CN103869595A - Focal plane adjustment method for off-axis three-lens camera - Google Patents
Focal plane adjustment method for off-axis three-lens camera Download PDFInfo
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- CN103869595A CN103869595A CN201410060916.6A CN201410060916A CN103869595A CN 103869595 A CN103869595 A CN 103869595A CN 201410060916 A CN201410060916 A CN 201410060916A CN 103869595 A CN103869595 A CN 103869595A
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Abstract
The invention belongs to the technical field of aerospace optical remote sensors, and relates to a focal plane adjustment method for an off-axis three-lens camera. The off-axis three-lens camera has strict requirements on focal adjustment, the infinite coplanar performance of each visual field of the focal plane of the camera needs to be guaranteed, the two ends of a CCD device in an focal plane assembly of the camera need to be guaranteed to be on the same horizontal plane, and the center of the CCD device of the camera and a satellite reference need to be guaranteed to be within the error range. Especially for an off-axis three-lens system, a certain inclination angle exists between the position of the imaging CCD device and the mounting plane of the focal plane, when adjustment is performed on the above assembling requirement, and results of the other two indexes also change correspondingly, so that the above requirement is more difficult to meet. The invention provides a method for directing focal plane adjustment through simulation estimation, and elaborates crucial techniques in the method, and the method is verified on the off-axis three-lens camera, so that the high-precision assembling requirement of the focal plane of the camera is met.
Description
Technical field
The invention belongs to space flight optical remote sensor technical field, relate to a kind of method of debuging from the anti-camera focal plane of axle three, be applied to space flight optics.
Background technology
Along with scientific and technological development, more and more higher to the resolution requirement of spacer remote sensing mapping camera, and also wish that its visual field is wide as much as possible.Because large aperture refraction and refractive and reflective optical system all need to adopt the structure of special optical material or the complexity second order spectrum that disappears, its application is subject to certain restrictions.And reflective optics does not produce aberration owing to having, be applicable to wide light spectrum image-forming; Light path is collapsible, is convenient to shorten tube length and makes compact conformation; Each reflecting surface can adopt aspheric surface, is beneficial to and improves picture element and reduce number of components, realizes system lightweight; Insensitive to temperature variation, there is the characteristic such as consistent with position of focal plane in vacuum in air simultaneously, and be specially adapted to space environment.Be easy to be designed to the long-focus large visual field of holding concurrently from axle three reflecting optical systems, and without central obscuration, therefore become Hot spots for development and the trend of spacer remote sensing mapping camera.The present invention just discusses from the anti-camera focal plane integration techno logy of axle three.
From the light path sketch of axle three anti-phase machines as shown in Figure 3, wherein mainly to debug difficult point be that focal plane is debug surface level and had angle theta with it to focal plane, and its resetting difficulty is strengthened.Aerospace Satellite is debug strict requirement to the focal plane of camera, debugs accuracy requirement CCD device linear array and be installed on the position of focal plane, infinite distance of camera for the focal plane of camera, the two ends, left and right of CCD device far from the rigging error of infinite distance focal plane be less than 1 '; The out-of-level degree measuring accuracy in two ends, CCD device linear array left and right is better than 1 '; The projection of the camera optical axis in surface level and vertical plane and satellite datum drift be not more than 3 '.For from the anti-system of axle three, there is certain angle of inclination in its position of focal plane and mounting plane, make above-mentioned three matching requirements interrelated, while debuging according to one of them requirement, the result of other two indexes changes simultaneously, therefore be difficult to meet according to traditional assembly method, need to assemble time, entirety consideration is carried out in three kinds of requirements.
Summary of the invention
Technology of the present invention is dealt with problems: overcome the deficiencies in the prior art, propose a kind of method of debuging from the anti-camera focal plane of axle three, solve and debug problem from the focal plane of axle three anti-phase machines.For the feature from axle three anti-phase machines, the present invention proposes and a kind ofly assist focal plane to debug the method for test by simulation analysis, specifically formed by benchmark conversion, two parts of emulation assistant resetting of camera.
Technical solution of the present invention: a kind of method of debuging from the anti-camera focal plane of axle three, it is characterized in that having been coordinated by benchmark translate phase and emulation assistant resetting stage, described benchmark translate phase performing step is as follows:
Step (1) is set up parallel light tube coordinate system, with the optical axis direction of parallel light tube represent satellite+Z direction, parallel light tube direction straight up represents satellite+directions X, parallel light tube surface level with+direction that Z is vertical is satellite+Y-direction, three directions meet the right-hand rule;
In step (2), setting up camera coordinates is O '-X ' Y ' Z ', draws with the normal that is bonded at the prism square on camera, and concrete coordinate direction as shown in Figure 2.Being wherein Z ' axle along optical axis direction, is X ' axle straight up, and horizontal direction is vertical with Z ' axle is Y ' axle, and three directions meet the right-hand rule.Extrapolating camera+Z ' by the matrix of known satellite and camera prism square is the projection Z of YOZ plane at co-ordinates of satellite " with the horizontal sextant angle ∏ of+Z direction
zOZ ", camera+Z ' be the projection Z of YOZ plane at co-ordinates of satellite with it " vertical angle ∏
z ' OZ "and camera+Y ' is the projection Y of YOZ plane at co-ordinates of satellite with it " with the vertical angle ∏ of+Y-direction
y ' OY ", ∏ in formula
y satellite Z ' camerafor+Y satellite and+angle between Z ' camera, ∏
z satellite Z ' camerafor+Z satellite and+angle between Z ' camera, ∏
x satellite Z ' camerafor+X satellite and+angle between Z ' camera, ∏
x satellite Y ' camerafor+X satellite and+angle between Y ' camera:
∏
zOZ "=atan(cos(∏
y satellite Z ' camera)/cos(∏
z satellite Z ' camera))
∏
z ' OZ "=90 °-∏
x satellite Z ' camera
∏
y ' OY "=90 °-∏
x satellite Y ' camera
Step (3) utilizes transit to aim at parallel light tube, the vertical angle of parallel light tube optical axis is adjusted into 90 °, level angle is adjusted into 0, adjust the relation between camera and parallel light tube according to gained angle in step (2) again, the angular relationship making it between camera and satellite matches, and above benchmark translate phase finishes;
Described emulation assistant resetting stage performing step is as follows:
Step (4) is according in step (3), camera and parallel light tube being adjusted behind position, utilize the biography letter target of parallel light tube to calculate the position of focal plane, infinite distance of camera, adjust the spacer thickness of the focal plane subassembly of camera, ensure that the CCD device (CCD device is the charge-coupled image sensor of camera) in focal plane subassembly is positioned at the optimal focal plane position of camera, and the image space according to the target of parallel light tube on CCD device is adjusted the relative position of focal plane subassembly and camera lens, the position that makes parallel light tube target be imaged on CCD device can meet the projection of the camera optical axis in surface level and vertical plane and the satellite Z deviation of directivity and be not more than 3 ',
Step (5) utilizes ProE simulation software to draw the relative position of CCD device and pad in the camera focal plane assembly after step (4) is adjusted, wherein need two groups of identical pads of position size of picture, wherein one group of pads placement is motionless, as master reference, other one group of pad change location, as adjusting benchmark, so that pads placement and unchanged pads placement after changing are compared;
The relative position of CCD device and pad in the camera focal plane assembly that step (6) obtains according to step (5), taking the optical axis direction of camera as Z axis, the CCD device linear array direction of camera is Y-axis, make a coordinate system O-XYZ according to the right-hand rule, make this assembly of CCD device and pad in the time that Z axis rotates, can ensure to rotate the CCD device of rear camera at confocal invariant position of camera.Again taking perpendicular to camera bottom surface direction as Z ' axle, any level direction is that Y ' axle resets coordinate system O '-X ' Y ' Z ';
Two coordinate systems that step (7) is set up according to step (6), whether highly consistent along Z ' direction of principal axis at the middle measurement CCD device of coordinate system O '-X ' Y ' Z ' two ends, if the assembly of the Z axis of the inconsistent coordinate system O-XYZ setting up in step (6) rotation CCD device and one group of pad, rotate consistent to CCD device two ends height after, measure the now difference in height of postrotational pad and former pads placement, thereby instruct the adjustment of camera spacer thickness, and then complete debuging of camera focal plane.
The present invention compared with prior art tool has the following advantages:
(1) be easy to be designed to the long-focus large visual field of holding concurrently from axle three reflecting optical systems, and without central obscuration, therefore become Hot spots for development and the trend of spacer remote sensing mapping camera, its camera focal plane is different from the past debugs the parallel Method of Adjustment of surface level with it, and focal plane is debug surface level and existed angle to become mainly to debug difficult point with it, this will propose higher requirement to the method for debuging of camera focal plane.
(2) the present invention utilizes the coordinate system of parallel light tube to replace co-ordinates of satellite system, makes to test angular relationship between camera and parallel light tube and can obtain the angular relationship of camera and satellite.
(3) the present invention utilizes the method assistant resetting of emulation, does not need camera to debug and carry out many experiments, only camera state need be carried out to emulation rotation, can obtain the parameter that camera need be adjusted, and greatly improves and debugs efficiency.
(4) the present invention has realized camera CCD device linear array and has been installed on the position of focal plane, infinite distance of camera, and two ends, the left and right out of focus rigging error of CCD device is less than 1 '; The out-of-level degree measuring accuracy in two ends, CCD device linear array left and right is better than 1 '; The projection of the camera optical axis in surface level and vertical plane and satellite datum drift be not more than 3 ' assembly precision requirement.
Brief description of the drawings
Fig. 1 is process flow diagram of the present invention;
Fig. 2 is that schematic diagram is put in camera, parallel light tube position;
Fig. 3 is that camera focal plane is debug initial emulation schematic diagram;
Fig. 4 is that camera focal plane is debug emulation schematic diagram.
Embodiment
Basic ideas of the present invention are: utilize the method for coordinate conversion that the coordinate system of satellite is converted in the coordinate system of parallel light tube, realize the real-time adjustment of camera and satellite angle relation.Again the physical location of camera focal plane pad being carried out to simulation analysis and rotation of coordinate realizes and debuging from the high-precision focal plane of axle three anti-phase machines.
As shown in Figure 1: the technical scheme performing step that a kind of method of debuging from the anti-camera focal plane of axle three of the present invention adopts, coordinated by benchmark translate phase and emulation assistant resetting stage, described benchmark translate phase performing step is as follows:
As shown in Figure 2, wherein 1 represents that three instead from camera shaft to step (1), and 2 represent parallel light tube, and 3 represent lighting source, and 4 represent camera imaging system, and 5 represent turntable used when camera is tested, and 6 represent vibrating isolation foundation.When test, set up parallel light tube coordinate system, the optical axis direction of parallel light tube represent satellite+Z direction, direction is straight up satellite+directions X, surface level with+direction that Z is vertical is satellite+Y-direction, three directions meet the right-hand rule;
In step (2), setting up camera coordinates is O '-X ' Y ' Z ', draws with the normal that is bonded at the prism square on camera, and concrete coordinate direction as shown in Figure 2.Being wherein Z ' axle along optical axis direction, is X ' axle straight up, and horizontal direction is vertical with Z ' axle is Y ' axle, and three directions meet the right-hand rule.Extrapolating camera+Z ' by the matrix of known satellite and camera prism square is the projection Z of YOZ plane at co-ordinates of satellite " with the horizontal sextant angle ∏ of+Z direction
zOZ ", camera+Z ' be the projection Z of YOZ plane at co-ordinates of satellite with it " vertical angle ∏
z ' OZ "and camera+Y ' is the projection Y of YOZ plane at co-ordinates of satellite with it " with the vertical angle ∏ of+Y-direction
y ' OY ", ∏ in formula
y satellite Z ' camerafor+Y satellite and+angle between Z ' camera, ∏
z satellite Z ' camerafor+Z satellite and+angle between Z ' camera, ∏
x satellite Z ' camerafor+X satellite and+angle between Z ' camera, ∏
x satellite Y ' camerafor+X satellite and+angle between Y ' camera:
∏
zOZ "=atan(cos(∏
y satellite Z ' camera)/cos(∏
z satellite Z ' camera))
∏
z ' OZ "=90 °-∏
x satellite Z ' camera
∏
y ' OY "=90 °-∏
x satellite Y ' camera
Step (3) utilizes transit to aim at parallel light tube, the vertical angle of parallel light tube optical axis is adjusted into 90 °, level angle is adjusted into 0, adjust the relation between camera and parallel light tube according to gained angle in step (2) again, the angular relationship making it between camera and satellite matches, and above benchmark translate phase finishes;
Described emulation assistant resetting stage performing step is as follows:
Step (4) is according in step (3), camera and parallel light tube being adjusted behind position, utilize the biography letter target of parallel light tube to calculate the position of focal plane, infinite distance of camera, adjust the spacer thickness of the focal plane subassembly of camera, ensure that the CCD device in focal plane subassembly is positioned at the optimal focal plane position of camera, and the image space according to the target of parallel light tube on CCD device is adjusted the relative position of focal plane subassembly and camera lens, the position that makes parallel light tube target be imaged on CCD device can meet the projection of the camera optical axis in surface level and vertical plane and the satellite Z deviation of directivity and be not more than 3 ',
Step (5) utilizes ProE simulation software to draw the relative position of CCD device and pad in the camera focal plane assembly after step (4) is adjusted, as shown in Figure 3, wherein 7 and 8 is two groups of identical pads of positions size that draw, its Intermediate gasket 7 positions are motionless, as master reference, pad 8 change location in emulation, as adjusting benchmark, so that compared in pad 8 positions and unchanged pad 7 positions after changing, thereby obtain the adjustment amount of focal plane subassembly pad, wherein 9 is the position of CCD device in focal plane subassembly;
The camera focal plane CCD device that step (6) obtains according to step (5) and the relative position of pad, as shown in Figure 4, taking the optical axis direction of camera as Z axis, the CCD device linear array direction of camera is Y-axis, make a coordinate system O-XYZ according to the right-hand rule, make this assembly of CCD device and pad in the time that Z axis rotates, can ensure to rotate the CCD device of rear camera at confocal invariant position of camera.Again taking perpendicular to camera bottom surface direction as Z ' axle, any level direction is that Y ' axle resets coordinate system O '-X ' Y ' Z ';
Step (7) is according to two coordinate systems setting up in step (6), whether highly consistent along Z ' direction of principal axis at the middle measurement CCD device of coordinate system O '-X ' Y ' Z ' two ends, if the assembly of the Z axis of the inconsistent coordinate system O-XYZ setting up in step (6) rotation CCD device and pad 8, rotate consistent to CCD device two ends height after, measure the difference in height of pad now 8 and former pad 7 positions, as shown in Figure 4, thereby instruct the adjustment of camera spacer thickness, and then complete debuging of camera focal plane.
Non-elaborated part of the present invention belongs to techniques well known.
Claims (1)
1. a method of debuging from the anti-camera focal plane of axle three, is characterized in that having been coordinated by benchmark translate phase and emulation assistant resetting stage, and described benchmark translate phase performing step is as follows:
Step (1) is set up parallel light tube coordinate system, with the optical axis direction of parallel light tube represent satellite+Z direction, parallel light tube direction straight up represents satellite+directions X, parallel light tube surface level with+direction that Z is vertical is satellite+Y-direction, three directions meet the right-hand rule;
In step (2), setting up camera coordinates is O '-X ' Y ' Z ', draw with the normal that is bonded at the prism square on camera, be wherein Z ' axle along optical axis direction, be X ' axle straight up, horizontal direction is vertical with Z ' axle is Y ' axle, three directions meet the right-hand rule, and extrapolating camera+Z ' by the matrix of known satellite and camera prism square is the projection Z of YOZ plane at co-ordinates of satellite " with the horizontal sextant angle ∏ of+Z direction
zOZ ", camera+Z ' be the projection Z of YOZ plane at co-ordinates of satellite with it " vertical angle ∏
z ' OZ "and camera+Y ' is the projection Y of YOZ plane at co-ordinates of satellite with it " with the vertical angle ∏ of+Y-direction
y ' OY ", ∏ in formula
y satellite Z ' camerafor+Y satellite and+angle between Z ' camera, ∏
z satellite Z ' camerafor+Z satellite and+angle between Z ' camera, ∏
x satellite Z ' camerafor+X satellite and+angle between Z ' camera, ∏
x defends star Y ' camerafor+X satellite and+angle between Y ' camera:
∏
zOZ "=atan(cos(∏
y satellite Z ' camera)/cos(∏
z satellite Z ' camera))
∏
z ' OZ "=90 °-∏
x satellite Z ' camera
∏
y ' OY "=90 °-∏
x satellite Y ' camera
Step (3) utilizes transit to aim at parallel light tube, the vertical angle of parallel light tube optical axis is adjusted into 90 °, level angle is adjusted into 0, adjust the relation between camera and parallel light tube according to gained angle in step (2) again, the angular relationship making it between camera and satellite matches, and above benchmark translate phase finishes;
Described emulation assistant resetting stage performing step is as follows:
Step (4) is according in step (3), camera and parallel light tube being adjusted behind position, utilize the biography letter target of parallel light tube to calculate the position of focal plane, infinite distance of camera, adjust the spacer thickness of the focal plane subassembly of camera, ensure that the CCD device in focal plane subassembly is positioned at the optimal focal plane position of camera, and the image space according to the target of parallel light tube on CCD device is adjusted the relative position of focal plane subassembly and camera lens, the position that makes parallel light tube target be imaged on CCD device can meet the projection of the camera optical axis in surface level and vertical plane and the satellite Z deviation of directivity and be not more than 3 ', step (5) utilizes ProE simulation software to draw the relative position of CCD device and pad in the camera focal plane assembly after step (4) is adjusted, wherein need two groups of identical pads of position size of picture, wherein one group of pads placement is motionless, as master reference, other one group of pad change location, as adjusting benchmark, so that pads placement and unchanged pads placement after changing are compared,
The relative position of CCD device and pad in the camera focal plane assembly that step (6) obtains according to step (5), taking the optical axis direction of camera as Z axis, the CCD device linear array direction of camera is Y-axis, make a coordinate system O-XYZ according to the right-hand rule, make this assembly of CCD device and pad in the time that Z axis rotates, can ensure to rotate the CCD device of rear camera at confocal invariant position of camera, again taking perpendicular to camera bottom surface direction as Z ' axle, any level direction is that Y ' axle resets coordinate system O '-X ' Y ' Z ';
Two coordinate systems that step (7) is set up according to step (6), whether highly consistent along Z ' direction of principal axis at the middle measurement CCD device of coordinate system O '-X ' Y ' Z ' two ends, if the assembly of the Z axis of the inconsistent coordinate system O-XYZ setting up in step (6) rotation CCD device and one group of pad, rotate consistent to CCD device two ends height after, measure the now difference in height of postrotational pad and former pads placement, thereby instruct the adjustment of camera spacer thickness, and then complete debuging of camera focal plane.
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| CN104570580A (en) * | 2015-01-27 | 2015-04-29 | 北京空间机电研究所 | Space distributive type camera boresight included angle measurement method |
| CN104581150A (en) * | 2015-01-27 | 2015-04-29 | 北京空间机电研究所 | Positioning and error compensation method |
| CN104776804A (en) * | 2015-04-17 | 2015-07-15 | 苏州大学 | Optical camera adjustment method and device on basis of non-contact type micro distance measurement |
| CN106885555A (en) * | 2016-12-26 | 2017-06-23 | 中国科学院长春光学精密机械与物理研究所 | Far ultraviolet imager optical system coordinate system scaling method |
| CN107131890A (en) * | 2017-05-31 | 2017-09-05 | 北京空间机电研究所 | A kind of geostationary orbit face battle array stares camera multi-channel integrated test system |
| CN107728316A (en) * | 2017-09-18 | 2018-02-23 | 天津大学 | With the Equivalent analysis method of off-axis three reflecting optical systems imaging law |
| CN109151279A (en) * | 2018-09-17 | 2019-01-04 | 北京空间机电研究所 | A kind of space mapping camera focal plane debugging device and method |
| CN111398937A (en) * | 2020-04-07 | 2020-07-10 | 广东博智林机器人有限公司 | Optical performance adjusting device and optical performance adjusting method |
| CN112683178A (en) * | 2019-10-18 | 2021-04-20 | 北京华航无线电测量研究所 | Gasket thickness determination method for assembling optical lens and photoelectric detector |
| CN115128787A (en) * | 2022-07-22 | 2022-09-30 | 中国科学院长春光学精密机械与物理研究所 | Secondary mirror adjusting method for on-orbit image quality optimization of off-axis camera |
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|---|---|---|---|---|
| CN104570580A (en) * | 2015-01-27 | 2015-04-29 | 北京空间机电研究所 | Space distributive type camera boresight included angle measurement method |
| CN104581150A (en) * | 2015-01-27 | 2015-04-29 | 北京空间机电研究所 | Positioning and error compensation method |
| CN104570580B (en) * | 2015-01-27 | 2017-03-15 | 北京空间机电研究所 | A kind of spatially distributed camera optical axis angle method of testing |
| CN104776804A (en) * | 2015-04-17 | 2015-07-15 | 苏州大学 | Optical camera adjustment method and device on basis of non-contact type micro distance measurement |
| CN106885555A (en) * | 2016-12-26 | 2017-06-23 | 中国科学院长春光学精密机械与物理研究所 | Far ultraviolet imager optical system coordinate system scaling method |
| CN107131890A (en) * | 2017-05-31 | 2017-09-05 | 北京空间机电研究所 | A kind of geostationary orbit face battle array stares camera multi-channel integrated test system |
| CN107728316A (en) * | 2017-09-18 | 2018-02-23 | 天津大学 | With the Equivalent analysis method of off-axis three reflecting optical systems imaging law |
| CN107728316B (en) * | 2017-09-18 | 2019-11-29 | 天津大学 | With the Equivalent analysis method of off-axis three reflecting optical systems imaging law |
| CN109151279A (en) * | 2018-09-17 | 2019-01-04 | 北京空间机电研究所 | A kind of space mapping camera focal plane debugging device and method |
| CN112683178A (en) * | 2019-10-18 | 2021-04-20 | 北京华航无线电测量研究所 | Gasket thickness determination method for assembling optical lens and photoelectric detector |
| CN112683178B (en) * | 2019-10-18 | 2022-07-15 | 北京华航无线电测量研究所 | Gasket thickness determining method for assembling optical lens and photoelectric detector |
| CN111398937A (en) * | 2020-04-07 | 2020-07-10 | 广东博智林机器人有限公司 | Optical performance adjusting device and optical performance adjusting method |
| CN115128787A (en) * | 2022-07-22 | 2022-09-30 | 中国科学院长春光学精密机械与物理研究所 | Secondary mirror adjusting method for on-orbit image quality optimization of off-axis camera |
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