CN103344256A - Laboratory testing method for multi-field-of-view star sensor - Google Patents
Laboratory testing method for multi-field-of-view star sensor Download PDFInfo
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Abstract
The invention relates to a laboratory testing method for a multi-field-of-view star sensor. The method comprises the steps that: a dynamics simulation computer respectively generates fixed star maps of a first field of view, a second field of view and a third field of view according to the initial track parameter set by a user, track dynamics, installation direction between the first field of view and an aircraft, installation direction between the second field of view and the sircraft and installation direction the third field of view and the aircraft, and concurrently sends the generated fixed star maps to a first multi-star simulator, a second multi-star simulator and a third multi-star simulator through a VGA (Video Graphics Array), all the fields of view of the multi-field-of-view star sensor respectively shoot the star maps and conduct integration calculation. The practical testing environment of an external field can be entirely simulated through using the testing method, and therefore, the reliability, robustness and the like of the multi-field-of-view star sensor can be tested. The accuracy of the rolling angles of the multi-field-of-view star sensor can be improved by adopting the data integration method, in addition, the method can be used for testing a single-field-of-view star sensor, and therefore, the university of testing equipment can be improved, and the equipment testing cost can be lowered.
Description
Technical field
The present invention relates to a kind of many visual fields star sensor laboratory testing method.
Background technology
Star sensor is to be reference system with celestial coordinates, is the high-precision attitude surveying instrument of the detection of a target with the fixed star, and it provides high-accuracy posture information for all kinds of spacecrafts such as satellite, deep space probes.Star sensor is that numerous subjects such as light harvesting, electronics, mechanics and image processing are the attitude measurement instrument of one, mainly is made up of mechanical structure unit, optical imagery unit and electric signal processing unit.The star sensor of monoscopic is in order to possess the responsive ability of certain magnitude, and data updating rate generally can not be very high.In addition, be subjected to the restriction that star sensor is subjected to self structure, its roll angle precision is low, generally than crab angle and the low approximately magnitude of the angle of pitch.
In order to improve the precision of star sensor roll angle, current is Star-Sensor Design a plurality of visual fields, adopt data fusion method to utilize the data of a plurality of visual fields to improve the precision of star sensor, many visual fields star sensor is because effective expansion of visual field, bring abundanter observation information, can further improve measuring accuracy and the functional reliability of star sensor.
At the monoscopic star sensor, common Ground Functional Test method mainly contains two kinds: a kind of is to star sensor algorithm and electric performance test in the laboratory, this method test mainly is to adopt star field simulation software to search out all fixed stars in the visual field from star catalogue, and by corresponding method calculate these fixed stars at the desirable star of picture in the plane as coordinate, pass through communication interface, the ideal coordinates of calculating are sent star sensor, and star sensor receives desirable star and handles after as coordinate.This test macro is made up of star image simulation computing machine, data handling machine, star sensor and communication cable, generally selects for use RS232 (or RS422) test interface that star sensor carries as communication interface.In order further to verify the robustness of star sensor algorithm, in the experimentation, all desirable fixed star stars are increased the error of the individual pixel of Δ P (Δ P ∈ [0.2,0.2]) as coordinate.But this method can only be examined electric interfaces, circuit function and the algorithm function of star sensor, because star field simulation software has directly exported star as coordinate for star sensor, therefore namely can not examine optical system, polarity that can not the testability sensor.
Another kind method is to use the many star simulators of optics to test star sensor, be that star is seen or to the test method of optical system projection star chart in ground, optical instrument obtains star chart and tests star sensor system and mainly comprise: the darkroom, the optics vibration-isolating platform, the computing machine of star image simulation and display, optical collimation lens, star sensor optical system and electronic system, the data transmission set of star sensor and main control computer, the communication apparatus of main control computer and star image simulation computing machine.At first generate computing machine by star chart and produce the simulation star chart, realize that by flat-panel screens asterism shows.The light that each asterism that shows sends converts directional light to after by collimation lens, simulates the nautical star in the true sky.The starlight of simulating is by imaging on the sensor devices of star sensor after the lens of star sensor, and the importance in star map recognition computing machine is used for showing recognition result and attitude information, and carries out communication with simulation star chart generation computing machine, to guarantee the synchronous of signal.This method has following characteristics: utilize computer controlled display to show star chart, can carry out the star image simulation of all-sky; According to the characteristic of display picture element, can simulate the color of starry sky culminant star by the color that changes display picture element, can simulate different magnitudes by changing pixel intensity; Can carry out dynamic star chart and obtain simulation according to the flight operation dynamics of spacecraft; Can simulate sensor, actuator on certain precision, and the star image simulation under certain space environment conditions such as (for example space radiations).Therefore, this method can be tested the optical system of algorithm, electronic system and the star sensor of star sensor, also can the many star simulators of optics and spaceborne machine calculate adopt wired connection after, carry out whole closed-loop system test (as shown in Figure 1).
But, many visual fields star sensor is owing to comprised a plurality of (at least two) optical system in a star sensor, and because the requirement that many visual fields star sensor attitude information merges, the star chart of taking between these visual fields not only needs the identical moment, and must satisfy certain geometric relationship between the star chart of taking, therefore, the system that the way that can not adopt all visual fields to take the many star simulators of same optics is tested many star simulators, and before the star sensor of many visual fields of field testing, must at first under the laboratory, test the electronic system of many visual fields star sensor, algorithm, therefore functions such as optics must design a kind of method of testing many visual fields star sensor.
Summary of the invention
Based on above weak point, the invention provides a kind of many visual fields star sensor laboratory testing method, step is as follows:
(1), the dynamics simulation computing machine receives the navigation results instruction of navigational computer;
(2), the dynamics simulation computing machine is according to aircraft 3-axis acceleration and last frame track six roots of sensation number in the navigation results instruction, utilizes spacecraft orbit dynamics, calculating present frame track six roots of sensation number;
(3), the dynamics simulation computing machine is according to three-axis attitude angular velocity and last frame attitude attitude under orbital coordinate system in the navigation results instruction, utilizes attitude of flight vehicle dynamics, calculating present frame attitude attitude under orbital coordinate system;
(4), according to the present frame track six roots of sensation number that calculates and the attitude under the orbital coordinate system, calculate the attitude of present frame aircraft under inertial coordinates system;
(5), utilize the relation of aircraft and star sensor first visual field, calculate the star sensor attitude matrix C of first visual field under inertial coordinates system
1, consistent with the coordinate polarity of first star sensor with the coordinate polarity of aircraft, the attitude of star sensor first visual field this moment under inertial coordinates system is exactly the attitude of aircraft under inertial coordinates system;
(6), utilizing optical axis between first visual field and second visual field to point to angle is 90 ° relation, passes through formula
Calculate the star sensor attitude matrix C of second visual field under inertial coordinates system
2
(7), utilizing optical axis between first visual field and the 3rd visual field to point to angle is that optical axis sensing angle is 90 ° relation between 90 ° and second visual field and the 3rd visual field, passes through formula
Calculate the star sensor attitude matrix C of the 3rd visual field under inertial coordinates system
3
(8), according to the attitude matrix of first visual field, in star catalogue, search out all fixed stars in first visual field;
(9), calculate the desirable star of first all fixed stars of visual field as coordinate;
(10), generate a width of cloth fixed star star chart of first visual field according to all fixed stars ideal stars in first visual field as coordinate and stellar magnitude;
(11) according to the attitude matrix of second visual field, in star catalogue, search out all fixed stars in second visual field;
(12), calculate the desirable star of second all fixed stars of visual field as coordinate;
(13), generate a width of cloth fixed star star chart of second visual field according to all fixed stars ideal stars in second visual field as coordinate and stellar magnitude;
(14), according to the attitude matrix of the 3rd visual field, in star catalogue, search out all fixed stars in the 3rd visual field;
(15), calculate the desirable star of the 3rd all fixed stars of visual field as coordinate;
(16), generate a width of cloth fixed star star chart of the 3rd visual field according to all fixed stars ideal stars in the 3rd visual field as coordinate and stellar magnitude;
(17), simultaneously the star chart of first visual field is sent to more than first in the star simulator, the star chart of second visual field is sent to more than second in the star simulator, the star chart of the 3rd visual field is sent to more than the 3rd in the star simulator;
(18), after star simulator more than first, star simulator more than second and star simulator more than the 3rd side by side receive star chart, the digital signal of star chart is converted to light signal, and respectively light signal is converted to directional light;
(19), first visual field of many visual fields star sensor, second visual field and the 3rd visual field take star simulator more than first respectively, the star chart of the light signal of star simulator more than second and star simulator more than the 3rd;
(20), respectively from the star chart of taking, extract the fixed star star as coordinate, and respectively the fixed star star that extracts is sent to data processing section as coordinate from star chart;
(21), data processing section receive three visual fields star as the laggard planet figure identification of coordinate, Attitude Calculation sends to navigational computer to the attitude result of calculating;
(22), navigational computer carries out navigation calculation after receiving the attitude information of many visual fields star sensor, and the navigation results instruction is sent to the dynamics simulation computing machine.
Characteristics of the present invention and advantage:
First: can simulate the function of many visual fields of field testing star sensor fully, comprise polarity, data updating rate, the geometric relationship between each visual field etc. have avoided the designer to arrive the deficiency of field testing owing to many visual fields of modification some parameter of star sensor in design process.
Second: because field testing is subjected to weather and restriction round the clock, and many star simulators laboratory testing method can satisfy the actual test environment in simulation outfield fully, therefore this method has solved the star sensor test of many visual fields and has been subjected to the influence of space-time, thereby has further satisfied the requirement of designer's debugging.
The the 3rd: not only can test many visual fields star sensor, but also can test the star sensor of monoscopic, the test needs of monoscopic star sensor and many visual fields star sensor have been satisfied, the user needn't independently develop testing apparatus for the test of monoscopic star sensor, thereby increased the versatility of testing apparatus, reduced the testing apparatus cost.
Description of drawings
Fig. 1 is monoscopic star sensor closed loop test schematic diagram;
Fig. 2 is three visual field sensor general structure synoptic diagram;
Fig. 3 is a kind of many visual fields star sensor laboratory testing method measuring principle figure;
Fig. 4 is a kind of many visual fields star sensor laboratory testing method workflow diagram;
Fig. 5 is monoscopic test attitude error off-line curve map;
Fig. 6 is three visual field star sensor attitude error off-line curve maps;
Fig. 7 is the embodiment figure of a kind of many visual fields star sensor laboratory testing method;
Embodiment
The same with the monoscopic star sensor, many visual fields star sensor (being the method for testing that example illustrates many visual fields star sensor with three visual field star sensors here, down together) mainly is divided into two parts on system constitutes: imaging system part and data processing section.If imaging system partly comprises two and just is called the double-view field star sensor, if imaging system partly comprises three and just is called three visual field star sensors, and the like, general imaging system can be above three, all imaging systems share a data processing section, and each imaging system has partly comprised an Optical system module, a detector module and a detector driver module.Each detector driver module is control clock signal and the star chart pre-process circuit of control chart image-position sensor respectively, is generally realized by fpga chip.Carry out star extraction, star identification and the processing of attitude estimation scheduling algorithm through pretreated several star charts by the data processing section that FIFO sends into star sensor.For the measuring accuracy that satisfies star sensor and the requirement of target detection ability, all imaging systems of many visual fields star sensor partly adopt the optical system of a plurality of same field angle squares cun, thereby adopt the mode of many visual fields to guarantee attitude measurement accuracy.System architecture as shown in Figure 2.
According to three visual field star sensor Attitude Calculation principles, three right installations in visual field should pairwise orthogonal, could guarantee that like this attitude accuracy of three visual field star sensors outputs is the highest.
As shown in Figure 3, many visual fields star sensor test philosophy: at first the dynamics simulation computing machine is according to the preliminary orbit parameter of user's setting, utilize preassembled dynamics of orbits, calculate the orbit parameter of current flight device in real time, and according to three visual field star sensors, first visual field at carry-on installation direction, calculate the three-axis attitude of first visual field under inertial coordinates system J2000.0, utilize the fixed star star catalogue of dynamics simulation computer-internal, all fixed stars in the visual field of search first visual field from this fixed star star catalogue, and calculate the desirable star of fixed star in the picture plane as coordinate, generate a width of cloth fixed star star chart according to desirable star as coordinate, and by VGA this star chart being sent to star simulator more than first in real time, star simulator more than first is shown as star chart two directional light after receiving star chart in real time.The dynamics simulation computing machine sets in advance relation between second visual field and first visual field according to the user, calculate the three-axis attitude under the second visual field inertial coordinates system J2000.0, utilize the fixed star star catalogue of dynamics simulation computer-internal, all fixed stars in search second visual field from this fixed star star catalogue, and calculate the desirable star of fixed star in the picture plane as coordinate, generate a width of cloth fixed star star chart according to desirable star as coordinate, and by VGA this star chart being sent to star simulator more than second in real time, star simulator more than second is shown as star chart two directional light after receiving star chart in real time.In like manner star simulator more than the 3rd is shown as star chart two directional light after receiving the star chart of the 3rd visual field in real time.
First visual field of three visual field star sensors photographs star simulator more than first and shows two directional light star chart, star chart is saved in the first visual field star chart storer, and from star chart, extract the fixed star star as coordinate, at last the fixed star star that extracts is sent to constantly the data processing unit of three visual field star sensors as coordinate and shooting star chart.
Second visual field of three visual field star sensors photographs star simulator more than second and shows two directional light star chart, star chart is saved in the second visual field star chart storer, and from star chart, extract the fixed star star as coordinate, at last the fixed star star that extracts is sent to constantly the data processing unit of three visual field star sensors as coordinate and shooting star chart.
The 3rd visual field of three visual field star sensors photographs star simulator more than the 3rd and shows two directional light star chart, star chart is saved in the 3rd visual field star chart storer, and from star chart, extract the fixed star star as coordinate, at last the fixed star star that extracts is sent to constantly the data processing unit of three visual field star sensors as coordinate and shooting star chart.
The fixed star star that the data processing unit of three visual field star sensors receives three visual fields is identified after as coordinate at once, and utilize the result of identification to calculate the attitude of three visual fields respectively, and the optical axis that calculates three visual fields respectively points to, utilizing optical axis between first visual field and second visual field to point to angle is 90 ° relation, passes through formula
The optical axis of second visual field is pointed to S
2Be transformed into the direction vector S under the first visual field coordinate system
12, utilizing optical axis between first visual field and the 3rd visual field to point to angle is that optical axis sensing angle is 90 ° relation between 90 ° and second visual field and the 3rd visual field, passes through formula
The optical axis of the 3rd visual field is referred to S
3To the direction vector S that is transformed under the first visual field coordinate system
13, utilize the optical axis of first visual field to point to S
1, second visual field optical axis point to direction vector S under the first visual field coordinate system
12And the optical axis of the 3rd visual field points to the direction vector S under the first visual field coordinate system
13, calculate the attitude of three visual field star sensors under the first visual field coordinate system.
If power on only for the single visual field of many visual fields star sensor, this mode is tested the monoscopic star sensor exactly, if a plurality of visual fields of many visual fields star sensor power on, just can test many visual fields star sensor, therefore adopt this method of testing, both the monoscopic star sensor can be tested, also many visual fields star sensor can be tested.
The concrete following steps that adopt:
(1), the dynamics simulation computing machine receives the navigation results instruction of navigational computer;
(2), the dynamics simulation computing machine is according to aircraft 3-axis acceleration and last frame track six roots of sensation number in the navigation results instruction, (wherein spacecraft orbit dynamics can be with reference to " spacecraft orbit dynamics and the control (on) " of the satellite engineering series of guided missile and space flight book series to utilize spacecraft orbit dynamics, the chapter 3 part of (Chinese Yuhang Publishing House)), calculate present frame track six roots of sensation number;
(3), the dynamics simulation computing machine is according to three-axis attitude angular velocity and last frame attitude attitude under orbital coordinate system in the navigation results instruction, (wherein attitude of flight vehicle dynamics can be with reference to " satellite orbit and attitude dynamics and control " chapter 5 content to utilize attitude of flight vehicle dynamics, author Zhang Renwei, publishing house of BJ University of Aeronautics ﹠ Astronautics), calculate present frame attitude attitude under orbital coordinate system;
(4), according to the present frame track six roots of sensation number that calculates and the attitude under the orbital coordinate system, calculate the attitude of present frame aircraft under inertial coordinates system (under the orbital coordinate system attitude be transformed under the inertial coordinates system attitude formula can be with reference to " (satellite orbit and attitude dynamics and control " the 43rd page of formula 2.1-17, author Zhang Renwei, publishing house of BJ University of Aeronautics ﹠ Astronautics);
(5), utilize the relation of aircraft and star sensor first visual field, calculate the star sensor attitude matrix C of first visual field under inertial coordinates system
1(consistent with the coordinate polarity of the coordinate polarity of aircraft and star sensor 1 here is example, and the attitude of star sensor first visual field this moment under inertial coordinates system is exactly the attitude of aircraft under inertial coordinates system);
(6), utilizing optical axis between first visual field and second visual field to point to angle is 90 ° relation, passes through formula
Calculate the star sensor attitude matrix C of second visual field under inertial coordinates system
2
(7), utilizing optical axis between first visual field and the 3rd visual field to point to angle is that optical axis sensing angle is 90 ° relation between 90 ° and second visual field and the 3rd visual field, passes through formula
Calculate the star sensor attitude matrix C of the 3rd visual field under inertial coordinates system
3
(8), according to the attitude matrix of first visual field, in star catalogue, search out all fixed stars in first visual field;
(9), calculate the desirable star of first all fixed stars of visual field as coordinate;
(10), generate a width of cloth fixed star star chart of first visual field according to all fixed stars ideal stars in first visual field as coordinate and stellar magnitude;
(11) according to the attitude matrix of second visual field, in star catalogue, search out all fixed stars in second visual field;
(12), calculate the desirable star of second all fixed stars of visual field as coordinate;
(13), generate a width of cloth fixed star star chart of second visual field according to all fixed stars ideal stars in second visual field as coordinate and stellar magnitude;
(14), according to the attitude matrix of the 3rd visual field, in star catalogue, search out all fixed stars in the 3rd visual field;
(15), calculate the desirable star of the 3rd all fixed stars of visual field as coordinate;
(16), generate a width of cloth fixed star star chart of the 3rd visual field according to all fixed stars ideal stars in the 3rd visual field as coordinate and stellar magnitude;
(17), by high-speed line, side by side the star chart of first visual field is sent to more than first in the star simulator, the star chart of second visual field is sent to more than second in the star simulator, the star chart of the 3rd visual field is sent to more than the 3rd in the star simulator;
(18), after star simulator more than first, star simulator more than second and star simulator more than the 3rd side by side receive star chart, the digital signal of star chart is converted to light signal, and respectively light signal is converted to directional light;
(19), first visual field of many visual fields star sensor, second visual field and the 3rd visual field take star simulator more than first respectively, the star chart of the light signal of star simulator more than second and star simulator more than the 3rd;
(20), respectively from the star chart of taking, extract the fixed star star as coordinate, and respectively the fixed star star that extracts is sent to data processing section as coordinate from star chart;
(21), data processing section receive three visual fields star as the laggard planet figure identification of coordinate, Attitude Calculation sends to navigational computer to the attitude result of calculating;
(22), navigational computer carries out navigation calculation after receiving the attitude information of many visual fields star sensor, and the navigation results instruction is sent to the dynamics simulation computing machine.
The star sensor main performance index:
Visual field: 14 ° * 14 °
Face battle array: 1024 * 1024
Survey magnitude: 6Mv
Data updating rate: 15Hz
The parameter of star simulator more than first, star simulator more than second and star simulator more than the 3rd:
The visual field size (°): 14 * 14 (software can be adjusted, and the visual field of actual displayed is the visual field of simulation softward)
Spectral range: visible light wave range 0.42-0.75
Resolution (pixels): 1024 * 1024
Single star resolution: be better than 40 "
Contrast: 2000: 1
Simulation magnitude (Mv): 0-9
Image shows refreshing frequency (Hz): 50-80
We have chosen certain model three visual field star sensor, the model of star simulator more than three all is SSM-1, before the experiment, star simulator more than three and three visual field star sensors are placed in the darkroom, hyphen dynamics simulation computing machine and three signal wires that model is many star simulators of SSM-1, make first visual field of three visual field star sensors aim at many star simulators 1, many star simulators 2 are aimed in second visual field of three visual field star sensors, many star simulators 3 are aimed in the 3rd visual field of three visual field star sensors, connect the signal wire of three visual field star sensors and navigational computer, connected the power lead of all devices, and demarcate three visual field star sensors, first visual field, the parameter of second visual field and the 3rd visual field, this experiment are divided into monoscopic test and the test of many visual fields.
(1) monoscopic test
This experiment is example with first visual field of testing three visual field star sensors, and every function of the monoscopic of three visual field star sensors is described, if test other two visual fields of three visual field star sensors, and can be with reference to this method.Close the power supply of many star simulators 2 and many star simulators 3, though this moment, second visual field and the 3rd visual field of three visual field star sensors powered on, but the image of taking is black figure, second visual field and the 3rd visual field can not send any coordinate information to data processing section, first visual field can be working properly, three visual field star sensors are operated under monoscopic (first visual field) pattern, the attitude of three visual field star sensor outputs is attitudes of first visual field, and according to the relation between first visual field and the aircraft body coordinate system system, the attitude of first visual field is transformed into attitude under the aircraft body coordinate system, and this attitude sent be given to capable computing machine, after navigational computer receives the attitude of three visual field star sensors, poor with the aerocraft real attitude, calculate the attitude error of three visual field star sensors, navigational computer shows attitude error in real time, navigational computer is preserved these data in real time simultaneously, three visual field star sensor continuous workings are after 30 minutes, cut off three visual field star sensor power supplys, off-line shows attitude error (as shown in Figure 5), and add up the precision of three visual field star sensor attitudes, by statistics, star sensor, crab angle, the precision of the angle of pitch and roll angle is respectively 1.7659 " (3 σ); 1.2248 " (3 σ), 7.6285 " (3 σ).
(2) many visual field tests
This experiment, testing simultaneously with three visual fields of three visual field star sensors is example, every function that this method of employing is tested three visual field star sensors is described, star simulator more than first, the power supply of star simulator more than second and star simulator more than the 3rd is opened simultaneously, this moment, three visual fields of three visual field star sensors can both photograph normal star chart, corresponding fixed star star is extracted as coordinate in three visual fields from the star chart of taking separately, and respectively these coordinates are sent to data processing section, the fixed star star that data processing section receives three visual fields is identified these coordinates after as coordinate, flow processs such as Attitude Calculation, this attitude transmission is given to capable computing machine, after navigational computer receives the attitude of three visual field star sensors, poor with the aerocraft real attitude, calculate the attitude error of three visual field star sensors, navigational computer shows attitude error in real time, navigational computer is preserved these data in real time simultaneously, three visual field star sensor continuous workings are after 30 minutes, cut off three visual field star sensor power supplys, off-line shows attitude error (as shown in Figure 6), and add up the precision of three visual field star sensor attitudes, by statistics, star sensor, crab angle, the precision of the angle of pitch and roll angle is respectively 1.3307 " (3 σ); 1.2167 " (3 σ), 1.2440 " (3 σ).
Embodiment 3
As shown in Figure 7, present embodiment is the embodiment of a kind of many visual fields star sensor laboratory testing method, in order further to improve real time of data transmission, the LVDS electrical specification is all adopted in all signal transmission, navigational computer sends the navigation results instruction to the dynamics simulation computing machine by LVDS, the dynamics simulation computing machine is decoded after receiving the navigation results instruction, the track recursive algorithm of dynamics simulation computing machine adopts ARM to realize, because it is serial that ARM handles, and three visual fields must receive the star chart parallel optical signal of star simulator simultaneously in the three visual field star sensors, and the FPGA processing walks abreast, therefore, ARM sends to FPGA to result of calculation, after FPGA receives side by side the star chart signal three visual fields send to many star simulators, many star simulators adopt the SSM-1 type, the contrast of this model can reach 2000: 1, the magnitude that can simulate fixed star is 0-9, image shows refreshing frequency 50-80Hz, star simulator more than three is converted to the star chart parallel optical signal to signal after receiving the star chart signal at once, three visual field star sensors are taken the star chart that three star simulators show then, last three visual field star sensors carry out importance in star map recognition according to the star chart of taking, processes such as attitude algorithm send to navigational computer to the attitude information that resolves.
This method of testing can be tested the basic function of many visual fields star sensor, because this method of testing can be simulated the actual test environment in outfield fully, therefore can test the reliability, robustness of many visual fields star sensor etc.Many visual fields star sensor adopts data fusion method can improve the precision of star sensor roll angle, and this method can also be tested the star sensor of monoscopic in addition, has therefore increased the versatility of testing apparatus, has reduced the testing apparatus cost.
Claims (1)
1. the laboratory testing method of visual field star sensor more than a kind is characterized in that step is as follows:
(1), the dynamics simulation computing machine receives the navigation results instruction of navigational computer;
(2), the dynamics simulation computing machine is according to aircraft 3-axis acceleration and last frame track six roots of sensation number in the navigation results instruction, utilizes spacecraft orbit dynamics, calculating present frame track six roots of sensation number;
(3), the dynamics simulation computing machine is according to three-axis attitude angular velocity and last frame attitude attitude under orbital coordinate system in the navigation results instruction, utilizes attitude of flight vehicle dynamics, calculating present frame attitude attitude under orbital coordinate system;
(4), according to the present frame track six roots of sensation number that calculates and the attitude under the orbital coordinate system, calculate the attitude of present frame aircraft under inertial coordinates system;
(5), utilize the relation of aircraft and star sensor first visual field, calculate the star sensor attitude matrix C of first visual field under inertial coordinates system
1, consistent with the coordinate polarity of first star sensor with the coordinate polarity of aircraft, the attitude of star sensor first visual field this moment under inertial coordinates system is exactly the attitude of aircraft under inertial coordinates system;
(6), utilizing optical axis between first visual field and second visual field to point to angle is 90 ° relation, passes through formula
Calculate the star sensor attitude matrix C of second visual field under inertial coordinates system
2
(7), utilizing optical axis between first visual field and the 3rd visual field to point to angle is that optical axis sensing angle is 90 ° relation between 90 ° and second visual field and the 3rd visual field, passes through formula
Calculate the star sensor attitude matrix C of the 3rd visual field under inertial coordinates system
3
(8), according to the attitude matrix of first visual field, in star catalogue, search out all fixed stars in first visual field;
(9), calculate the desirable star of first all fixed stars of visual field as coordinate;
(10), generate a width of cloth fixed star star chart of first visual field according to all fixed stars ideal stars in first visual field as coordinate and stellar magnitude;
(11) according to the attitude matrix of second visual field, in star catalogue, search out all fixed stars in second visual field;
(12), calculate the desirable star of second all fixed stars of visual field as coordinate;
(13), generate a width of cloth fixed star star chart of second visual field according to all fixed stars ideal stars in second visual field as coordinate and stellar magnitude;
(14), according to the attitude matrix of the 3rd visual field, in star catalogue, search out all fixed stars in the 3rd visual field;
(15), calculate the desirable star of the 3rd all fixed stars of visual field as coordinate;
(16), generate a width of cloth fixed star star chart of the 3rd visual field according to all fixed stars ideal stars in the 3rd visual field as coordinate and stellar magnitude;
(17), simultaneously the star chart of first visual field is sent to more than first in the star simulator, the star chart of second visual field is sent to more than second in the star simulator, the star chart of the 3rd visual field is sent to more than the 3rd in the star simulator;
(18), after star simulator more than first, star simulator more than second and star simulator more than the 3rd side by side receive star chart, the digital signal of star chart is converted to light signal, and respectively light signal is converted to directional light;
(19), first visual field of many visual fields star sensor, second visual field and the 3rd visual field take star simulator more than first respectively, the star chart of the light signal of star simulator more than second and star simulator more than the 3rd;
(20), respectively from the star chart of taking, extract the fixed star star as coordinate, and respectively the fixed star star that extracts is sent to data processing section as coordinate from star chart;
(21), data processing section receive three visual fields star as the laggard planet figure identification of coordinate, Attitude Calculation sends to navigational computer to the attitude result of calculating;
(22), navigational computer carries out navigation calculation after receiving the attitude information of many visual fields star sensor, and the navigation results instruction is sent to the dynamics simulation computing machine.
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| CN103983264A (en) * | 2014-05-13 | 2014-08-13 | 哈尔滨工业大学 | Real-time star image coordinate extraction method of star sensor with multi-output image sensor |
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| CN103983264A (en) * | 2014-05-13 | 2014-08-13 | 哈尔滨工业大学 | Real-time star image coordinate extraction method of star sensor with multi-output image sensor |
| CN104251711A (en) * | 2014-09-11 | 2014-12-31 | 上海卫星工程研究所 | Deep space exploration combined autonomous navigation ground verification system and methods thereof |
| CN104280049A (en) * | 2014-10-20 | 2015-01-14 | 北京控制工程研究所 | Outfield precision testing method for high-precision star sensor |
| CN104280049B (en) * | 2014-10-20 | 2017-04-05 | 北京控制工程研究所 | A kind of Rotating Platform for High Precision Star Sensor outfield method for testing precision |
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| CN109596146A (en) * | 2018-12-25 | 2019-04-09 | 哈尔滨工业大学 | A kind of star sensor performance field testing system |
| CN109596146B (en) * | 2018-12-25 | 2022-07-05 | 哈尔滨工业大学 | Star sensor performance external field test system |
| CN111536965A (en) * | 2020-05-25 | 2020-08-14 | 中国科学院长春光学精密机械与物理研究所 | Star map display method with all-sky imaging as background |
| CN111536965B (en) * | 2020-05-25 | 2023-06-06 | 中国科学院长春光学精密机械与物理研究所 | Star map display method taking full sky imaging as background |
| CN112212856A (en) * | 2020-09-21 | 2021-01-12 | 中国科学院长春光学精密机械与物理研究所 | High-precision attitude measurement method of near-ground daytime star sensor |
| CN112212856B (en) * | 2020-09-21 | 2022-08-19 | 中国科学院长春光学精密机械与物理研究所 | High-precision attitude measurement method of near-ground day star sensor |
| CN113473001A (en) * | 2021-04-07 | 2021-10-01 | 北京控制工程研究所 | Hardware-in-loop system verification system and method based on digital adjoint |
| CN113473001B (en) * | 2021-04-07 | 2022-11-11 | 北京控制工程研究所 | Hardware-in-loop system verification system and method based on digital adjoint |
| CN113607188A (en) * | 2021-08-02 | 2021-11-05 | 北京航空航天大学 | Calibration system and method of multi-view-field star sensor based on theodolite cross-hair imaging |
| CN113670299A (en) * | 2021-08-16 | 2021-11-19 | 北京航空航天大学 | Serial and parallel combined view field gating imaging method for star sensor |
| CN113670299B (en) * | 2021-08-16 | 2022-10-25 | 北京航空航天大学 | Serial and parallel combined view field gating imaging method for star sensor |
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