micro satellite | |
| CN104730692B (en) | Full-frame lens of micro single-lens reflex camera | |
| CN101482645A (en) | Digital aerial survey full-color camera lens | |
| CN107272141A (en) | Optical system microscope group, image-taking device and electronic installation | |
| CN106094183B (en) | Focusing-style optical imaging system in a kind of high image quality | |
| CN110673313B (en) | Zoom fisheye lens system and design method | |
| CN205374852U (en) | Low distortion optical imaging system of high picture | |
| CN206074893U (en) | Lens combination and electronic equipment | |
| TWI694267B (en) | Optical lens | |
| CN211557362U (en) | Front-end image acquisition device capable of adapting to image scene |
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 |