CN103344256B - 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 reference system with celestial coordinates, take fixed star as the high-precision attitude surveying instrument of the detection of a target, and it provides high-precision attitude information for all kinds of spacecraft such as satellite, deep space probe.The attitude measurement instrument that numerous subjects such as star sensor is light harvesting, electronics, mechanics and image procossing are integrated, is mainly made up of mechanical structure unit, optical image unit and electric signal processing unit.The star sensor of monoscopic is in order to possess certain magnitude sensitive capability, and data updating rate generally can not be very high.In addition, be subject to star sensor by the restriction of self structure, its roll angle precision is low, generally than crab angle and the about low magnitude of the angle of pitch.
In order to improve the precision of star sensor roll angle, current is multiple visual field Star-Sensor Design, the method of data fusion is adopted to utilize the data of multiple visual field to improve the precision of star sensor, many visual fields star sensor is due to effective expansion of visual field, bring abundanter observation information, measuring accuracy and the functional reliability of star sensor can be improved further.
For monoscopic star sensor, common Ground Functional Test method mainly contains two kinds: one is to star sensor algorithm and electric performance test in laboratory, this method test mainly adopts star field simulation software from star catalogue, search out institute's any stars in visual field, and calculate the desirable star image coordinate of these fixed stars in picture plane by corresponding method, pass through communication interface, the ideal coordinates calculated are sent star sensor, and star sensor receives the laggard row relax of desirable star image coordinate.This test macro is made up of star image simulation computing machine, data handling machine, star sensor and communication cable, and RS232 (or RS422) test interface generally selecting star sensor to carry is as communication interface.In order to verify the robustness of star sensor algorithm further, in experimentation, all desirable fixed star star image coordinates are increased the error of Δ P (Δ P ∈ [-0.2,0.2]) individual pixel.But the method can only examine the electric interfaces of star sensor, circuit function and algorithm function, because star field simulation software directly outputs star image coordinate to star sensor, therefore namely can not examine optical system, can not the polarity of testability sensor.
Another kind method uses optics multi-star simulator to carry out test star sensor, namely star or the test method to optical system projection star chart are seen in ground, optical instrument acquisition star chart carries out test star sensor system and mainly comprises: darkroom, optics vibration-isolating platform, the computing machine of star image simulation and display, optical collimation lens, optical system of star sensor 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.First generate computing machine by star chart and produce simulation star chart, realize asterism display by flat-panel screens.The light that sends of each asterism of display by converting directional light to after collimation lens, the nautical star that Reality simulation sky is aerial.The starlight of simulation is by imaging on the sensor devices of star sensor after lens of star sensor, and importance in star map recognition computing machine is used for Identification display result and attitude information, and produces computing machine with simulation star chart and carry out communication, to ensure the synchronous of signal.The 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, the color of analog starry sky culminant star can being carried out by the color changing display picture element, different magnitudes can be simulated by changing pixel intensity; Dynamics can be run according to the flight of spacecraft, carry out dynamic Star image acquisition simulation; The sensor in certain precision, actuator can be simulated, and the star image simulation under the conditions such as certain space environment (such as space radiation).Therefore, this method can test the optical system of the algorithm of star sensor, electronic system and star sensor, after also optics multi-star simulator and spaceborne machine can being calculated and adopted wired connection, carries out whole closed-loop system test (as shown in Figure 1).
But, many visual fields star sensor is owing to containing multiple (at least two) optical system in a star sensor, and due to many visual fields star sensor attitude information merge requirement, the star chart taken between these visual fields not only needs mutually in the same time, and certain geometric relationship must be met between the star chart of shooting, therefore, all visual fields can not be adopted to take the way of same optics multi-star simulator to test the system of multi-star simulator, and before the star sensor of field testing many visual fields, first the electronic system of many visual fields star sensor must be tested under laboratory, algorithm, the functions such as optics, therefore a kind of method of testing many visual fields star sensor must be designed.
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), dynamics simulation computer receives the navigation results instruction of navigational computer;
(2), dynamics simulation computer according to aircraft 3-axis acceleration in navigation results instruction and upper frame track six roots of sensation number, utilize spacecraft orbit dynamics, calculate present frame track six roots of sensation number;
(3), dynamics simulation computer according to three-axis attitude angular velocity in navigation results instruction and upper frame attitude attitude under orbital coordinate system, utilize attitude of flight vehicle dynamics, calculate present frame attitude attitude under orbital coordinate system;
(4), according to the attitude under the present frame track six roots of sensation number calculated and orbital coordinate system, the attitude of present frame aircraft under inertial coordinates system is calculated;
(5), utilize the relation of aircraft and star sensor first visual field, calculate the attitude matrix C of star sensor first visual field under inertial coordinates system
1, consistent with the coordinate polarity of the first star sensor with the coordinate polarity of aircraft, now the attitude of star sensor first visual field under inertial coordinates system is exactly the attitude of aircraft under inertial coordinates system;
(6), utilize optical axis between the first visual field and the second visual field to point to the relation that angle is 90 °, pass through formula
Calculate the attitude matrix C of star sensor second visual field under inertial coordinates system
2;
(7), to utilize between the first visual field and the 3rd visual field optical axis point to angle be 90 ° and between the second visual field and the 3rd visual field optical axis point to the relation that angle is 90 °, pass through formula
Calculate the attitude matrix C of star sensor the 3rd visual field under inertial coordinates system
3;
(8), according to the attitude matrix of the first visual field, in star catalogue, institute's any stars in the first visual field is searched out;
(9) the desirable star image coordinate of the first visual field institute any stars, is calculated;
(10), according to the desirable star image coordinate of institute's any stars in the first visual field and stellar magnitude, a width star map of the first visual field is generated;
(11) according to the attitude matrix of the second visual field, in star catalogue, institute's any stars in the second visual field is searched out;
(12) the desirable star image coordinate of the second visual field institute any stars, is calculated;
(13), according to the desirable star image coordinate of institute's any stars in the second visual field and stellar magnitude, a width star map of the second visual field is generated;
(14), according to the attitude matrix of the 3rd visual field, in star catalogue, institute's any stars in the 3rd visual field is searched out;
(15) the desirable star image coordinate of the 3rd visual field institute any stars, is calculated;
(16), according to the desirable star image coordinate of institute's any stars in the 3rd visual field and stellar magnitude, a width star map of the 3rd visual field is generated;
(17), the star chart of the first visual field is sent in the first multi-star simulator simultaneously, the star chart of the second visual field is sent in the second multi-star simulator, the star chart of the 3rd visual field is sent in the 3rd multi-star simulator;
(18), after the first multi-star simulator, the second multi-star simulator and the 3rd multi-star simulator 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), the first visual field of many visual fields star sensor, the second visual field and the 3rd visual field take the star chart of the light signal of the first multi-star simulator, the second multi-star simulator and the 3rd multi-star simulator respectively;
(20), respectively from the star chart of shooting, extract fixed star star image coordinate, and respectively the fixed star star image coordinate extracted from star chart is sent to data processing section;
(21), data processing section receives the laggard row importance in star map recognition of star image coordinate of three visual fields, Attitude Calculation, and the attitude result calculated is sent to navigational computer;
(22), navigational computer carries out navigation calculation after receiving the attitude information of many visual fields star sensor, and navigation results instruction is sent to dynamics simulation computer.
The features and advantages of the invention:
First: the function that field testing many visual fields star sensor can be simulated completely, comprise polarity, data updating rate, the geometric relationship etc. between each visual field, avoids designer arrives field testing in the design process deficiency owing to revising some parameter of many visual fields star sensor.
Second: because field testing is subject to weather and restriction round the clock, and multi-star simulator laboratory testing method can meet the actual test environment in simulation outfield completely, therefore this method solve the impact that the star sensor test of many visual fields is subject to space-time, thus meet the requirement of designer's debugging further.
3rd: not only can test many visual fields star sensor, but also the star sensor of monoscopic can be tested, meet the test needs of monoscopic star sensor and many visual fields star sensor, user need not independently develop testing apparatus for the test of monoscopic star sensor, thus add the versatility of testing apparatus, reduce testing apparatus cost.
Accompanying drawing explanation
Fig. 1 is monoscopic star sensor closed loop test schematic diagram;
Fig. 2 is three visual field sensor general structure schematic 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
Embodiment 1
The same with monoscopic star sensor, many visual fields star sensor (method of testing of many visual fields star sensor being described, lower same here for three visual field star sensors) is mainly divided into two parts on System's composition: imaging system portion and data processing section.If imaging system portion comprises two and is just called double-view field star sensor, if imaging system portion comprises three and is just called three visual field star sensors, the like, general imaging system can not more than three, all imaging systems share a data processing section, and each imaging system portion contains an Optical system module, a detector module and a detector driver module.The Control timing sequence signal of each detector driver module difference control chart image-position sensor and star chart pre-process circuit, generally realized by fpga chip.The data processing section sending into star sensor by FIFO through several star charts pretreated carries out star extraction, star identification and the process of Attitude estimation scheduling algorithm.In order to the requirement of the measuring accuracy and target detection ability that meet star sensor, all imaging system portion of many visual fields star sensor adopt the optical system of multiple same field angle square cun, thus adopt the mode of many visual fields to ensure 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, and the attitude accuracy that such guarantee three visual field star sensor exports is the highest.
As shown in Figure 3, many visual fields star sensor test philosophy: the first preliminary orbit parameter that arranges according to user of dynamics simulation computer, utilize preassembled dynamics of orbits, the orbit parameter of real-time calculating current flight device, and according to three visual field star sensor first visual field installation directions on board the aircraft, calculate the three-axis attitude of the first visual field under inertial coordinates system J2000.0, utilize the fixed star star catalogue of dynamics simulation computer inside, institute's any stars in the visual field searching for the first visual field from this fixed star star catalogue, and calculate the desirable star image coordinate of fixed star in picture plane, according to desirable star image Coordinate generation one width star map, and by VGA, this star chart is sent to the first multi-star simulator in real time, first multi-star simulator is shown as star chart the directional light of two in real time after receiving star chart.Dynamics simulation computer pre-sets the relation between the second visual field and the first visual field according to 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 inside, institute's any stars in the second visual field is searched for from this fixed star star catalogue, and calculate the desirable star image coordinate of fixed star in picture plane, according to desirable star image Coordinate generation one width star map, and by VGA, this star chart is sent to the second multi-star simulator in real time, second multi-star simulator is shown as star chart the directional light of two in real time after receiving star chart.In like manner the 3rd multi-star simulator is shown as star chart the directional light of two in real time after receiving the star chart of the 3rd visual field.
First visual field of three visual field star sensors photographs the directional light star chart that the first multi-star simulator shows two, star chart is saved in the first visual field star chart storer, and from star chart, extract fixed star star image coordinate, finally the fixed star star image coordinate extracted and shooting star chart moment are sent to the data processing unit of three visual field star sensors.
Second visual field of three visual field star sensors photographs the directional light star chart that the second multi-star simulator shows two, star chart is saved in the second visual field star chart storer, and from star chart, extract fixed star star image coordinate, finally the fixed star star image coordinate extracted and shooting star chart moment are sent to the data processing unit of three visual field star sensors.
3rd visual field of three visual field star sensors photographs the directional light star chart that the 3rd multi-star simulator shows two, star chart is saved in the 3rd visual field star chart storer, and from star chart, extract fixed star star image coordinate, finally the fixed star star image coordinate extracted and shooting star chart moment are sent to the data processing unit of three visual field star sensors.
Identify at once after the data processing unit of three visual field star sensors receives the fixed star star image coordinate of three visual fields, and utilize the result identified to calculate the attitude of three visual fields respectively, and the optical axis calculating three visual fields respectively points to, utilize optical axis between the first visual field and the second visual field to point to the relation that angle is 90 °, pass through formula
The optical axis of the second visual field is pointed to S
2be transformed into the direction vector S under the first visual field coordinate system
12, to utilize between the first visual field and the 3rd visual field optical axis point to angle be 90 ° and between the second visual field and the 3rd visual field optical axis point to the relation that angle is 90 °, pass through formula
The optical axis of the 3rd visual field is referred to S
3to the direction vector S be transformed under the first visual field coordinate system
13, utilize the optical axis of the first visual field to point to S
1, the second visual field optical axis point to direction vector S under the first visual field coordinate system
12and the 3rd the optical axis of visual field point to 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 to the single visual field of many visual fields star sensor, which tests monoscopic star sensor exactly, if multiple visual fields of many visual fields star sensor power on, just can test many visual fields star sensor, therefore this method of testing is adopted, both monoscopic star sensor can be tested, also many visual fields star sensor can be tested.
Concrete employing following steps:
(1), dynamics simulation computer receives the navigation results instruction of navigational computer;
(2), dynamics simulation computer is according to aircraft 3-axis acceleration in navigation results instruction and upper frame track six roots of sensation number, (wherein spacecraft orbit dynamics can with reference to " the spacecraft orbit dynamic and 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), dynamics simulation computer according to three-axis attitude angular velocity in navigation results instruction and upper frame attitude attitude under orbital coordinate system, (wherein attitude of flight vehicle dynamics can 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 attitude under the present frame track six roots of sensation number calculated and orbital coordinate system, calculate the attitude of present frame aircraft under inertial coordinates system (from orbital coordinate system attitude to be transformed under inertial coordinates system attitude formula can 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 attitude matrix C of star sensor first visual field under inertial coordinates system
1(consistent with the coordinate polarity of star sensor 1 for the coordinate polarity of aircraft here, now the attitude of star sensor first visual field under inertial coordinates system is exactly the attitude of aircraft under inertial coordinates system);
(6), utilize optical axis between the first visual field and the second visual field to point to the relation that angle is 90 °, pass through formula
Calculate the attitude matrix C of star sensor second visual field under inertial coordinates system
2;
(7), to utilize between the first visual field and the 3rd visual field optical axis point to angle be 90 ° and between the second visual field and the 3rd visual field optical axis point to the relation that angle is 90 °, pass through formula
Calculate the attitude matrix C of star sensor the 3rd visual field under inertial coordinates system
3;
(8), according to the attitude matrix of the first visual field, in star catalogue, institute's any stars in the first visual field is searched out;
(9) the desirable star image coordinate of the first visual field institute any stars, is calculated;
(10), according to the desirable star image coordinate of institute's any stars in the first visual field and stellar magnitude, a width star map of the first visual field is generated;
(11) according to the attitude matrix of the second visual field, in star catalogue, institute's any stars in the second visual field is searched out;
(12) the desirable star image coordinate of the second visual field institute any stars, is calculated;
(13), according to the desirable star image coordinate of institute's any stars in the second visual field and stellar magnitude, a width star map of the second visual field is generated;
(14), according to the attitude matrix of the 3rd visual field, in star catalogue, institute's any stars in the 3rd visual field is searched out;
(15) the desirable star image coordinate of the 3rd visual field institute any stars, is calculated;
(16), according to the desirable star image coordinate of institute's any stars in the 3rd visual field and stellar magnitude, a width star map of the 3rd visual field is generated;
(17), by high-speed line, side by side the star chart of the first visual field is sent in the first multi-star simulator, the star chart of the second visual field is sent in the second multi-star simulator, the star chart of the 3rd visual field is sent in the 3rd multi-star simulator;
(18), after the first multi-star simulator, the second multi-star simulator and the 3rd multi-star simulator 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), the first visual field of many visual fields star sensor, the second visual field and the 3rd visual field take the star chart of the light signal of the first multi-star simulator, the second multi-star simulator and the 3rd multi-star simulator respectively;
(20), respectively from the star chart of shooting, extract fixed star star image coordinate, and respectively the fixed star star image coordinate extracted from star chart is sent to data processing section;
(21), data processing section receives the laggard row importance in star map recognition of star image coordinate of three visual fields, Attitude Calculation, and the attitude result calculated is sent to navigational computer;
(22), navigational computer carries out navigation calculation after receiving the attitude information of many visual fields star sensor, and navigation results instruction is sent to dynamics simulation computer.
Embodiment 2
Star sensor main performance index:
Visual field: 14 ° × 14 °
Face battle array: 1024 × 1024
Detection magnitude: 6Mv
Data updating rate: 15Hz
The parameter of the first multi-star simulator, the second multi-star simulator and the 3rd multi-star simulator:
Visual field size (°): 14 × 14 (software adjustable, 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
Simulating stellar magnitude (Mv): 0-9
Image display refreshing frequency (Hz): 50-80
We have chosen certain model three visual field star sensor, the model of three multi-star simulators is all SSM-1, before experiment, three multi-star simulators and three visual field star sensors are placed in darkroom, hyphen dynamics simulation computer and three models are the signal wires of the multi-star simulator of SSM-1, the first visual field of three visual field star sensors is made to aim at multi-star simulator 1, multi-star simulator 2 is aimed in second visual field of three visual field star sensors, multi-star simulator 3 is aimed in 3rd visual field of three visual field star sensors, connect the signal wire of three visual field star sensors and navigational computer, connect the power lead of all devices, and demarcate three visual field star sensor first visual fields, the parameter of the second visual field and the 3rd visual field, this experiment is divided into monoscopic to test and the test of many visual fields.
(1) monoscopic test
This experiment, to test the first visual field of three visual field star sensors, illustrates the various functions of the monoscopic of three visual field star sensors, if other two visual fields of three visual field star sensors will be tested, and can with reference to the method.Close the power supply of multi-star simulator 2 and multi-star simulator 3, although now the second visual field of three visual field star sensors and the 3rd visual field power on, but the image of shooting 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, under three visual field star sensors are operated in monoscopic (the first visual field) pattern, the attitude that three visual field star sensors export is the attitude of the first visual field, and according to the relation between the first visual field and aircraft body coordinate system system, the attitude of the first visual field is transformed into the attitude under aircraft body coordinate system, and the transmission of this attitude is given to row computing machine, after navigational computer receives the attitude of three visual field star sensors, poor with aerocraft real attitude, calculate the attitude error of three visual field star sensors, navigational computer shows attitude error in real time, these data preserved in real time by navigational computer simultaneously, three visual field star sensor continuous workings are after 30 minutes, cut off three visual field star sensor power supplys, off-line display attitude error (as shown in Figure 5), and add up the precision of three visual field star sensor attitudes, through 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 fields test
This experiment, test for three visual fields of three visual field star sensors simultaneously, the various functions adopting the method to test three visual field star sensors is described, the first multi-star simulator, the power supply of the second multi-star simulator and the 3rd multi-star simulator is opened simultaneously, now three visual fields of three visual field star sensors can both photograph normal star chart, corresponding fixed star star image coordinate is extracted in three visual fields from the star chart of shooting separately, and respectively these coordinates are sent to data processing section, data processing section identifies these coordinates after receiving the fixed star star image coordinate of three visual fields, the flow processs such as Attitude Calculation, this attitude is sent and is given to row computing machine, after navigational computer receives the attitude of three visual field star sensors, poor with aerocraft real attitude, calculate the attitude error of three visual field star sensors, navigational computer shows attitude error in real time, these data preserved in real time by navigational computer simultaneously, three visual field star sensor continuous workings are after 30 minutes, cut off three visual field star sensor power supplys, off-line display attitude error (as shown in Figure 6), and add up the precision of three visual field star sensor attitudes, through 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, the present embodiment is the embodiment of a kind of many visual fields star sensor laboratory testing method, in order to improve the real-time of data transmission further, all Signal transmissions all adopt LVDS electrical specification, navigational computer sends dynamics simulation computer by LVDS to navigation results instruction, dynamics simulation computer is decoded after receiving navigation results instruction, the Orbit simulation algorithm of dynamics simulation computer adopts ARM to realize, because ARM process is serial, and three visual fields must receive the star chart parallel optical signal of star simulator in three visual field star sensors simultaneously, and FPGA process is parallel, therefore, ARM sends to FPGA result of calculation, star chart signal side by side three visual fields after FPGA receives sends to multi-star simulator, multi-star simulator adopts SSM-1 type, the contrast of this model can reach 2000: 1, the magnitude simulating fixed star is 0-9, , image display refreshing frequency 50-80Hz, at once signal is converted to star chart parallel optical signal after three multi-star simulators receive star chart signal, then three visual field star sensors take the star chart of three star simulator displays, last three visual field star sensors carry out importance in star map recognition according to the star chart of shooting, the processes such as attitude algorithm, the attitude information resolved is sent to navigational computer.
This method of testing can test the basic function of many visual fields star sensor, because this method of testing can simulate the actual test environment in outfield completely, therefore can test the reliability of many visual fields star sensor, robustness etc.Many visual fields star sensor adopts the method for data fusion can improve the precision of star sensor roll angle, and the method can also test the star sensor of monoscopic in addition, because this increasing the versatility of testing apparatus, reduces testing apparatus cost.
Claims (1)
1. the star sensor laboratory testing method of visual field more than, it is characterized in that, step is as follows:
(1), dynamics simulation computer receives the navigation results instruction of navigational computer;
(2), dynamics simulation computer according to aircraft 3-axis acceleration in navigation results instruction and upper frame track six roots of sensation number, utilize spacecraft orbit dynamics, calculate present frame track six roots of sensation number;
(3), dynamics simulation computer according to three-axis attitude angular velocity in navigation results instruction and upper frame attitude attitude under orbital coordinate system, utilize attitude of flight vehicle dynamics, calculate present frame attitude attitude under orbital coordinate system;
(4), according to the attitude under the present frame track six roots of sensation number calculated and orbital coordinate system, the attitude of present frame aircraft under inertial coordinates system is calculated;
(5), utilize the relation of aircraft and star sensor first visual field, calculate the attitude matrix C of star sensor first visual field under inertial coordinates system
1, consistent with the coordinate polarity of the first visual field star sensor with the coordinate polarity of aircraft, now the attitude of star sensor first visual field under inertial coordinates system is exactly the attitude of aircraft under inertial coordinates system;
(6), utilize optical axis between the first visual field and the second visual field to point to the relation that angle is 90 °, pass through formula
Calculate the attitude matrix C of star sensor second visual field under inertial coordinates system
2;
(7), to utilize between the first visual field and the 3rd visual field optical axis point to angle be 90 ° and between the second visual field and the 3rd visual field optical axis point to the relation that angle is 90 °, pass through formula
Calculate the attitude matrix C of star sensor the 3rd visual field under inertial coordinates system
3;
(8), according to the attitude matrix of the first visual field, in star catalogue, institute's any stars in the first visual field is searched out;
(9) the desirable star image coordinate of the first visual field institute any stars, is calculated;
(10), according to the desirable star image coordinate of institute's any stars in the first visual field and stellar magnitude, a width star map of the first visual field is generated;
(11) according to the attitude matrix of the second visual field, in star catalogue, institute's any stars in the second visual field is searched out;
(12) the desirable star image coordinate of the second visual field institute any stars, is calculated;
(13), according to the desirable star image coordinate of institute's any stars in the second visual field and stellar magnitude, a width star map of the second visual field is generated;
(14), according to the attitude matrix of the 3rd visual field, in star catalogue, institute's any stars in the 3rd visual field is searched out;
(15) the desirable star image coordinate of the 3rd visual field institute any stars, is calculated;
(16), according to the desirable star image coordinate of institute's any stars in the 3rd visual field and stellar magnitude, a width star map of the 3rd visual field is generated;
(17), the star chart of the first visual field is sent in the first multi-star simulator simultaneously, the star chart of the second visual field is sent in the second multi-star simulator, the star chart of the 3rd visual field is sent in the 3rd multi-star simulator;
(18), after the first multi-star simulator, the second multi-star simulator and the 3rd multi-star simulator 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), the first visual field of many visual fields star sensor, the second visual field and the 3rd visual field take the star chart of the light signal of the first multi-star simulator, the second multi-star simulator and the 3rd multi-star simulator respectively;
(20), respectively from the star chart of shooting, extract fixed star star image coordinate, and respectively the fixed star star image coordinate extracted from star chart is sent to data processing section;
(21), data processing section receives the laggard row importance in star map recognition of star image coordinate of three visual fields, Attitude Calculation, and the attitude result calculated is sent to navigational computer;
(22), navigational computer carries out navigation calculation after receiving the attitude information of many visual fields star sensor, and navigation results instruction is sent to dynamics simulation computer.
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| CN105547286B (en) * | 2016-01-11 | 2018-04-10 | 常州工学院 | A kind of compound three visual fields star sensor star map simulation method |
| CN107621262B (en) * | 2017-08-21 | 2020-06-16 | 中国科学院长春光学精密机械与物理研究所 | Starlight navigation method |
| CN107588786B (en) * | 2017-09-22 | 2019-11-12 | 上海航天控制技术研究所 | A kind of multipurpose stellar simulator driving method for star sensor emulation testing |
| 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 |
| CN109459058B (en) * | 2018-11-16 | 2022-10-21 | 北京航天计量测试技术研究所 | Calibration method of multi-view-field star sensor based on three-axis turntable |
| CN109596146B (en) * | 2018-12-25 | 2022-07-05 | 哈尔滨工业大学 | Star sensor performance external field test system |
| 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 |
| 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 |
| 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 |
| CN113607188B (en) * | 2021-08-02 | 2022-07-05 | 北京航空航天大学 | Theodolite cross-hair imaging-based multi-view-field star sensor calibration system and method |
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