CN103148850A - High-precision star sensor - Google Patents
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- CN103148850A CN103148850A CN2013100250924A CN201310025092A CN103148850A CN 103148850 A CN103148850 A CN 103148850A CN 2013100250924 A CN2013100250924 A CN 2013100250924A CN 201310025092 A CN201310025092 A CN 201310025092A CN 103148850 A CN103148850 A CN 103148850A
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Abstract
A high-precision star sensor comprises a star image coordinate acquisition unit and a start image coordinate data processing unit. The star image coordinate acquisition unit comprises three image sensors, three analog/digital (A/D) conversion chips, a first field programmable gate array (FPGA) driving unit, a first static random access memory (SRAM) storage unit and a low voltage differential signaling (LVDS) chip, wherein the first FPGA driving unit drives the three image sensors and extracts star image coordinates at the same time. The start image coordinate data processing unit comprises a remote sensing (RS) 422 communication unit, a second FPGA driving unit, a digital signal processor (DSP) control unit, an FLASH storage unit and a second SRAM storage unit. Each image sensor is provided with an independent camera lens, indication directions of every two optical axes of the three camera lenses are perpendicular to each other, the first FPGA driving unit is connected with the second FPGA driving unit through the LVDS chip, and the second FPGA driving unit is connected with the DSP control unit, the FLASH storage unit and the second SRAM storage unit. The high-precision star sensor overcomes the defects that phase differences exist in time among view fields and rolling axes are poor in posture accuracy, reduces the size and power consumption, and improves data reliability.
Description
Technical field
The present invention relates to a kind of high-precision star sensor.
Background technology
Star sensor is to experience the radiation of fixed star the instrumented satellite a kind of optical attitude sensor with respect to this fixed star orientation.Because the subtended angle of fixed star is very little, and the direction of starlight in inertial coordinates system is accurately known, so the measuring accuracy of star sensor is very high, in order to reduce the impact of extraneous parasitic light, usually before the camera lens of star sensor, add a light shield, star sensor is further obtained the direction of starlight vector in the star sensor coordinate system according to focusing on geometric relationship, then obtains the measurement vector of starlight vector in the carrier body coordinate system by Matrix Calculating is installed.
In order further to improve precision of star sensor, the general imageing sensor (such as the large array image sensor of 2048 * 2048 pixel that adopts CMV4000) of large face battle array that adopts is designed, if under the prerequisite that visual field does not increase, increase face battle array can improve the attitude accuracy of star sensor, but, be subject to the restriction that star sensor is subject to self structure, its roll angle precision is low, generally than crab angle and the approximately low magnitude of the angle of pitch, and along with the increase of star sensor imageing sensor face battle array, the time of the fixed star star image coordinate extracted from image is also along with increase, thereby reduced the data updating rate of star sensor, reduced the dynamic property of star sensor.Some document reads simultaneously and processes the two-way pixel data and extract fixed star star image coordinate from image, the method is extracted theoretically the time of fixed star star image coordinate and has been reduced half, if but some fixed star star image is distributed between two-way, adopting the two-way mass center tracking imaging technology to extract fixed star star image coordinate may be incorrect, therefore, the pure precision that adopts the method that increases imageing sensor face battle array to improve star sensor is inadvisable.
In order to improve the precision of star sensor roll angle, current is Star-Sensor Design a plurality of probes, adopt the method for data fusion to utilize the data of a plurality of probes to improve the precision of star sensor, many probe star sensors are due to effective expansion of visual field, bring abundanter observation information, can further improve measuring accuracy and the functional reliability of star sensor, such as the design concept of French Sodern company and the many probes of Technical University Of Denmark's proposition star sensors.
Mode of operation between the probe of many probe star sensors can adopt synchronous mode or asynchronous mode, synchronous mode is exactly simultaneously the expose star charts of synchronization of a plurality of probes, all probe exposures finish simultaneously, under this kind of pattern, the star sensor data processing unit can utilize the data of all probes, adopt the method for information fusion to improve precision of star sensor, thereby improve the high-precision navigation data of star sensor.This mode of operation must meet Complete Synchronization between probe, but affected by circuit design, technique etc., causes time delays inconsistent, thus on Practical Project all probes fully synchronization adopt figure.
Asynchronous mode is to have probe to expose respectively, calibration method under all probe asynchronous work modes, all probes have respectively punctual module, and data processing unit also has punctual function, between data processing unit and probe, adopt between time pulse per second (PPS) and data line and carry out time synchronized.And preserve the time of exposure in real time, the star chart data that data processing unit receives all probes also can receive the time of exposure of all probes simultaneously, although all like this probes adopt respectively different controllers to be controlled, can be due to impacts such as circuit design, techniques, cause the inconsistent impact of time delays and cause precision of star sensor to descend.Therefore, adopt this pattern not only to have the high-precision attitude information that adopts synchronous mode, and have the characteristics of high data updating rate, under this pattern, in order to obtain high-precision attitude information, the time synchronized between probe is key issue.But the crystal oscillator difference of the driving circuit section of respectively popping one's head in, have phase differential etc. after long-time, all probes receive that the time synchronized of data processing unit is in the time, the nonsynchronous shortcoming of life period between probe, due to the asynchronism(-nization) step, the three-axis attitude that utilizes these probes to calculate is accurate not.The present invention proposes a kind of new multisensor and drives method for designing, the method is a kind of synchronous mode completely, and the method to have an asynchronous mode attitude accuracy high, avoided adopting the shortcoming of carrying out time synchronized between time pulse per second (PPS) and data line between data processing unit and probe under the conventional asynchronous pattern.
Summary of the invention
The present invention proposes a kind of high-precision star sensor, the method is a kind of synchronous mode completely, and the method to have an asynchronous mode attitude accuracy high, avoided adopting the shortcoming of carrying out time synchronized between time pulse per second (PPS) and data line between data processing unit and probe under the conventional asynchronous pattern.
The technology used in the present invention is as follows: comprise fixed star star image coordinate collecting unit and fixed star star image coordinate data processing unit, it is characterized in that: fixed star star image coordinate collecting unit comprises three imageing sensors, three A/D conversion chips, a FPGA driver element, a SRAM storage unit and LVDS chips, and fixed star star image coordinate data processing unit comprises RS422 communication unit, the 2nd FPGA driver element, DSP control module, FLSAH storage unit and the 2nd SRAM storage unit, each imageing sensor has independently camera lens, the optical axis of three camera lenses points to orthogonal in twos, each imageing sensor is connected with a FPGA driver element by the A/D conversion chip respectively, the one SRAM storage unit is connected with a FPGA driver element, the one FPGA driver element is connected with the 2nd FPGA driver element by the LVDS chip, the 2nd FPGA driver element is connected with DSP control module, FLSAH storage unit, the 2nd SRAM storage unit respectively, and the DSP control module is connected with the RS422 communication unit, the one FPGA driver element completes the driving sequential of three imageing sensors concurrently, and the sequential according to design, I/O by a FPGA driver element sends to corresponding imageing sensor, after the graphical sensory device receives corresponding sequential, complete opto-electronic conversion, produce corresponding synchronizing signal, the one FPGA driver element receives the synchronizing signal of three imageing sensors simultaneously: comprise frame synchronizing signal, the synchronizing signal of line synchronizing signal and each pixel, receive corresponding imageing sensor picture signal, gather concurrently respectively the picture signal of three imageing sensors, after collecting picture signal, extract concurrently institute's any stars star image coordinate in visual field from the view data of three imageing sensors, concurrently the view data of three imageing sensors is saved in to a SRAM storage unit simultaneously, can complete the preservation of the extraction of fixed star star image coordinate ground and view data from the image of three imageing sensors simultaneously, then the fixed star star image coordinate of these three imageing sensor images is carried out to framing, by the LVDS chip, serial data is converted into to differential signal after framing, send to data processing unit, after data processing section LVDS chip receives differential signal, be converted to serial data, after the 2nd FPGA driver element receives serial data, be converted to parallel data, and send to the DSP control module, after the DSP control module receives the image fixed star star image coordinate data of three imageing sensors, respectively the image fixed star star image coordinate of three imageing sensors is identified, and calculated attitude separately, DSP control module utilization attitude separately, adopt three probe star sensor attitudes to determine that method calculates the attitude of current star sensor, then adopts the RS422 of data processing section to send to navigational computer.
The present invention also has the following feature that finishes:
1, described FPGA driver element adopts the EP2C8Q208I8 chip of ALTERA company.
2, described imageing sensor adopts the CCD48-20 chip.
3, a described SRAM adopts IS61LV10248.
4, described DSP device adopts the TMS320VC33 chip of TI company.
5, described LVDS device adopts the DS91D176 chip.
6, described the 2nd SRAM adopts Is61lv512616.
7, described FLASH adopts AM29LV800BB-70EI.
The features and advantages of the invention:
First: all imageing sensors drive and share a crystal oscillator, and after having made up many visual fields star sensor long-play, there is the shortcoming of phase differential in the time between each visual field;
Second: made up the poor shortcoming of single imaging probe module star sensor axis of rolling attitude accuracy;
The the 3rd: share a driving circuit section because all imageing sensors drive, therefore compare with many visual fields star sensor, reduced like this volume and power consumption;
The 4th: even some imageing sensor lost efficacy, on the basis that guarantees attitude accuracy, other imageing sensor still can be exported attitude, has improved data reliability.
The accompanying drawing explanation
Fig. 1 is the Rotating Platform for High Precision Star Sensor theory diagram;
Fig. 2 is the data interchange format figure between driving circuit section and data processing section;
The built-in function logical relation schematic diagram that Fig. 3 is FPGA;
Fig. 4 is for adopting high-precision star sensor workflow diagram;
Fig. 5 is Rotating Platform for High Precision Star Sensor data synchronism detection figure as a result;
Fig. 6 is three visual field star sensor attitude tests figure as a result;
Fig. 7 is three visual field star sensor synchronism detections figure as a result;
Fig. 8 is monoscopic precision of star sensor test result figure;
Fig. 9 is three visual field precision of star sensor test result figure;
Figure 10 is Rotating Platform for High Precision Star Sensor accuracy test figure as a result;
The embodiment block diagram that Figure 11 is a kind of Rotating Platform for High Precision Star Sensor.
Embodiment:
Below in conjunction with accompanying drawing, further the present invention is made an explanation for example:
Design of the present invention is as Fig. 1, comprise three imageing sensors, each imageing sensor has independently camera lens, three imageing sensors share a driving circuit, because FPGA has the characteristics of complete parallel operation, this driving circuit only needs a fpga chip, and the driving signal of three imageing sensors is all completed by this fpga chip, so not only greatly reduced the volume of star sensor, and reduced the power consumption of star sensor, when driving circuit receives the image of three imageing sensors, except needs are preserved three width images in SRAM, also need to from three width images, extract fixed star star image coordinate, after completing from three width images and extracting fixed star star image coordinate, form bag data and send to data processing section, data processing section is unpacked after receiving data, identify respectively the fixed star star image coordinate of three imageing sensors, utilize the result after identifying, adopt probe star sensor attitude to determine method calculating star sensor output attitude.
Determine principle according to two vector attitudes, three unit vector X
n, Y
n, Z
n, and form a mutually orthogonal coordinate system, wherein: X
n, Y
nand Z
nmould | X
n|=1, | Y
n|=1 He | Z
n|=1, can determine the attitude of aircraft three axles.Therefore, need in design to guarantee that the optical axis sensing of three camera lenses is orthogonal in twos.
The exchange data using LVDS electrical specification between driving circuit section and data processing section wherein, driving circuit section sends to per cycle of the data length of data processing section to be approximately the 3K byte, form comprises the frame head of 2 bytes, with 0xEB90, mean, the fixed star star image coordinate of three sensor images, last byte is verification, as shown in Figure 2.Theoretically, adopt the speed of LVDS transmission data can reach hundreds of million, but from data transmission credibility, transmission speed is slower, reliability is higher, and because the coordinate data that is transferred to data processing unit is no more than the 3K byte, therefore the transmission speed of design is 10M, the data of transmission of coordinate are 2.4 milliseconds, so the transmission time can obviously not reduced data updating rate.
The required function completed of driving circuit is nearly all in fpga chip, FPGA need to complete the driving sequential of three imageing sensors concurrently, and the sequential according to design, I/O by FPGA sends to corresponding imageing sensor, after the graphical sensory device receives corresponding sequential, complete opto-electronic conversion, produce corresponding synchronizing signal, the synchronizing signal that FPGA receives three imageing sensors simultaneously (comprises frame synchronizing signal, the synchronizing signal of line synchronizing signal and each pixel), receive corresponding imageing sensor picture signal, gather concurrently respectively the picture signal of three imageing sensors, after collecting picture signal, extract concurrently institute's any stars star image coordinate in visual field from the view data of three imageing sensors, concurrently the view data of three imageing sensors is saved in SRAM simultaneously, can complete the preservation of the extraction of fixed star star image coordinate ground and view data from the image of three imageing sensors simultaneously, then the fixed star star image coordinate of these three imageing sensor images is carried out to framing according to the form as 2, by LVDS, these frame data are sent to data processing section after framing, like this, FPGA has just completed the work (the built-in function logical relation of FPGA is shown in Fig. 3) of three imageing sensors simultaneously.
Therefore, adopt the detailed process following (as shown in Figure 4) of this pair of probe star sensor:
1: the FPGA of driving circuit section produces to sensor 1, sensor 2 and sensor 3 simultaneously and drives sequential;
2: the sequential output of the sensor 1 of the FPGA inside of driving circuit section, sensor 2 and sensor 3, according to the sequential produced, arranges respectively I/O mouth high level or the low level of corresponding PFGA;
3: the FPGA that sensor 1, sensor 2 and sensor 3 receive driving circuit section simultaneously drives sequential logic;
4: sensor 1, sensor 2 and sensor 3 complete corresponding light/electric conversion operations according to the logic received, and produce the signals such as frame synchronization, row is synchronous, data are synchronous, and three sensors are sent view data simultaneously;
5: after the FPGA of driving circuit section samples the frame synchronizing signal of three imageing sensors simultaneously, judge whether it is that piece image starts, if so, the line synchronizing signal of three imageing sensors of sampling at once; If not, jump at once step 11;
6: after the FPGA of driving circuit section samples the line synchronizing signal of three imageing sensors simultaneously, judge whether it is that certain a line of image starts, if so, the data synchronizing signal of three imageing sensors of sampling at once; Otherwise jump at once step 10;
7: after the FPGA of driving circuit section samples the data synchronizing signal of three imageing sensors simultaneously, the image serial data of three imageing sensors of sampling at once;
8: the FPGA of driving circuit section becomes parallel data to serial data after sampling the image serial data of three imageing sensors simultaneously;
9: after the FPGA of driving circuit section samples the parallel image data of three imageing sensors simultaneously, adopt respectively centroid method to extract fixed star star image coordinate from three imageing sensor images, respectively three imageing sensor view data are saved in storer separately simultaneously, and whether the image that judges three imageing sensor present frames finishes, if so, jump to step 11; Otherwise jump to step 5;
10: this row finishes, and waits for, until the row of another row synchronously starts;
11: the FPGA of driving circuit section collects three imageing sensor image fixed star star image coordinates;
12: the FPGA of driving circuit section carries out framing to three imageing sensor image fixed star star image coordinate datas, and the data layout after framing is as Fig. 2;
13: the FPGA of driving circuit section is encoded the data after framing;
14: the LVDS chip that sends to driving circuit section the data serial after the FPGA handle coding of driving circuit section;
15: the LVDS chip of driving circuit section is converted into differential signal to serial data, sends to data processing section;
16: after data processing section LVDS chip receives differential signal, be converted to serial data;
17: after the FPGA of data processing section receives serial data, be converted to parallel data, and send to the DSP of data processing section;
18: after the DSP of data processing section receives the image fixed star star image coordinate data of three imageing sensors, respectively the image fixed star star image coordinate of three imageing sensors is identified, and calculated attitude separately;
19: the DSP of data processing section utilizes attitude separately, adopts three probe star sensor attitudes to determine that method calculates the attitude of current star sensor, then adopts the RS422 of data processing section to send to navigational computer;
Tradition further improves precision of star sensor and adopts the imageing sensor of large face battle array to be designed, although the method can improve the attitude accuracy of star sensor, but its roll angle precision is low, and, because star sensor imageing sensor face battle array is large, reduced the data updating rate of star sensor.In order to improve the precision of star sensor roll angle, current is Star-Sensor Design a plurality of probes, mode of operation between the probe of many probe star sensors can adopt synchronous mode or asynchronous mode, synchronous mode is exactly simultaneously the expose star charts of synchronization of a plurality of probes, utilize the data of all probes, adopt the method for information fusion to improve precision of star sensor, but affected by circuit design, technique etc., cause time delays inconsistent, thus on Practical Project all probes fully synchronization adopt figure.Asynchronous mode is to have probe to expose respectively, calibration method under all probe asynchronous work modes, all probes have respectively punctual module, and data processing unit also has punctual function, between data processing unit and probe, adopt between time pulse per second (PPS) and data line and carry out time synchronized.But, there is phase differential etc. in the crystal oscillator difference of the driving circuit section of respectively popping one's head in after long-time, and all probes receive that the time synchronized of data processing unit is in the time, the nonsynchronous shortcoming of life period between probe, so the three-axis attitude that these probes calculate is accurate not.
As Figure 11 is a kind of embodiment of Rotating Platform for High Precision Star Sensor, wherein three imageing sensors adopt the CCD48-20 chip, due to CCD48-20 output is simulating signal, therefore, FPGA also must add an A/D chip before receiving view data, selecting the A/D chip is AD849, the FPGA device adopts the EP2C8Q208I8 chip of ALTERA company, the configuration file of EP2C8Q208I8 chip is placed in the EPCS4 device, SRAM adopts IS61LV10248, this chip is the storer of 1K * 8, the DSP device adopts the TMS320VC33 chip of TI company, this chip is the floating-point device of 32, program SRAM adopts Is61lv512616, this chip is the storer of 16, therefore need to use two, be respectively high 16 and low 16, the FLASH device adopts AM29LV800BB-70EI, this chip is the storer of 16, therefore need to use two, be respectively high 16 and low 16, the RS422 device adopts the MAX490 chip, the LVDS device adopts the DS91D176 chip.
Embodiment 3
Below take three imageing sensors, a driving circuit section and a data processing section is example.
Each imageing sensor feature:
Visual field: 14 ° * 14 °
Face battle array: 1024 * 1024
Survey magnitude: 6Mv
Data updating rate: 8Hz
The core FPGA chip of driving circuit section adopts EP2V8Q208I8, and the input crystal oscillator frequency is 40MHz, and the speed of the LVDS of transmission data is 10Mbps.
The data processing work frequency is 50MHz.
Whether synchronous with the time of each imageing sensor shooting star chart for the precision of verifying this Rotating Platform for High Precision Star Sensor, with three visual field star sensors, compare.Experiment is divided into two groups.
Whether first group of experiment has phase differential for the time of testing each imageing sensor shooting star chart, method is as follows: Rotating Platform for High Precision Star Sensor and three visual field star sensors are placed into to outfield, make Rotating Platform for High Precision Star Sensor keep relative static with three visual field star sensors and the earth, adjust the orientation of Rotating Platform for High Precision Star Sensor and three visual field star sensors, make three camera lens orientation of Rotating Platform for High Precision Star Sensor and three visual field star sensors can observe abundant fixed star, connect the power supply of Rotating Platform for High Precision Star Sensor and three visual field star sensors, these two star sensors can be worked, the time shutter that three imageing sensors of Rotating Platform for High Precision Star Sensor are set is 100 milliseconds, Rotating Platform for High Precision Star Sensor is preserved the time of exposure of three imageing sensors, and be transferred to host computer these three times of exposure together with attitude, the time shutter that three visual fields of three visual field star sensors are set simultaneously is also 100 milliseconds, the time of exposure of imageing sensor is separately preserved respectively in three visual fields, and the corresponding time of exposure and attitude information are separately sent to host computer, host computer shows after receiving all information in real time, and preserve in real time, Fig. 5 is the result of preserving according to host computer, Rotating Platform for High Precision Star Sensor separately three imageing sensors the time of exposure and take according to three imageing sensors the attitude quaternion that star charts calculate, from finding out, the power supply of Rotating Platform for High Precision Star Sensor rigidly connects logical, all the time be the same three imageing sensor times of exposure.Fig. 6 be three visual field star sensors separately three visual fields the time of exposure and take according to three visual fields the attitude quaternion that star charts calculate, three visual field star sensors one power on, be almost also the same the time of exposure of three visual fields, and along with increasing conduction time, three differences of visual field between the time of exposure of three visual field star sensors also increase (as Fig. 7 can find out gradually, mistiming between three visual fields is all initially 0, increase along with the time, mistiming increases gradually, during by 60 seconds, mistiming between visual field 1 and visual field 2 reaches 76401 microseconds, 76.401 milliseconds, mistiming between visual field 1 and visual field 3 reaches 88 microseconds, 0.088 millisecond, mistiming between visual field 2 and visual field 3 reaches 76489 microseconds, 76.489 milliseconds), this is because three visual fields adopt different crystal oscillators, after long-time, exist phase differential to cause, and the difference of three imageing sensor times of exposure of Rotating Platform for High Precision Star Sensor can not increase along with the increase of time, therefore after Rotating Platform for High Precision Star Sensor has been avoided three visual field star sensor long-plays, there is the shortcoming of phase differential in time between each visual field.
Second group of experiment is for testing precision of star sensor, method is as follows: Rotating Platform for High Precision Star Sensor, the monoscopic star sensor of three visual field star sensors and an identical faces battle array is placed into outfield, make Rotating Platform for High Precision Star Sensor, three visual field star sensors keep relative static with monoscopic star sensor and the earth, adjust Rotating Platform for High Precision Star Sensor, the orientation of three visual field star sensors and monoscopic star sensor, make three camera lens orientation of Rotating Platform for High Precision Star Sensor and three visual field star sensors can observe abundant fixed star, the monoscopic star sensor has abundant fixed star in visual field, connect Rotating Platform for High Precision Star Sensor, the power supply of three visual field star sensors and monoscopic star sensor, these three star sensors can be worked, after calculating attitude, these three star sensors send to host computer, it is poor with actual attitude that host computer receives after the attitude of three star sensors, host computer shows the attitude error of these three star sensors in real time, and the three-axis attitude error of preserving in real time these three star sensors, after receiving the attitude of some, adopt
the software off-line shows respectively the attitude error (as Fig. 8) of three star sensors.As can be seen from Figure 8, although monoscopic star sensor crab angle and the angle of pitch have very high precision, but other two differential seat angles of the ratio of precision of roll angle, this is to be subject to the restriction of self structure due to star sensor, its roll angle precision is low to be caused, yet the precision of three Eulerian angle of three visual field star sensors can not reduce along with the increase of time; The three-axis attitude that three visual field star sensors calculate has utilized the attitude information of three visual fields, adopt the method for information fusion to improve precision, therefore the precision of the precision of roll angle and crab angle and the angle of pitch is suitable, but, the precision of three visual field star sensor three axle Eulerian angle reduces along with the increase of time, this be mainly long-time after, there is phase differential in the time between each visual field, (as the Fig. 9) do not caused in the same time when star chart is taken in three visual fields; And Rotating Platform for High Precision Star Sensor not only the precision of the precision of roll angle and crab angle and the angle of pitch is suitable, and, along with the increase of time, the precision of three axle Eulerian angle remains higher precision (as Figure 10).
Claims (8)
1. a high-precision star sensor, comprise fixed star star image coordinate collecting unit and fixed star star image coordinate data processing unit, it is characterized in that: fixed star star image coordinate collecting unit comprises three imageing sensors, three A/D conversion chips, a FPGA driver element, a SRAM storage unit and LVDS chips, and fixed star star image coordinate data processing unit comprises RS422 communication unit, the 2nd FPGA driver element, DSP control module, FLSAH storage unit and the 2nd SRAM storage unit, each imageing sensor has independently camera lens, the optical axis of three camera lenses points to orthogonal in twos, each imageing sensor is connected with a FPGA driver element by the A/D conversion chip respectively, the one SRAM storage unit is connected with a FPGA driver element, the one FPGA driver element is connected with the 2nd FPGA driver element by the LVDS chip, the 2nd FPGA driver element is connected with DSP control module, FLSAH storage unit, the 2nd SRAM storage unit respectively, and the DSP control module is connected with the RS422 communication unit, the one FPGA driver element completes the driving sequential of three imageing sensors concurrently, and the sequential according to design, I/O by a FPGA driver element sends to corresponding imageing sensor, after the graphical sensory device receives corresponding sequential, complete opto-electronic conversion, produce corresponding synchronizing signal, the one FPGA driver element receives the synchronizing signal of three imageing sensors simultaneously: comprise frame synchronizing signal, the synchronizing signal of line synchronizing signal and each pixel, receive corresponding imageing sensor picture signal, gather concurrently respectively the picture signal of three imageing sensors, after collecting picture signal, extract concurrently institute's any stars star image coordinate in visual field from the view data of three imageing sensors, concurrently the view data of three imageing sensors is saved in to a SRAM storage unit simultaneously, can complete the preservation of the extraction of fixed star star image coordinate ground and view data from the image of three imageing sensors simultaneously, then the fixed star star image coordinate of these three imageing sensor images is carried out to framing, by the LVDS chip, serial data is converted into to differential signal after framing, send to data processing unit, after data processing section LVDS chip receives differential signal, be converted to serial data, after the 2nd FPGA driver element receives serial data, be converted to parallel data, and send to the DSP control module, after the DSP control module receives the image fixed star star image coordinate data of three imageing sensors, respectively the image fixed star star image coordinate of three imageing sensors is identified, and calculated attitude separately, DSP control module utilization attitude separately, adopt three probe star sensor attitudes to determine that method calculates the attitude of current star sensor, then adopts the RS422 of data processing section to send to navigational computer.
2. a kind of high-precision star sensor according to claim 1 is characterized in that: described FPGA driver element adopts the EP2C8Q208I8 chip of ALTERA company.
3. a kind of high-precision star sensor according to claim 1, is characterized in that: described imageing sensor employing CCD48-20 chip.
4. a kind of high-precision star sensor according to claim 1, is characterized in that: a described SRAM employing IS61LV10248.
5. a kind of high-precision star sensor according to claim 1 is characterized in that: described DSP device adopts the TMS320VC33 chip of TI company.
6. a kind of high-precision star sensor according to claim 1, is characterized in that: described LVDS device employing DS91D176 chip.
7. a kind of high-precision star sensor according to claim 1, is characterized in that: described the 2nd SRAM employing Is61lv512616.
8. a kind of high-precision star sensor according to claim 1, is characterized in that: described FLASH employing AM29LV800BB-70EI.
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| CN111504329A (en) * | 2020-06-12 | 2020-08-07 | 上海航天控制技术研究所 | Navigation sensor high-speed hardware platform based on FPGA and DSP |
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| CN106027192B (en) * | 2016-06-27 | 2018-09-07 | 哈尔滨明快机电科技有限公司 | A kind of parallel data synchronous acquisition device |
| CN106027192A (en) * | 2016-06-27 | 2016-10-12 | 哈尔滨明快机电科技有限公司 | Device for synchronously collecting parallel data |
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| 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 |
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