CN103344256B - A laboratory test method for multi-field star sensors - Google Patents
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Abstract
Description
技术领域technical field
本发明涉及一种多视场星敏感器实验室测试方法。The invention relates to a laboratory testing method for a multi-field star sensor.
背景技术Background technique
星敏感器是以天球坐标系为参照系，以恒星为探测目标的高精度姿态测量仪器，它为卫星、深空探测器等各类航天器提供高精度的姿态信息。星敏感器是集光学、电子学、机械学以及图像处理等众多学科为一体的姿态测量仪器，主要是由机械结构单元、光学成像单元和电信号处理单元组成。单视场的星敏感器为了具备一定的星等敏感能力，数据更新率一般不可能很高。此外，受到星敏感器受自身结构的限制，其滚动角精度低，一般比偏航角和俯仰角约低一个量级。The star sensor is a high-precision attitude measurement instrument with the celestial coordinate system as the reference system and the star as the detection target. It provides high-precision attitude information for various spacecraft such as satellites and deep space probes. The star sensor is an attitude measurement instrument integrating optics, electronics, mechanics, image processing and many other disciplines. It is mainly composed of a mechanical structure unit, an optical imaging unit and an electrical signal processing unit. In order to have a certain degree of sensitivity for a single-field star sensor, the data update rate is generally not very high. In addition, due to the limitation of the star sensor's own structure, the accuracy of its roll angle is low, which is generally about an order of magnitude lower than the yaw angle and pitch angle.
为了提高星敏感器滚动角的精度，当前把星敏感器设计为多个视场，采用数据融合的方法利用多个视场的数据来提高星敏感器的精度，多视场星敏感器由于视场的有效扩充，带来更丰富的观测信息，可以进一步提高星敏感器的测量精度和工作可靠性。In order to improve the accuracy of the roll angle of the star sensor, the star sensor is currently designed as multiple fields of view, and the data fusion method is used to use the data of multiple fields of view to improve the accuracy of the star sensor. The effective expansion of the field brings more abundant observation information, which can further improve the measurement accuracy and work reliability of the star sensor.
针对单视场星敏感器，通常的地面功能测试方法主要有两种：一种是在实验室内对星敏感器算法和电性能测试，这种方法测试主要是采用星空模拟软件从星表中搜索出视场内所有恒星，并通过相应的方法计算这些恒星在像平面内的理想星像坐标，通过通信接口，把计算的理想坐标发送星敏感器，星敏感器接收到理想星像坐标后进行处理。该测试系统由星图模拟计算机、数据处理计算机、星敏感器及通讯线缆组成，一般选用星敏感器自带的RS232(或RS422)测试接口作为通讯接口。为了进一步验证星敏感器算法的鲁棒性，实验过程中，把所有理想恒星星像坐标增加ΔP(ΔP∈[-0.2，0.2])个像元的误差。但是该方法只能考核星敏感器的电气接口、电路功能以及算法功能，由于星空模拟软件给星敏感器直接输出了星像坐标，因此即不能考核光学系统，也不能测试性敏感器的极性。For the monoscopic star sensor, there are two main ground function test methods: one is to test the algorithm and electrical performance of the star sensor in the laboratory. Search out all the stars in the field of view, and calculate the ideal star image coordinates of these stars in the image plane by corresponding methods, and send the calculated ideal coordinates to the star sensor through the communication interface, and the star sensor receives the ideal star image coordinates to process. The test system consists of a star map simulation computer, a data processing computer, a star sensor and a communication cable. Generally, the RS232 (or RS422) test interface of the star sensor is used as the communication interface. In order to further verify the robustness of the star sensor algorithm, the error of ΔP(ΔP∈[-0.2, 0.2]) pixels is added to the coordinates of all ideal star images during the experiment. However, this method can only test the electrical interface, circuit function and algorithm function of the star sensor. Since the starry sky simulation software directly outputs the star image coordinates to the star sensor, neither the optical system nor the polarity of the sensor can be tested. .
另一种方法是使用光学多星模拟器进行测试星敏感器，即地面观星或向光学系统投影星图的试验方法，光学手段获取星图进行测试星敏感器系统主要包括：暗室，光学隔振平台，星图模拟的计算机和显示器，光学准直透镜，星敏感器光学系统和电子系统，星敏感器和主控计算机的数据传输设备，主控计算机和星图模拟计算机的通讯设备。首先由星图生成计算机来产生模拟星图，通过平面显示器实现星点显示。显示的每个星点所发出的光通过准直透镜后转换成平行光，模拟真实天空中的导航星。模拟的星光通过星敏感器镜头后在星敏感器的感光器件上成像，星图识别计算机用来显示识别结果和姿态信息，并与模拟星图产生计算机进行通讯，以保证信号的同步。该方法具有以下特点：利用计算机控制显示器显示星图，可以进行全天空的星图模拟；根据显示器像素的特性，可以通过改变显示器像素的颜色来模拟星空中星的颜色，通过改变像素亮度可以模拟不同的星等；可以根据航天器的飞行运行动力学，进行动态星图获取模拟；可以模拟在一定精度上的传感器、执行器，以及在一定的空间环境(例如空间辐射)等条件下的星图模拟。因此，这种方法既能测试星敏感器的算法、电子系统以及星敏感器的光学系统，也可以把光学多星模拟器与星载机算计采用有线连接后，进行整个闭环系统测试(如图1所示)。Another method is to use an optical multi-star simulator to test the star sensor, that is, the test method of stargazing on the ground or projecting a star map to the optical system. The star map is obtained by optical means for testing. The star sensor system mainly includes: Vibration platform, computer and display for star map simulation, optical collimation lens, star sensor optical system and electronic system, data transmission equipment for star sensor and main control computer, communication equipment for main control computer and star map simulation computer. Firstly, the star map generation computer is used to generate a simulated star map, and the star point display is realized through a flat-panel display. The light emitted by each star point displayed is converted into parallel light after passing through the collimating lens, simulating the navigation star in the real sky. The simulated starlight passes through the lens of the star sensor and forms an image on the photosensitive device of the star sensor. The star map recognition computer is used to display the recognition results and attitude information, and communicate with the simulated star map generation computer to ensure signal synchronization. The method has the following characteristics: use computer to control the monitor to display the star map, and can simulate the star map of the whole sky; according to the characteristics of the display pixels, the color of the stars in the starry sky can be simulated by changing the color of the display pixels, and the simulation can be simulated by changing the brightness of the pixels. Different magnitudes; according to the flight dynamics of the spacecraft, the dynamic star map acquisition simulation can be carried out; the sensors and actuators with a certain accuracy can be simulated, and the stars under certain space environment (such as space radiation) and other conditions can be simulated. Figure simulation. Therefore, this method can not only test the algorithm, electronic system and optical system of the star sensor, but also carry out the whole closed-loop system test after connecting the optical multi-satellite simulator and the calculation of the starborne aircraft with a cable (as shown in Fig. 1).
但是，多视场星敏感器由于一个星敏感器中包含了多个(至少两个)光学系统，而且由于多视场星敏感器姿态信息融合的要求，这些视场之间拍摄的星图不但需要相同时刻，而且拍摄的星图之间必须满足一定的几何关系，因此，不能采用所有视场拍摄同一个光学多星模拟器的办法来测试多星模拟器的系统，而在外场测试多视场星敏感器之前，必须首先在实验室下测试多视场星敏感器的电子学系统、算法、光学等功能，因此必须设计一种测试多视场星敏感器的方法。However, since a multi-field star sensor contains multiple (at least two) optical systems, and due to the requirements of attitude information fusion of the multi-field star sensor, the star images taken between these fields are not only The same time is required, and the star maps taken must satisfy a certain geometric relationship. Therefore, the method of shooting the same optical multi-satellite simulator for all fields of view cannot be used to test the system of the multi-satellite simulator, and the multi-view system is tested in the field Before developing the field star sensor, the electronic system, algorithm, optics and other functions of the multi-field star sensor must first be tested in the laboratory, so a method for testing the multi-field star sensor must be designed.
发明内容Contents of the invention
基于以上不足之处，本发明提供一种多视场星敏感器实验室测试方法，步骤如下：Based on the above deficiencies, the present invention provides a multi-field star sensor laboratory testing method, the steps are as follows:
(1)、动力学仿真计算机接收导航计算机的导航结果指令；(1), the dynamics simulation computer receives the navigation result instruction from the navigation computer;
(2)、动力学仿真计算机根据导航结果指令中飞行器三轴加速度和上帧轨道六根数，利用飞行器轨道动力学，计算当前帧轨道六根数；(2), the dynamics simulation computer calculates the six numbers of the current frame orbit by using the orbital dynamics of the aircraft according to the three-axis acceleration of the aircraft in the navigation result instruction and the six numbers of the last frame;
(3)、动力学仿真计算机根据导航结果指令中三轴姿态角速度和上帧姿态在轨道坐标系下姿态，利用飞行器姿态动力学，计算当前帧姿态在轨道坐标系下姿态；(3), the dynamics simulation computer calculates the attitude of the current frame attitude under the orbit coordinate system by using the aircraft attitude dynamics according to the three-axis attitude angular velocity in the navigation result instruction and the attitude of the last frame under the orbit coordinate system;
(4)、根据计算的当前帧轨道六根数和轨道坐标系下的姿态，计算当前帧飞行器在惯性坐标系下的姿态；(4), calculate the attitude of the current frame aircraft under the inertial coordinate system according to the six numbers of the current frame orbit calculated and the attitude under the orbital coordinate system;
(5)、利用飞行器和星敏感器第一视场的关系，计算星敏感器第一视场在惯性坐标系下的姿态矩阵C1，以飞行器的坐标极性与第一星敏感器的坐标极性一致，此时星敏感器第一视场在惯性坐标系下的姿态就是飞行器在惯性坐标系下的姿态；(5), using the relationship between the aircraft and the first field of view of the star sensor, calculate the attitude matrix C 1 of the first field of view of the star sensor in the inertial coordinate system, and use the polarity of the coordinates of the aircraft and the coordinates of the first star sensor The polarity is the same, at this time, the attitude of the first field of view of the star sensor in the inertial coordinate system is the attitude of the aircraft in the inertial coordinate system;
(6)、利用第一视场和第二视场之间光轴指向夹角为90°的关系，通过公式
(7)、利用第一视场和第三视场之间光轴指向夹角为90°和第二视场与第三视场之间光轴指向夹角为90°的关系，通过公式
(8)、根据第一视场的姿态矩阵，从星表内搜索出第一视场内所有恒星；(8), according to the attitude matrix of the first field of view, search out all the stars in the first field of view from the star catalog;
(9)、计算第一视场所有恒星的理想星像坐标；(9), calculate the ideal star image coordinates of all the stars in the first field of view;
(10)、根据第一视场内所有恒星理想星像坐标和恒星星等，生成第一视场的一幅恒星星图；(10), according to the ideal star image coordinates and stellar magnitudes of all stars in the first field of view, generate a star map of the first field of view;
(11)根据第二视场的姿态矩阵，从星表内搜索出第二视场内所有恒星；(11) Search out all the stars in the second field of view from the star catalog according to the attitude matrix of the second field of view;
(12)、计算第二视场所有恒星的理想星像坐标；(12), calculate the ideal star image coordinates of all stars in the second field of view;
(13)、根据第二视场内所有恒星理想星像坐标和恒星星等，生成第二视场的一幅恒星星图；(13), according to the ideal star image coordinates and stellar magnitudes of all stars in the second field of view, generate a star map of the second field of view;
(14)、根据第三视场的姿态矩阵，从星表内搜索出第三视场内所有恒星；(14), according to the attitude matrix of the third field of view, search out all the stars in the third field of view from the star catalog;
(15)、计算第三视场所有恒星的理想星像坐标；(15), calculate the ideal star image coordinates of all stars in the third field of view;
(16)、根据第三视场内所有恒星理想星像坐标和恒星星等，生成第三视场的一幅恒星星图；(16), according to the ideal star image coordinates and stellar magnitudes of all stars in the third field of view, generate a star map of the third field of view;
(17)、同时把第一视场的星图发送到第一多星模拟器中，把第二视场的星图发送到第二多星模拟器中，把第三视场的星图发送到第三多星模拟器中；(17), send the star map of the first field of view to the first multi-star simulator at the same time, send the star map of the second field of view to the second multi-star simulator, and send the star map of the third field of view to the third multi-star simulator;
(18)、第一多星模拟器、第二多星模拟器和第三多星模拟器同时地接收到星图后，把星图的数字信号转换为光信号，并且分别地把光信号转换为平行光；(18), after the first multi-star simulator, the second multi-star simulator and the third multi-star simulator receive the star map simultaneously, convert the digital signal of the star map into an optical signal, and convert the optical signal separately for parallel light;
(19)、多视场星敏感器的第一视场、第二视场和第三视场分别拍摄第一多星模拟器、第二多星模拟器和第三多星模拟器的光信号的星图；(19), the first field of view, the second field of view and the third field of view of the multi-field of view star sensor shoot the optical signals of the first multi-star simulator, the second multi-star simulator and the third multi-star simulator star map;
(20)、各自地从拍摄的星图中提取恒星星像坐标，并分别地把从星图中提取的恒星星像坐标发送给数据处理部分；(20), respectively extract star image coordinates from the star map taken, and send the star image coordinates extracted from the star map to the data processing part respectively;
(21)、数据处理部分接收到三个视场的星像坐标后进行星图识别，姿态计算，把计算的姿态结果发送给导航计算机；(21), after receiving the star image coordinates of the three fields of view, the data processing part performs star map recognition, attitude calculation, and sends the calculated attitude results to the navigation computer;
(22)、导航计算机接收到多视场星敏感器的姿态信息后进行导航解算，把导航结果指令发送给动力学仿真计算机。(22). The navigation computer performs navigation calculation after receiving the attitude information of the multi-field star sensor, and sends the navigation result instruction to the dynamic simulation computer.
本发明的特点和优点：Features and advantages of the present invention:
第一：能够完全模拟外场测试多视场星敏感器的功能，包括极性，数据更新率，各视场之间的几何关系等，避免了设计人员在设计过程中由于修改多视场星敏感器某些参数而到外场测试的不足。First: It can fully simulate the functions of the multi-field of view star sensor in the field test, including polarity, data update rate, geometric relationship between each field of view, etc., avoiding the designer from modifying the multi-field of view star sensor during the design process. Some parameters of the device are insufficient for field testing.
第二：由于外场测试受到天气和昼夜的限制，而多星模拟器实验室测试方法能完全满足模拟外场的实际测试环境，因此该方法解决了多视场星敏感器测试受到时空的影响，从而进一步满足了设计人员调试的要求。Second: because the field test is limited by weather and day and night, and the multi-star simulator laboratory test method can fully meet the actual test environment of the simulated field, so this method solves the multi-field of view star sensor test is affected by time and space, thus Further meet the designer's debugging requirements.
第三：不但可以测试多视场星敏感器，而且还可以测试单视场的星敏感器，满足了单视场星敏感器和多视场星敏感器的测试需要，用户不必为单视场星敏感器的测试独立研制测试设备，从而增加了测试设备的通用性，降低了测试设备成本。Third: It can not only test multi-field star sensors, but also test single-field star sensors, which meets the test needs of single-field star sensors and multi-field star sensors, and users do not need to be single-field The test equipment for the star sensor is independently developed, which increases the versatility of the test equipment and reduces the cost of the test equipment.
附图说明Description of drawings
图1为单视场星敏感器闭环测试原理图；Figure 1 is a schematic diagram of the closed-loop test of the monoscopic star sensor;
图2为三视场敏感器总体结构示意图；Figure 2 is a schematic diagram of the overall structure of a three-field sensor;
图3为一种多视场星敏感器实验室测试方法测量原理图；Fig. 3 is a measurement schematic diagram of a multi-field star sensor laboratory test method;
图4为一种多视场星敏感器实验室测试方法工作流程图；Fig. 4 is a kind of work flowchart of multi-field star sensor laboratory test method;
图5为单视场测试姿态误差离线曲线图；Fig. 5 is the off-line graph of the attitude error of the monoscopic test;
图6为三视场星敏感器姿态误差离线曲线图；Fig. 6 is an off-line graph of the attitude error of the three-field star sensor;
图7为一种多视场星敏感器实验室测试方法的实施方式图；Fig. 7 is the embodiment figure of a kind of multi-field star sensor laboratory test method;
具体实施方式Detailed ways
实施例1Example 1
与单视场星敏感器一样，多视场星敏感器(这里以三视场星敏感器为例说明多视场星敏感器的测试方法，下同)在系统构成上主要分为两个部分：成像系统部分和数据处理部分。如果成像系统部分包含两个就称为双视场星敏感器，如果成像系统部分包含三个就称为三视场星敏感器，依次类推，一般成像系统不会超过三个，所有成像系统共用一个数据处理部分，每个成像系统部分包含了一个光学系统模块、一个探测器模块以及一个探测器驱动模块。每个探测器驱动模块分别控制图像传感器的控制时序信号和星图预处理电路，一般由FPGA芯片实现。经过预处理后的多幅星图通过FIFO送入星敏感器的数据处理部分进行星提取、星识别和姿态估计等算法处理。为了满足星敏感器的测量精度和目标探测能力的要求，多视场星敏感器的所有成像系统部分采用多个相同视场角尺寸的光学系统，从而采用多视场的方式来保证姿态测量精度。系统结构如图2所示。Like the single-field star sensor, the multi-field star sensor (here the three-field star sensor is used as an example to illustrate the multi-field star sensor test method, the same below) is mainly divided into two parts in terms of system composition : Imaging system part and data processing part. If the imaging system part contains two, it is called a dual-field star sensor, if the imaging system part contains three, it is called a three-field star sensor, and so on. Generally, there will be no more than three imaging systems, and all imaging systems share A data processing part, each imaging system part includes an optical system module, a detector module and a detector driver module. Each detector driving module separately controls the control timing signal of the image sensor and the star map preprocessing circuit, which is generally implemented by an FPGA chip. After preprocessing, multiple star images are sent to the data processing part of the star sensor through FIFO for algorithm processing such as star extraction, star recognition and attitude estimation. In order to meet the requirements of the star sensor's measurement accuracy and target detection capability, all imaging systems of the multi-field star sensor use multiple optical systems with the same field of view size, so that the multi-field approach is used to ensure the attitude measurement accuracy . The system structure is shown in Figure 2.
根据三视场星敏感器姿态计算原理，三个视场应该的安装应该两两正交，这样才能保证三视场星敏感器输出的姿态精度最高。According to the attitude calculation principle of the three-field star sensor, the installation of the three fields of view should be orthogonal to each other, so as to ensure the highest attitude accuracy output by the three-field star sensor.
如图3所示，多视场星敏感器测试原理：首先动力学仿真计算机根据用户设置的初始轨道参数，利用预先安装的轨道动力学，实时计算当前飞行器的轨道参数，并根据三视场星敏感器第一视场在飞行器上的安装方向，计算第一视场在惯性坐标系J2000.0下的三轴姿态，利用动力学仿真计算机内部的恒星星表，从该恒星星表中搜索第一视场的视场内所有恒星，并计算出恒星在像平面内的理想星像坐标，根据理想星像坐标生成一幅恒星星图，并通过VGA把该星图实时发送给第一多星模拟器，第一多星模拟器接收到星图后实时把星图显示成二位的平行光。动力学仿真计算机根据用户预先设置第二视场与第一视场之间的关系，计算第二视场惯性坐标系J2000.0下的三轴姿态，利用动力学仿真计算机内部的恒星星表，从该恒星星表中搜索第二视场内所有恒星，并计算出恒星在像平面内的理想星像坐标，根据理想星像坐标生成一幅恒星星图，并通过VGA把该星图实时发送给第二多星模拟器，第二多星模拟器接收到星图后实时把星图显示成二位的平行光。同理第三多星模拟器接收到第三视场的星图后实时把星图显示成二位的平行光。As shown in Figure 3, the multi-field of view star sensor test principle: First, the dynamics simulation computer uses the pre-installed orbit dynamics to calculate the current orbital parameters of the aircraft in real time according to the initial orbital parameters set by the user, The installation direction of the first field of view of the sensor on the aircraft, calculate the three-axis attitude of the first field of view in the inertial coordinate system J2000.0, and use the star catalog inside the dynamics simulation computer to search for the first All the stars in the field of view of a field of view, and calculate the ideal star image coordinates of the stars in the image plane, generate a star map according to the ideal star image coordinates, and send the star map to the first multi-star in real time through VGA Simulator, the first multi-star simulator displays the star map as a two-dimensional parallel light in real time after receiving the star map. The dynamics simulation computer calculates the three-axis attitude in the inertial coordinate system J2000.0 of the second field of view according to the relationship between the second field of view and the first field of view preset by the user, and uses the star catalog inside the dynamics simulation computer to Search all the stars in the second field of view from the star catalog, and calculate the ideal star image coordinates of the stars in the image plane, generate a star map according to the ideal star image coordinates, and send the star map in real time through VGA For the second multi-satellite simulator, the second multi-satellite simulator displays the star map as two-dimensional parallel light in real time after receiving the star map. Similarly, after receiving the star map of the third field of view, the third multi-satellite simulator displays the star map as two-dimensional parallel light in real time.
三视场星敏感器的第一视场拍摄到第一多星模拟器显示二位的平行光星图，把星图保存到第一视场星图存储器中，并且从星图中提取恒星星像坐标，最后把提取的恒星星像坐标和拍摄星图时刻发送给三视场星敏感器的数据处理单元。The first field of view of the three-field star sensor captures the first multi-star simulator to display a two-dimensional parallel light star map, saves the star map to the first field of view star map memory, and extracts stars from the star map Finally, the extracted stellar image coordinates and the shooting star map time are sent to the data processing unit of the three-field star sensor.
三视场星敏感器的第二视场拍摄到第二多星模拟器显示二位的平行光星图，把星图保存到第二视场星图存储器中，并且从星图中提取恒星星像坐标，最后把提取的恒星星像坐标和拍摄星图时刻发送给三视场星敏感器的数据处理单元。The second field of view of the three-field star sensor captures the second multi-star simulator to display a two-dimensional parallel light star map, saves the star map to the second field of view star map memory, and extracts stars from the star map Finally, the extracted stellar image coordinates and the shooting star map time are sent to the data processing unit of the three-field star sensor.
三视场星敏感器的第三视场拍摄到第三多星模拟器显示二位的平行光星图，把星图保存到第三视场星图存储器中，并且从星图中提取恒星星像坐标，最后把提取的恒星星像坐标和拍摄星图时刻发送给三视场星敏感器的数据处理单元。The third field of view of the three-field star sensor captures the third multi-star simulator to display a two-dimensional parallel light star map, saves the star map to the third field of view star map memory, and extracts stars from the star map Finally, the extracted stellar image coordinates and the shooting star map time are sent to the data processing unit of the three-field star sensor.
三视场星敏感器的数据处理单元接收到三个视场的恒星星像坐标后立刻进行识别，并利用识别的结果分别计算三个视场的姿态，并且分别计算三个视场的光轴指向，利用第一视场和第二视场之间光轴指向夹角为90°的关系，通过公式
如果只给多视场星敏感器的单个视场上电，该方式就是测试单视场星敏感器，如果多视场星敏感器的多个视场上电，就可以测试多视场星敏感器，因此采用这种测试方法，既可以测试单视场星敏感器，也可以测试多视场星敏感器。If only a single field of view of the multi-field star sensor is powered on, this method is to test the single field of view star sensor. If multiple fields of view of the multi-field star sensor are powered on, the multi-field star sensor can be tested Therefore, with this test method, both single-field star sensors and multi-field star sensors can be tested.
具体采用如下步骤：Specifically take the following steps:
(1)、动力学仿真计算机接收导航计算机的导航结果指令；(1), the dynamics simulation computer receives the navigation result instruction from the navigation computer;
(2)、动力学仿真计算机根据导航结果指令中飞行器三轴加速度和上帧轨道六根数，利用飞行器轨道动力学(其中飞行器轨道动力学可参考导弹与航天丛书之卫星工程系列的《航天器轨道动力学与控制(上)》，(中国宇航出版社)的第三章部分)，计算当前帧轨道六根数；(2) The dynamics simulation computer uses the aircraft orbital dynamics according to the three-axis acceleration of the aircraft in the navigation result command and the six numbers of the upper frame orbit (wherein the aircraft orbital dynamics can refer to "Spacecraft Orbit" in the Satellite Engineering Series of Missile and Aerospace Series) Dynamics and Control (Part 1), the third chapter of (China Aerospace Press), calculate the six numbers of the current frame orbit;
(3)、动力学仿真计算机根据导航结果指令中三轴姿态角速度和上帧姿态在轨道坐标系下姿态，利用飞行器姿态动力学(其中飞行器姿态动力学可参考《卫星轨道姿态动力学与控制》第五章内容，作者章仁为，北京航空航天大学出版社)，计算当前帧姿态在轨道坐标系下姿态；(3) The dynamics simulation computer uses the aircraft attitude dynamics according to the three-axis attitude angular velocity in the navigation result command and the last frame attitude in the orbit coordinate system (the aircraft attitude dynamics can refer to "Satellite Orbit Attitude Dynamics and Control" Chapter 5, author Zhang Renwei, Beijing University of Aeronautics and Astronautics Press), calculates the attitude of the current frame in the orbital coordinate system;
(4)、根据计算的当前帧轨道六根数和轨道坐标系下的姿态，计算当前帧飞行器在惯性坐标系下的姿态(从轨道坐标系下姿态转换到惯性坐标系下姿态公式可参考《(卫星轨道姿态动力学与控制》第43页公式2.1-17，作者章仁为，北京航空航天大学出版社)；(4) Calculate the attitude of the aircraft in the inertial coordinate system in the current frame according to the calculated six numbers of the current frame orbit and the attitude in the orbital coordinate system (for the attitude conversion from the orbital coordinate system to the attitude formula in the inertial coordinate system, please refer to "( Satellite Orbit Attitude Dynamics and Control", formula 2.1-17 on page 43, author Zhang Renwei, Beijing University of Aeronautics and Astronautics Press);
(5)、利用飞行器和星敏感器第一视场的关系，计算星敏感器第一视场在惯性坐标系下的姿态矩阵C1(这里以飞行器的坐标极性与星敏感器1的坐标极性一致为例，此时星敏感器第一视场在惯性坐标系下的姿态就是飞行器在惯性坐标系下的姿态)；(5), utilize the relationship between the aircraft and the first field of view of the star sensor, calculate the attitude matrix C 1 of the first field of view of the star sensor under the inertial coordinate system (here with the coordinate polarity of the aircraft and the coordinates of the star sensor 1 Take the same polarity as an example, at this time, the attitude of the first field of view of the star sensor in the inertial coordinate system is the attitude of the aircraft in the inertial coordinate system);
(6)、利用第一视场和第二视场之间光轴指向夹角为90°的关系，通过公式
(7)、利用第一视场和第三视场之间光轴指向夹角为90°和第二视场与第三视场之间光轴指向夹角为90°的关系，通过公式
(8)、根据第一视场的姿态矩阵，从星表内搜索出第一视场内所有恒星；(8), according to the attitude matrix of the first field of view, search out all the stars in the first field of view from the star catalog;
(9)、计算第一视场所有恒星的理想星像坐标；(9), calculate the ideal star image coordinates of all the stars in the first field of view;
(10)、根据第一视场内所有恒星理想星像坐标和恒星星等，生成第一视场的一幅恒星星图；(10), according to the ideal star image coordinates and stellar magnitudes of all stars in the first field of view, generate a star map of the first field of view;
(11)根据第二视场的姿态矩阵，从星表内搜索出第二视场内所有恒星；(11) Search out all the stars in the second field of view from the star catalog according to the attitude matrix of the second field of view;
(12)、计算第二视场所有恒星的理想星像坐标；(12), calculate the ideal star image coordinates of all stars in the second field of view;
(13)、根据第二视场内所有恒星理想星像坐标和恒星星等，生成第二视场的一幅恒星星图；(13), according to the ideal star image coordinates and stellar magnitudes of all stars in the second field of view, generate a star map of the second field of view;
(14)、根据第三视场的姿态矩阵，从星表内搜索出第三视场内所有恒星；(14), according to the attitude matrix of the third field of view, search out all the stars in the third field of view from the star catalog;
(15)、计算第三视场所有恒星的理想星像坐标；(15), calculate the ideal star image coordinates of all stars in the third field of view;
(16)、根据第三视场内所有恒星理想星像坐标和恒星星等，生成第三视场的一幅恒星星图；(16), according to the ideal star image coordinates and stellar magnitudes of all stars in the third field of view, generate a star map of the third field of view;
(17)、通过高速线，同时地把第一视场的星图发送到第一多星模拟器中，把第二视场的星图发送到第二多星模拟器中，把第三视场的星图发送到第三多星模拟器中；(17), through the high-speed line, the star map of the first field of view is sent to the first multi-star simulator simultaneously, the star map of the second field of view is sent to the second multi-star simulator, and the third field of view is sent to the second multi-star simulator. The star map of the field is sent to the third multi-star simulator;
(18)、第一多星模拟器、第二多星模拟器和第三多星模拟器同时地接收到星图后，把星图的数字信号转换为光信号，并且分别地把光信号转换为平行光；(18), after the first multi-star simulator, the second multi-star simulator and the third multi-star simulator receive the star map simultaneously, convert the digital signal of the star map into an optical signal, and convert the optical signal separately for parallel light;
(19)、多视场星敏感器的第一视场、第二视场和第三视场分别拍摄第一多星模拟器、第二多星模拟器和第三多星模拟器的光信号的星图；(19), the first field of view, the second field of view and the third field of view of the multi-field of view star sensor shoot the optical signals of the first multi-star simulator, the second multi-star simulator and the third multi-star simulator star map;
(20)、各自地从拍摄的星图中提取恒星星像坐标，并分别地把从星图中提取的恒星星像坐标发送给数据处理部分；(20), respectively extract star image coordinates from the star map taken, and send the star image coordinates extracted from the star map to the data processing part respectively;
(21)、数据处理部分接收到三个视场的星像坐标后进行星图识别，姿态计算，把计算的姿态结果发送给导航计算机；(21), after receiving the star image coordinates of the three fields of view, the data processing part performs star map recognition, attitude calculation, and sends the calculated attitude results to the navigation computer;
(22)、导航计算机接收到多视场星敏感器的姿态信息后进行导航解算，把导航结果指令发送给动力学仿真计算机。(22). The navigation computer performs navigation calculation after receiving the attitude information of the multi-field star sensor, and sends the navigation result instruction to the dynamic simulation computer.
实施例2Example 2
星敏感器主要性能指标：Main performance indicators of star sensor:
视场：14°×14°Field of View: 14°×14°
面阵：1024×1024Area array: 1024×1024
探测星等：6MvDetected magnitude: 6Mv
数据更新率：15HzData update rate: 15Hz
第一多星模拟器、第二多星模拟器和第三多星模拟器的参数：Parameters of the first multi-satellite simulator, the second multi-satellite simulator and the third multi-satellite simulator:
视场大小(°)：14×14(软件可调整，实际显示的视场为模拟软件的视场)Field of view (°): 14×14 (software can be adjusted, the actual displayed field of view is the field of view of the simulation software)
光谱范围：可见光波段0.42-0.75Spectral range: visible light band 0.42-0.75
分辨率(pixels)：1024×1024Resolution (pixels): 1024×1024
单星分辨率：优于40″Single star resolution: better than 40″
对比度：2000∶1Contrast ratio: 2000:1
模拟星等(Mv)：0-9Simulated magnitude (Mv): 0-9
图像显示刷新频率(Hz)：50-80Image display refresh rate (Hz): 50-80
我们选取了某型号三视场星敏感器，三个多星模拟器的型号都是SSM-1，实验前，把三个多星模拟器和三视场星敏感器放置到暗室中，连接号动力学仿真计算机与三个型号是SSM-1的多星模拟器的信号线，使三视场星敏感器的第一视场对准多星模拟器1，三视场星敏感器的第二视场对准多星模拟器2，三视场星敏感器的第三视场对准多星模拟器3，连接好三视场星敏感器和导航计算机的信号线，接通好所有设备的电源线，并且标定好三视场星敏感器第一视场、第二视场和第三视场的参数，本实验分为单视场测试和多视场测试。We selected a certain model of three-field star sensor. The models of the three multi-satellite simulators are all SSM-1. The dynamics simulation computer and the signal lines of the three multi-star simulators of SSM-1 make the first field of view of the three-field star sensor align with the multi-star simulator 1, and the second field of the three-field star sensor Align the field of view with the multi-star simulator 2, align the third field of view of the three-field star sensor with the multi-star simulator 3, connect the signal lines of the three-field star sensor and the navigation computer, and connect all devices Power cord, and calibrate the parameters of the first field of view, the second field of view and the third field of view of the three-field star sensor. This experiment is divided into a single field of view test and a multi-field of view test.
(1)单视场测试(1) Monoscopic test
本实验，以测试三视场星敏感器的第一视场为例，来说明三视场星敏感器的单视场的各项功能，如果要测试三视场星敏感器的其它两个视场，可以参考该方法。关闭多星模拟器2和多星模拟器3的电源，此时三视场星敏感器的第二视场和第三视场虽然上电，但是拍摄的图像是黑图，第二视场和第三视场不能给数据处理部分发送任何坐标信息，第一视场能够工作正常，三视场星敏感器工作在单视场(第一视场)模式下，三视场星敏感器输出的姿态是第一视场的姿态，并根据第一视场和飞行器本体坐标系统之间的关系，把第一视场的姿态转换到飞行器本体坐标系下的姿态，并把该姿态发送给到行计算机，导航计算机接收到三视场星敏感器的姿态后，与飞行器实际姿态作差，计算出三视场星敏感器的姿态误差，导航计算机实时显示姿态误差，同时导航计算机实时保存这些数据，三视场星敏感器连续工作30分钟后，切断三视场星敏感器电源，离线显示姿态误差(如图5所示)，并统计三视场星敏感器姿态的精度，经统计，星敏感器的，偏航角，俯仰角和滚动角的精度分别为1.7659″(3σ)，1.2248″(3σ)，7.6285″(3σ)。In this experiment, take the first field of view of the three-field star sensor as an example to illustrate the functions of the single field of view of the three-field star sensor. If you want to test the other two fields of view of the three-field star sensor Field, you can refer to this method. Turn off the power of multi-satellite simulator 2 and multi-satellite simulator 3. At this time, although the second field of view and the third field of view of the three-field star sensor are powered on, the captured image is a black image, and the second field of view and the third field of view are The third field of view cannot send any coordinate information to the data processing part, the first field of view can work normally, the three-field star sensor works in the single-field (first field of view) mode, and the output of the three-field star sensor The attitude is the attitude of the first field of view, and according to the relationship between the first field of view and the coordinate system of the aircraft body, the attitude of the first field of view is converted to the attitude of the aircraft body coordinate system, and the attitude is sent to the line After receiving the attitude of the three-field star sensor, the navigation computer makes a difference with the actual attitude of the aircraft, and calculates the attitude error of the three-field star sensor. The navigation computer displays the attitude error in real time, and at the same time, the navigation computer saves these data in real time. After the three-field star sensor works continuously for 30 minutes, cut off the power supply of the three-field star sensor, display the attitude error offline (as shown in Figure 5), and count the attitude accuracy of the three-field star sensor. The accuracies of yaw angle, pitch angle and roll angle are 1.7659″(3σ), 1.2248″(3σ), 7.6285″(3σ) respectively.
(2)多视场测试(2) Multi-field of view test
本实验，以三视场星敏感器的三个视场同时测试为例，来说明采用该方法来测试三视场星敏感器的各项功能，把第一多星模拟器、第二多星模拟器和第三多星模拟器的电源同时打开，此时三视场星敏感器的三个视场都能够拍摄到正常的星图，三个视场从各自拍摄的星图中提取相应的恒星星像坐标，并且分别地把这些坐标发送给数据处理部分，数据处理部分接收到三个视场的恒星星像坐标后对这些坐标进行识别，姿态计算等流程，把该姿态发送给到行计算机，导航计算机接收到三视场星敏感器的姿态后，与飞行器实际姿态作差，计算出三视场星敏感器的姿态误差，导航计算机实时显示姿态误差，同时导航计算机实时保存这些数据，三视场星敏感器连续工作30分钟后，切断三视场星敏感器电源，离线显示姿态误差(如图6所示)，并统计三视场星敏感器姿态的精度，经统计，星敏感器的，偏航角，俯仰角和滚动角的精度分别为1.3307″(3σ)，1.2167″(3σ)，1.2440″(3σ)。In this experiment, taking the simultaneous test of the three fields of view of the three-field star sensor as an example, this method is used to test various functions of the three-field star sensor. The first multi-star simulator, the second multi-star The power of the simulator and the third multi-satellite simulator are turned on at the same time. At this time, the three fields of view of the three-field star sensor can capture normal star maps, and the three fields of view can extract corresponding star maps from the star maps taken respectively. Star image coordinates, and send these coordinates to the data processing part separately, the data processing part recognizes these coordinates after receiving the star image coordinates of the three fields of view, attitude calculation and other processes, and sends the attitude to the line After receiving the attitude of the three-field star sensor, the navigation computer makes a difference with the actual attitude of the aircraft, and calculates the attitude error of the three-field star sensor. The navigation computer displays the attitude error in real time, and at the same time, the navigation computer saves these data in real time. After the three-field star sensor works continuously for 30 minutes, cut off the power supply of the three-field star sensor, display the attitude error offline (as shown in Figure 6), and count the attitude accuracy of the three-field star sensor. The accuracies of yaw angle, pitch angle and roll angle are 1.3307″(3σ), 1.2167″(3σ), 1.2440″(3σ) respectively.
实施例3Example 3
如图7所示，本实施例为一种多视场星敏感器实验室测试方法的实施方式，为了进一步提高数据传输的实时性，所有信号传输都采用LVDS电气特性，导航计算机通过LVDS把导航结果指令传送给动力学仿真计算机，动力学仿真计算机接收到导航结果指令后进行解码，动力学仿真计算机的轨道递推算法采用ARM实现，由于ARM处理是串行的，而三视场星敏感器中三个视场必须同时接收到星模拟器的星图平行光信号，而FPGA处理是并行的，因此，ARM把计算结果发送给FPGA，FPGA接收到后同时地把三个视场的星图信号发送给多星模拟器，多星模拟器采用SSM-1型，该型号的对比度能够达到2000∶1，能模拟恒星的星等是0-9，，图像显示刷新频率50-80Hz，三个多星模拟器接收到星图信号后立刻把信号转换为星图平行光信号，然后三视场星敏感器拍摄三个星模拟器显示的星图，最后三视场星敏感器根据拍摄的星图进行星图识别，姿态解算等过程，把解算的姿态信息发送给导航计算机。As shown in Figure 7, this embodiment is an implementation of a multi-field star sensor laboratory testing method. In order to further improve the real-time performance of data transmission, all signal transmissions adopt LVDS electrical characteristics, and the navigation computer uses LVDS to guide the navigation The result instruction is sent to the dynamic simulation computer, and the dynamic simulation computer decodes the navigation result instruction after receiving the navigation result instruction. The orbit recursion algorithm of the dynamic simulation computer is implemented by ARM. Since the ARM processing is serial, the three-field star sensor The three fields of view must receive the star map parallel light signals of the star simulator at the same time, and the FPGA processing is parallel. Therefore, ARM sends the calculation results to the FPGA, and the FPGA simultaneously receives the star maps of the three fields of view. The signal is sent to the multi-satellite simulator. The multi-satellite simulator adopts the SSM-1 type. The contrast ratio of this model can reach 2000:1, and the magnitude of stars that can be simulated is 0-9. The image display refresh rate is 50-80Hz. Three After the multi-star simulator receives the star map signal, it immediately converts the signal into a star map parallel light signal, and then the three-field star sensor shoots the star map displayed by the three star simulators, and finally the three-field star sensor Carry out processes such as star map recognition and attitude calculation, and send the calculated attitude information to the navigation computer.
该测试方法能测试多视场星敏感器的基本功能，由于该测试方法能够完全模拟外场的实际测试环境，因此可以测试多视场星敏感器的可靠性、鲁棒性等。多视场星敏感器采用数据融合的方法能够提高星敏感器滚动角的精度，此外该方法还可以测试单视场的星敏感器，因此增加了测试设备的通用性，降低了测试设备成本。This test method can test the basic functions of the multi-field star sensor. Since this test method can completely simulate the actual test environment in the field, it can test the reliability and robustness of the multi-field star sensor. The data fusion method of the multi-field star sensor can improve the accuracy of the roll angle of the star sensor. In addition, this method can also test the single-field star sensor, thus increasing the versatility of the test equipment and reducing the cost of the test equipment.
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| CN109238269A (en) * | 2018-09-05 | 2019-01-18 | 南京航空航天大学 | A kind of star pattern matching method across the fusion of discontinuous visual field |
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| 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 |
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