CN103723286A - Overall analysis method for view fields with multiple sensors and multiple actuators - Google Patents
Overall analysis method for view fields with multiple sensors and multiple actuators Download PDFInfo
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- CN103723286A CN103723286A CN201310705673.2A CN201310705673A CN103723286A CN 103723286 A CN103723286 A CN 103723286A CN 201310705673 A CN201310705673 A CN 201310705673A CN 103723286 A CN103723286 A CN 103723286A
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Abstract
The invention provides an overall analysis method for view fields with multiple sensors and multiple actuators. The overall analysis method includes the steps of 1), analyzing the view field monitoring a camera; 2), analyzing the view field of a star sensor; 3), analyzing the view field opposing to a navigation sensor; 4), analyzing constraint conditions of a capture device. By application of the overall analysis method, the view field of a visual sensor is reasonably analyzed, and visual blind spots can be avoided; the capture device and the installation position opposing to the navigation are reasonably arranged, so that navigation deviation brought by position deviation can be reduced.
Description
Technical field
The invention belongs to space technology field, the especially mounting arrangement method of vision sensor and acquisition equipment, is specifically related to the visual field aggregate analysis method of multi-sensor and many actuating units.
Background technology
Space manipulation need to be by multi-sensor collaborative work, and acquisition equipment need coordinate with sensor approaching and arresting passive space vehicle.The visual field of sensor will obtain as far as possible unobstructed, and the mounting arrangement of acquisition equipment and navigation sensor will accomplish that visual field is without interference.
Summary of the invention
For defect of the prior art, the object of this invention is to provide a kind of visual field aggregate analysis method of multi-sensor and many actuating units.
According to the visual field aggregate analysis method of multi-sensor provided by the invention and many actuating units, comprise the steps:
Step 1: analyze the visual field that monitors camera;
Step 2: the visual field of analyzing star sensor;
Step 3: the visual field of analyzing Relative Navigation sensor;
Step 4: the constraint condition of analyzing acquisition equipment.
Preferably, in described step 1, in dummy satellite, the visual field that monitors camera is marked.
Preferably, in described step 2, in dummy satellite, the visual field of star sensor is marked.
Preferably, in described step 3, in dummy satellite, the visual field of Relative Navigation sensor is marked.
Preferably, in described step 4, in dummy satellite, the restriction range of acquisition equipment is marked.
Preferably, also comprise the steps:
Analysis by described step 1 to 4, to monitor that camera is arranged on respectively on three faces that become structure solar cell array one end and satellite, visual field is set as 30 degree tapers, guarantee to monitor in viewing field of camera unobstructed, star sensor is 13 degree taper visual fields, and star sensor is arranged on satellite side, guarantees that satellite side blocks without unit, the viewing field of camera of the vision camera in Relative Navigation sensor is set as 30 degree, and acquisition equipment is set as mainly pintongs net pawl, consisting of.
Compared with prior art, the present invention has following beneficial effect:
The present invention has carried out reasonable analysis to the visual field of vision sensor, thereby can avoid occurring what comes into a driver's blind spot, and rational deployment has been carried out in the installation site of acquisition equipment and Relative Navigation sensor, thereby can reduce the navigation deviation of introducing due to position deviation.
Accompanying drawing explanation
By reading the detailed description of non-limiting example being done with reference to the following drawings, it is more obvious that other features, objects and advantages of the present invention will become:
Fig. 1 monitors viewing field of camera schematic diagram;
Fig. 2 star sensor visual field schematic diagram;
Fig. 3 Relative Navigation sensor and net pawl acquisition equipment visual field schematic diagram.
The specific embodiment
Below in conjunction with specific embodiment, the present invention is described in detail.Following examples will contribute to those skilled in the art further to understand the present invention, but not limit in any form the present invention.It should be pointed out that to those skilled in the art, without departing from the inventive concept of the premise, can also make some distortion and improvement.These all belong to protection scope of the present invention.
By analysis, monitor the visual field of camera, star sensor, navigation sensor and the configuration limiting condition of acquisition equipment, for the mounting arrangement of unit provides design considerations.When being equipped with multiple vision sensors and a net pawl acquisition equipment on satellite when completing supervision in-orbit and arresting, the visual field of vision sensor needs reasonable analysis, to avoid occurring what comes into a driver's blind spot, the installation site of acquisition equipment and Relative Navigation sensor needs rational deployment, to reduce the navigation deviation of introducing due to position deviation.Described visual field aggregate analysis method comprises the steps: 1, analyzes the visual field that monitors camera; 2, analyze star sensor visual field; 3, analyze the visual field of navigation sensor; 4, analyze gathering and the limiting condition of deployed configuration to attachment face of acquisition equipment.
1, monitor viewing field of camera analysis
Monitor that camera is arranged on three faces that become structure solar cell array one end and satellite, visual field is 30 degree tapers, will consider not block in visual field during layout.Wherein, in proe mould dress figure, mark and monitor the envelope of viewing field of camera and analyze circumstance of occlusion.
2, star sensor visual field is analyzed
Star sensor is 13 degree taper visual fields, is arranged on satellite side, guarantees that satellite side blocks without unit.Wherein, in proe mould dress figure, mark the envelope of star sensor visual field and analyze circumstance of occlusion.
3, Relative Navigation sensor visual field is analyzed
Relative Navigation sensor is comprised of binocular/trinocular vision camera and electronic unit thereof, and each viewing field of camera is 30 degree.Wherein, in proe mould dress figure, mark the envelope of Relative Navigation sensor visual field and analyze circumstance of occlusion.
4, acquisition equipment constraint condition is analyzed
Acquisition equipment is comprised of pintongs net pawl, and the relative position of deployed condition and Relative Navigation sensor is shown in Fig. 3.Envelope while wherein, marking acquisition equipment expansion in proe mould dress figure is also analyzed circumstance of occlusion.
Above specific embodiments of the invention are described.It will be appreciated that, the present invention is not limited to above-mentioned specific implementations, and those skilled in the art can make various distortion or modification within the scope of the claims, and this does not affect flesh and blood of the present invention.
Claims (6)
1. a visual field aggregate analysis method for multi-sensor and many actuating units, is characterized in that, comprises the steps:
Step 1: analyze the visual field that monitors camera;
Step 2: the visual field of analyzing star sensor;
Step 3: the visual field of analyzing Relative Navigation sensor;
Step 4: the constraint condition of analyzing acquisition equipment.
2. the visual field aggregate analysis method of multi-sensor according to claim 1 and many actuating units, is characterized in that, in described step 1, in dummy satellite, the visual field that monitors camera is marked.
3. the visual field aggregate analysis method of multi-sensor according to claim 1 and many actuating units, is characterized in that, in described step 2, in dummy satellite, the visual field of star sensor is marked.
4. the visual field aggregate analysis method of multi-sensor according to claim 1 and many actuating units, is characterized in that, in described step 3, in dummy satellite, the visual field of Relative Navigation sensor is marked.
5. the visual field aggregate analysis method of multi-sensor according to claim 1 and many actuating units, is characterized in that, in described step 4, in dummy satellite, the restriction range of acquisition equipment is marked.
6. the visual field aggregate analysis method of multi-sensor according to claim 1 and many actuating units, is characterized in that, also comprises the steps:
Analysis by described step 1 to 4, to monitor that camera is arranged on respectively on three faces that become structure solar cell array one end and satellite, visual field is set as 30 degree tapers, guarantee to monitor in viewing field of camera unobstructed, star sensor is 13 degree taper visual fields, and star sensor is arranged on satellite side, guarantees that satellite side blocks without unit, the viewing field of camera of the vision camera in Relative Navigation sensor is set as 30 degree, and acquisition equipment is set as mainly pintongs net pawl, consisting of.
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| CN201310705673.2A CN103723286B (en) | 2013-12-19 | 2013-12-19 | The visual field aggregate analysis method of multi-sensor and many actuating units |
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| CN103723286B CN103723286B (en) | 2015-09-23 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104309824A (en) * | 2014-09-12 | 2015-01-28 | 上海卫星工程研究所 | Satellite configuration of embedded compound eye camera load |
| CN104859866A (en) * | 2014-09-23 | 2015-08-26 | 航天东方红卫星有限公司 | Integrated mounting bracket for star sensors |
| CN106052678A (en) * | 2016-05-23 | 2016-10-26 | 中国空间技术研究院 | Polymerization type star sensor and satellite attitude determination method thereof |
| CN111027159A (en) * | 2019-10-31 | 2020-04-17 | 中国空间技术研究院 | Star sensor space layout method based on logic tracing |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104309824A (en) * | 2014-09-12 | 2015-01-28 | 上海卫星工程研究所 | Satellite configuration of embedded compound eye camera load |
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| CN111027159B (en) * | 2019-10-31 | 2023-06-16 | 中国空间技术研究院 | Star sensor space layout method based on logic tracing |
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