CN104089594B - SAR days line automation accurate measurement methods of satellite large scale planar array - Google Patents
SAR days line automation accurate measurement methods of satellite large scale planar array Download PDFInfo
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- CN104089594B CN104089594B CN201410360762.2A CN201410360762A CN104089594B CN 104089594 B CN104089594 B CN 104089594B CN 201410360762 A CN201410360762 A CN 201410360762A CN 104089594 B CN104089594 B CN 104089594B
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Abstract
The invention discloses a kind of SAR days line automations accurate measurement method, by the target point of lidar measurement systematic survey antenna array, the direction of front flatness and plane normal is calculated using least square fitting；Satellite reference mirror and public target ball point are measured using electronic theodolite measuring system, to set up the relation between public target ball point and the mechanical coordinate system of satellite；The public target ball point of lidar measurement is recycled, to set up the relation of the mechanical coordinate system of satellite and lidar measurement coordinate system, the final direction for obtaining antenna array normal under co-ordinates of satellite system；In antenna repeatedly deploys experiment, using radar single-point automatic measurement function, plane survey after expansion is automatically performed, expansion flatness and the repeatability pointed to is evaluated.The present invention can meet 30m inner plane point coordinates 0.2mm and angle-measurement accuracy 20 with the flatness of complete twin aerial and the high accuracy of pointing accuracy, automatic measurement " required precision, substantially increase measurement efficiency.
Description
Technical field
The invention belongs to technical field of industrial measurement, and in particular to a kind of satellite large scale planar array SAR antennas are automatic
Change accurate measurement method.
Background technology
As satellite is more and more wider to the demand of antenna, the size of antenna is increasing, type face and installation accuracy requirement
More and more higher.SAR antenna accurate measurements are a key link of satellite development quality control, its installation accuracy and SAR antenna exhibitions
Open configuration and directly affect the in-orbit image quality of satellite.SAR antennas can be formed by polylith antenna panel combination, be needed during general assembly
Measure antenna and be installed to the integral planar degree of deployed condition after satellite and the front pointing accuracy under the mechanical coordinate system of satellite,
Planar point co-ordinate measurement accuracy requires 0.2mm, angle-measurement accuracy requirement 20 ".
In recent years, antenna accurate measurement technology is quickly grown, and being developed into from the measuring method of traditional machinery, optics and electricity should
With the high-precision industrial measuring system of ripe commercialization.According to different accurate measurement projects and tested antenna feature, surveyed using different
Amount system simultaneously designs specific measuring method.At present, the instrument and equipment used in domestic outside antenna accurate measurement mainly includes：Theodolite is surveyed
Amount system, Digital Photogrammetric System, coordinate measuring machine, laser tracking measurement system, Laser Radar Scanning measuring system etc..
At present, during domestic spacecraft accurate measurement, satellite machinery coordinate system and satellite instrument device coordinate system be with
The coordinate system of the prism square of installation is characterized.Mirror normal and minute surface centre coordinate point are realized using electronic theodolite measuring system
Measurement.Mirror normal measuring principle is self-collimation measurement principle, and point coordinate measurement principle is forward intersection measuring principle.
Electronic theodolite measuring system needs two theodolites calibration measurement, it is necessary to two people manually take aim at a little, measurement accuracy in measuring point
Low, speed is slow.Need to take multiple measurements during antenna expansion, expend the time and manpower is big.Lidar measurement system, its
Measurement range, to the three-dimensional scanning measurement of target, sets up the mathematics threedimensional model of target, sweep speed is up to 1000 up to 30m
Point/second, maximum scan precision reaches 0.1mm.By lidar measurement system and the joint accurate measurement method of electronic theodolite measuring system,
High accuracy, the automatic measurement of antenna can be realized.
The content of the invention
It is an object of the invention to provide a kind of new SAR days line automation accurate measurement methods of satellite large scale planar array,
Front pointing accuracy measurement under the aerial array integral planar degree of realization, celestial body mechanical coordinate system and repeatedly expansion experiment from
Dynamicization duplicate measurements, it is intended to improve measurement range, measurement accuracy and automaticity.
To achieve the above objectives, the present invention is adopted the following technical scheme that：
A kind of SAR days line automation accurate measurement methods of satellite large scale planar array, comprise the following steps：
(1) antenna is installed to before satellite, and uniform stickup retro-reflective target point, the quantity of point on front are tested in antenna
It is enough to reflect antenna integral planar degree；
(2) antenna is installed to after satellite, deploys to paste the target ball base that quantity is no less than 4 near measurement station in antenna
Seat, it is to avoid pedestal is located on same straight line or same plane；One of target ball pedestal is public target ball pedestal, each target ball
Target ball is both provided with pedestal；
(3) after antenna expansion, the correct position immediately ahead of antenna array center sets up lidar measurement system, makes institute
There is the index point on front can be in the measurement range of radar, laser radar position is fixed in measurement process；
(4) using the single point manual measurement function of laser radar, under laser radar system coordinate system, antenna array is measured
The index point of upper stickup, and pass through least square fitting calculating front flatness and the direction of plane normal；
(5) 3 theodolites are set up, the prism square that subhost tool coordinate system is characterized on satellite is measured, and to public
Target ball on target ball pedestal is measured, and obtains three-dimensional point coordinate of the public target ball central point in the mechanical coordinate system of satellite；
(6) measure function to measure the target ball on public target ball pedestal using the target ball of laser radar, obtain public target ball
Three-dimensional point coordinate of the central point in laser radar coordinate system；
(7) changed by public target ball point, the transformational relation of laser radar coordinate system and co-ordinates of satellite system is set up, so as to obtain
Take antenna array normal under co-ordinates of satellite system；
(8) in multiple expansion experiment, using the multiple spot automatic measurement function of laser radar, pasted on measurement antenna array
Index point, the direction of front flatness and plane normal is calculated by least square fitting.
Wherein, the quantity of reflective marker point is more than 120, more preferably preferably more than 150,180-200.
Wherein, it is that 4 pieces of SAR antennas veneers are symmetrically successively set on satellite both sides and opened up that antenna, which is tested front (antenna array),
The front constituted after opening.
The present invention solves the high accuracy of large scale planar array SAR antennas, automatic measurement technical barrier, with as follows
Effect：
The limitation that target point is traditionally surveyed using theodolite is breached, using lidar measurement antenna array index point,
A measurement accuracy and efficiency are improved, mitigates the labor intensity of operating personnel.By laser radar and the combined measurement of theodolite,
The antenna array normal angle under the mechanical coordinate system of satellite is obtained, angle-measurement accuracy is improved.In multiple expansion experiment, profit
With the multiple spot automatic measurement function of laser radar, automation, quick measurement are realized.
The measuring method of the present invention disclosure satisfy that 30m measurement range internal antenna front point coordinates 0.2mm and angular surveying essence
The required precision of degree 20 ".
Brief description of the drawings
Fig. 1 pastes the position view of retro-reflective target point for SAR antenna array in the accurate measurement method of the present invention.
Fig. 2 is the schematic diagram of single retro-reflective target point in accurate measurement method of the invention.
Fig. 3 is SAR days line automation accurate measurement method schematic layout patterns of large scale planar array, wherein, 1 is satellite, and 2 be four
The SAR antenna array of block aerial panel composition, 3 be electronic theodolite, and 4 be laser radar, and 5 be pedestal and target ball, 6 for cube
Mirror.
Embodiment
The measurement process of the present invention is described in detail below in conjunction with accompanying drawing, these explanations are only schematical, and
It is not intended to and any limitation is carried out to protection scope of the present invention.
Fig. 1 is that SAR antenna array stickup retro-reflective target point is illustrated, and index point is represented in figure with stain, in monolithic day
On the panel of linear array face 2,192 index points have uniformly been pasted.Actual retro-reflective target point is as shown in Fig. 2 outside is black region
Domain, inner circular is white reflection region, and internal reflecting brightness is higher by hundreds times than outside, to facilitate radar to extract circular edges
Boundary, obtains mark dot center.
Fig. 3 is SAR days line automation accurate measurement method schematic layout patterns of large scale planar array, and satellite is in horizontal positioned shape
State, 4 pieces of SAR antennas veneers (2-1,2-2,2-3,2-4) are arranged on satellite 1 and are fully deployed successively.The ground around celestial body
5 target balls of upper laying and pedestal 5, and it is with PUR that pedestal is viscous on the ground.Three longitudes and latitudes are set up immediately ahead of antenna array
Instrument and erection lidar measurement system.
Theodolite 3-1 and theodolite 3-2 adjacent with the two of prism square 6 face collimation, measurement mirror normal direction, warp respectively
Latitude instrument 3-3 and theodolite 3-1 is calibrated, measurement prism square center point coordinate, and the relation of prism square and the mechanical coordinate system of satellite is before this
It has been set up that, be now to obtain the mechanical coordinate system of satellite by the coordinate system of prism square therefore.Recycle theodolite 3-1 and 3-3
Target ball central point on public target ball pedestal is measured, three-dimensional of the public target ball central point in the mechanical coordinate system of satellite is obtained
Point coordinates value.
Function is measured using the single point manual of laser radar 4, under laser radar system coordinate system, on measurement antenna array
The index point of stickup, obtains its three-dimensional point coordinate value under laser radar coordinate system.By measurement point by least square fitting,
Least square fitting plane is calculated, the maximum and minimum value apart from the plane is found, the difference between the two is front flatness, and
The normal of the fit Plane is front normal.Measured using the target ball measurement function of laser radar 4 on public target ball pedestal
Target ball, obtain the three-dimensional point coordinate of public target ball central point in laser radar coordinate system.Changed, set up by public target ball point
Laser radar coordinate system and the transformational relation of co-ordinates of satellite system, so as to obtain the normal direction of antenna array 2 under co-ordinates of satellite system.
In multiple expansion experiment, because the relation before the point on every piece of aerial panel is held essentially constant, only every piece
The overall displacement of aerial panel, therefore using the multiple spot automatic measurement function of laser radar, measure the mark pasted on antenna array
Will point, to improve measurement efficiency.In each expansion experiment, 4 or more than 4 on every piece of aerial panel of manual measurement do not exist
Index point on same straight line, then choose the corresponding points of preliminary survey, you can the multiple spot automatic measurement function of laser radar 4 is utilized, from
It is dynamic to calculate the theoretical position of institute's measuring point, and automatic measurement is carried out, the measuring method of four pieces of aerial panels is consistent.Expansion examination every time
Test can measure all index points using this method, and the data processing method surveyed after fixed point is the same.
Although the embodiment to the present invention is described in detail and illustrated above, it should be noted that
We can make various changes and modifications to above-mentioned embodiment, but these are without departure from the spiritual and appended power of the present invention
Profit requires described scope.
Claims (4)
1. a kind of automation accurate measurement method of satellite large scale planar array SAR antennas, comprises the following steps：
(1) antenna is installed to before satellite, and uniform stickup retro-reflective target point on front is tested in antenna, and the quantity of point is enough
It is many to reflect antenna integral planar degree；
(2) antenna is installed to after satellite, deploys to paste the target ball pedestal that quantity is no less than 4 near measurement station in antenna,
Pedestal is avoided to be located on same straight line or same plane；One of target ball pedestal is public target ball pedestal, each target ball base
Target ball is both provided with seat；
(3) after antenna expansion, the correct position immediately ahead of antenna array center sets up lidar measurement system, makes all battle arrays
Index point on face can be in the measurement range of radar, and laser radar position is fixed in measurement process；
(4) using the single point manual measurement function of laser radar, under laser radar system coordinate system, glued on measurement antenna array
The index point of patch, and pass through least square fitting calculating front flatness and the direction of plane normal；
(5) 3 theodolites are set up, the prism square that subhost tool coordinate system is characterized on satellite is measured, and to public target ball
Target ball on pedestal is measured, and obtains three-dimensional point coordinate of the public target ball central point in the mechanical coordinate system of satellite；
(6) measure function to measure the target ball on public target ball pedestal using the target ball of laser radar, obtain public target ball center
Three-dimensional point coordinate of the point in laser radar coordinate system；
(7) changed by public target ball point, set up the transformational relation of laser radar coordinate system and co-ordinates of satellite system, defended so as to obtain
Antenna array normal under star coordinate system；
(8) in multiple expansion experiment, using the multiple spot automatic measurement function of laser radar, the mark pasted on measurement antenna array
Will point, the direction of front flatness and plane normal is calculated by least square fitting, and it is 4 pieces that wherein antenna, which is tested front,
The front that SAR antennas veneer is symmetrically successively set on satellite both sides and constituted after deploying.
2. accurate measurement method is automated as claimed in claim 1, wherein, the quantity of reflective marker point is more than 120.
3. accurate measurement method is automated as claimed in claim 2, wherein, the quantity of reflective marker point is more than 150.
4. accurate measurement method is automated as claimed in claim 3, wherein, the quantity of reflective marker point is 180-200.
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