CN104266660A - Ground test and verification method and system for high-precision spectral speed measuring navigator - Google Patents
Ground test and verification method and system for high-precision spectral speed measuring navigator Download PDFInfo
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- CN104266660A CN104266660A CN201410476156.7A CN201410476156A CN104266660A CN 104266660 A CN104266660 A CN 104266660A CN 201410476156 A CN201410476156 A CN 201410476156A CN 104266660 A CN104266660 A CN 104266660A
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Abstract
The invention discloses a ground test and verification method and system for a high-precision spectral speed measuring navigator. The method is characterized in that a relative motion state between a target simulation source and a navigation system is established in a way of driving a runner by a motor, sample input for test is provided for a to-be-tested navigator system, imaging and calibration of a spectrogram are completed by virtue of a to-be-tested navigator test platform, the picking and information calculation of the spectrogram are completed by combining ground receiving and control terminals, and the ground test and verification of the function and performance of the navigator can be realized. The invention also provides a corresponding ground test and verification system. The method and the system are simple in principle, intuitive and reliable, and a novel method and novel concept for the ground test and verification of the spacecraft spectral speed measuring navigator are provided. The invention provides the method for implementing high-precision spectral navigator test by adopting a controllable relative motion simulation device for the current situation that a current spectral speed measuring navigator lacks the ground test and verification system. The method can be effectively applied to the deep space and near-Earth space mission of autonomous light-wave Doppler-effect navigation, and the corresponding technical gap can be filled.
Description
Technical field
The present invention relates to aviation field, particularly, relate to a kind of high precision spectrum and to test the speed navigating instrument ground test verification method and system.
Background technology
For most spacecraft, especially deep space mission spacecraft, its independent navigation ability in-orbit in flight course be spacecraft can when not relying on ground and supporting one of long-term important indicator in orbit.From celestial autonomous navigation methods, mainly contain astronomical angle measurement navigation and pulsar navigation etc. at present, the former precision is limited by the picture element of absorbed target source celestial image, and latter is limited by the precision of pulse signal integration timing.The proposed celestial spectrum based on Doppler effect tests the speed air navigation aid, measuring principle and measuring object exist larger different from above-mentioned two kinds of methods, be new a kind of Spacecraft Autonomous Navigation instrument method for designing, the demand of long-term autonomous, the real-time high-precision continuously of navigation can be taken into account.
In order to verify the correctness of navigating instrument conceptual design, need the ground test checking carrying out instrument.Due to the novelty of the air navigation aid that tests the speed based on the celestial spectrum of Doppler effect, its corresponding ground test verification method is not yet looked into and is seen.Take engineer applied as starting point, the requirement of Spacecraft Autonomous Navigation rate accuracy should reach more than meter level.With this index for navigator system design is carried out in design input, its ground test verification system also should possess corresponding accuracy detection means, the ground test proof scheme proposed for this kind of navigate mode of still needing at present.
Summary of the invention
For the defect that above-mentioned prior art exists, a kind of high precision spectrum is the object of the present invention is to provide to test the speed navigating instrument ground test verification method and system, the present invention utilizes controlled relative motion analogue means to carry out high precision spectrum navigating instrument accuracy test, and the method is applicable to utilize light wave Doppler effect to implement deep space and the near-earth spacecraft of independent navigation task.
According to an aspect of the present invention, provide a kind of high precision spectrum to test the speed navigating instrument ground test verification method, comprise the following steps:
Step 1: according to measurement requirement is describe relative position relation between testing apparatus, sets up spectrum and to test the speed navigating instrument ground test reference frame oxyz;
Step 2: on step 1 basis, relative motion analogue means and navigating instrument test platform to be measured is built according to relative position relation, the high precision spectrum set up tests the speed navigating instrument ground test verification system, measures each inter-module position relationship of pilot system comprising angle information;
Step 3: to test the speed navigating instrument ground test verification system according to the high precision spectrum that step 2 is set up, by relative motion analogue means, directional light simulation system and telescopic system ground based terminal, light path is adjusted, ensure that target simulation source incident optical signal can effectively be incident in navigator system, adjust each ground receiver control terminal to state to be measured, completion system Initialize installation;
Step 4: on step 2,3 bases, sets objectives between dummy source and navigator system containing test case table between the speed of related movement of angle information and wavelength shift according to light wave Doppler shift relation;
Step 5: on step 4 basis, according to test case table handling relative motion analogue means: open target simulation source and observe its spectral line stability, train rotating speed is set by relative motion simulator control terminal and opens simulation system, open navigator system by navigating instrument ground control terminal, and open spectrogram reception and quick look system reception also record object source fingerprint;
Step 6: on step 5 basis, changes test case table parameter, completes content measurement under different relative motion state, record spectral line data;
Step 7: reset relative motion simulator, be set to stop state, changing target simulator is the scaling light sources such as iodine absorption, operation navigator system record calibration spectrum;
Step 8: step 5,6, on 7 bases, with selected reference wavelength for object, the matching of Gauss's profile is adopted to compose with calibration the mode combined, target simulation source core wavelength is picked up, resolve according to Doppler shift relation and obtain speed of related movement information, and compare with relative motion analogue means initial value, obtain the validity conclusion of test.
Preferably, the spectrum set up in step 1 tests the speed in navigating instrument ground test reference frame oxyz, initial point is that platform upper surface is near relative motion analogue means one corner, x-axis directed in orthogonal in relative motion analogue means on one side (vertical paper is outside), y-axis points to analogue means on one side by air supporting test platform, and z-axis meets right-handed system.
According to another aspect of the present invention, a kind of high precision spectrum is provided to test the speed navigating instrument ground test verification system, comprise: relative motion analogue means, navigating instrument test platform to be measured, terminal is surveyed on navigator system ground, terminal is surveyed on telescopic system ground and spectrogram receives and quick look system, relative motion analogue means comprises interconnective relative motion simulator control terminal and relative motion simulator, navigating instrument test platform to be measured is disposed adjacent with relative motion simulator, navigating instrument test platform to be measured comprises further: navigator system, telescopic system, directional light simulation system, the gentle floating test platform of conduction optical fiber, directional light simulation system is arranged on air supporting test platform near relative motion analogue means side, navigator system is arranged on opposite side relative with directional light simulation system on air supporting test platform, telescopic system is arranged between navigator system and parallel optical analog system, and telescopic system is connected with navigator system by conduction optical fiber, telescopic system ground is surveyed terminal and is connected with telescopic system, navigator system ground is surveyed terminal and is all connected with navigator system with quick look system with spectrogram reception.
Relative motion analogue means is basis and the input that navigating instrument realizes dynamic speed testing, be made up of relative motion simulator and its control terminal, its objective is by set up target simulator and navigator system between relative motion state, the function tested the speed with the frequency displacement of test light wave range Doppler and performance index.
A) relative motion simulator control terminal, to the uphole equipment that relative motion simulator rotation system switch, polarity, rotating speed enforcement control.
B) relative motion simulator, relative motion execution unit, can the relative motion (close to or away from, different motion speed etc.) of simulated target source and navigator system during running, comprise driving wheel, engaged wheel and travelling belt, driving-belt is connected with driving wheel and engaged wheel respectively, motor drives driving wheel, and connects engaged wheel with travelling belt, above puts the load such as target simulation source or reference source.
Navigating instrument test platform to be measured, spectrum tests the speed navigating instrument ground test checking main body and object, the collection of realize target source signal, control, transmission, light splitting and imaging processing.
A) navigator system, the ingredient of the navigational system that tests the speed, completes the light splitting to incident optical signal, imaging and record.
B) telescopic system, the ingredient of the navigational system that tests the speed, completion system is to the collection of light signal and transmission.
C) directional light simulation system, simulates incident light state in-orbit, needs target simulation source (pointolite) incident light collection and arranges as directional light, being resent to telescopic system.
D) conduct optical fiber, the ingredient of the navigational system that tests the speed, the coupling completing light signal is propagated, and connects telescopic system and navigator system.
E) air supporting test platform, testing authentication pilot system build main body, for test the test condition such as level, vibration isolation is provided.
Terminal is surveyed on navigator system ground, is responsible for implementing to control to navigator system, completes the functions such as switch, state setting, information acquisition.
Terminal is surveyed on telescopic system ground, is responsible for controlling System Implementation of looking in the distance, and completes driving switch, points to the functions such as adjustment.
Spectrogram receives and quick look system, is responsible for receiving, recording and show navigator instrument system spectrogram information, completes looking soon in real time of spectrogram information, and docks with backend information disposal system.
The present invention is by building controlled relative motion analogue means, in conjunction with the washability of light source spectral coverage and relative position relation between relative motion analogue means and navigating instrument to be measured, realize the test of navigating instrument rate accuracy by links such as directional light simulation, telescopic system reception, fiber optic conduction, beam path alignment, dispersion light splitting, spectrogram receptions.This method also can verify that navigating instrument is to the response condition possessing certain dynamic range motion state target.
High precision spectrum of the present invention tests the speed navigating instrument ground test verification method, is different from angle measurement and the checking of pulsar navigation instrument ground test.According to light wave doppler shift effect, by building controlled relative motion simulation system, and navigation instrument test platform carries out accuracy test.For different measurement condition, the test of navigating instrument in different speed of related movement, different spectral range situation can be completed.
The principle of the invention is simple, intuitive and reliable, it is the new breakthrough of spacecraft spectrum navigating instrument ground test method, expand spacecraft spectrum navigating instrument means of testing, improve test dynamic role, China's survey of deep space spectrum can be widely used in test the speed the development of navigating instrument and test mission, have broad application prospects in deep-space detection field.
Compared with prior art, the present invention has following beneficial effect: full to using Doppler effect as theoretical starting point, take celestial body spectrum as the navigational system that tests the speed of object of observation, the present invention proposes with relative motion analogue means as core inputs, comprise the testing scheme of navigating instrument test platform to be measured and corresponding supporting ground checkout equipment, for the function of celestial spectrum autonomous navigator and performance test provide support, fill up the testing scheme technological gap towards this navigation scheme.
Accompanying drawing explanation
Below with reference to accompanying drawing and example, the invention will be further described.
Fig. 1 is that high precision spectrum of the present invention tests the speed the structure principle chart of navigating instrument ground test verification system.
In figure: 1 is relative motion simulator control terminal; 2 is driving wheel; 3 is engaged wheel; 4 is target simulation source; 5 is that terminal is surveyed on telescopic system ground; 6 is that terminal is surveyed on navigator system ground; 7 is spectrogram reception and quick look system; 8 is navigator system; 9 is conduction optical fiber; 10 is telescopic system; 11 is directional light simulation system; 12 is air supporting test platform.
Embodiment
Below in conjunction with specific embodiment, the present invention is described in detail.Following examples will contribute to those skilled in the art and understand the present invention further, but not limit the present invention in any form.It should be pointed out that to those skilled in the art, without departing from the inventive concept of the premise, some distortion and improvement can also be made.These all belong to protection scope of the present invention.
The ultimate principle of method of testing of the present invention is: to simulate relative motion for starting point, consider the retainability of trystate, take into account simple and safe and operability, by setting up the relative motion model of list/Two-wheeled, lift-launch can substitute target simulation source, analog prober and target source relative motion, in conjunction with simulated target source shaping light path, light harvesting light path, dispersion and imaging optical path, finally collect the Doppler's spectrogram comprising relative movement information, for navigational system provides observed quantity of testing the speed to resolve acquisition navigation information.
The mathematical description of this method is as follows:
Known:
1, according to the configuration of relative motion simulation system, make navigating instrument to be measured be in relative static conditions in surving coordinate system, then navigating instrument and the relative motion of simulated target source are provided by relative motion simulation system, and its speed output valve can be described as:
v
r＝2πrn?cosθ
Wherein, v
rfor relative motion line of vision linear velocity, r is the train radius of gyration, and n is train rotating speed, and θ is that navigating instrument receives light wave wave vector direction and speed of related movement angular separation, simulated target source.
2, according to optical band Doppler effect, the known wavelength shift because of the generation of relative motion Doppler effect can be described as:
Wherein, Δ λ is Doppler's wavelength shift, λ
0for reference spectral line centre wavelength, c is the light velocity in vacuum.
3, by 1,2 liang of step simultaneous, and adjust the parameters such as train rotating speed, angle and light source kind and to complete, the optical band Doppler spectrogram in different relative motion state, different target source absorb, in conjunction with step acquisition navigating instrument accuracy test results such as data processings.Corresponding data processing need be carried out for the real-time change of angle in test process.
Refer to Fig. 1, a kind of high precision spectrum tests the speed navigating instrument ground test verification system, comprise: relative motion analogue means, navigating instrument test platform to be measured, terminal is surveyed on navigator system ground, terminal is surveyed on telescopic system ground and spectrogram receives and quick look system, relative motion analogue means comprises interconnective relative motion simulator control terminal and relative motion simulator, navigating instrument test platform to be measured is disposed adjacent with relative motion simulator, navigating instrument test platform to be measured comprises further: navigator system, telescopic system, directional light simulation system, the gentle floating test platform of conduction optical fiber, directional light simulation system is arranged on air supporting test platform near relative motion analogue means side, navigator system is arranged on opposite side relative with directional light simulation system on air supporting test platform, telescopic system is arranged between navigator system and parallel optical analog system, and telescopic system is connected with navigator system by conduction optical fiber, telescopic system ground is surveyed terminal and is connected with telescopic system, navigator system ground is surveyed terminal and is all connected with navigator system with quick look system with spectrogram reception.
Relative motion analogue means is basis and the input that navigating instrument realizes dynamic speed testing, be made up of relative motion simulator and its control terminal, its objective is by set up target simulator and navigator system between relative motion state, the performance index tested the speed with the frequency displacement of test light wave range Doppler.Wherein, relative motion simulator control terminal is responsible for implementing to control to relative motion simulator rotation system switch, polarity, rotating speed; Relative motion simulator is as relative motion execution unit, the relative motion (close to or away from, different motion speed etc.) of simulated target source and navigator system during running, himself is made up of driving wheel (translator), engaged wheel and travelling belt, motor is relied on to drive driving wheel, and connect engaged wheel with travelling belt, above put the load such as target simulation source or reference source.
Navigating instrument test platform to be measured is that spectrum tests the speed navigating instrument ground test checking main body and object, with the collection of realize target source signal, control, transmission, light splitting and imaging processing.Each ingredient function is as follows: navigator system, as the main body of demonstration test, has been responsible for the light splitting to incident optical signal, imaging and recording process; Telescopic system (band guiding function) is responsible for completion system to the collection of light signal and transmission; Directional light simulation system simulates condition of incidence in-orbit, is gathered by target simulation source incident light and arranges as directional light, being resent to telescopic system; The coupling that light signal has been responsible for by conduction optical fiber is propagated, and connects telescopic system and navigator system; Air supporting test platform builds main body as testing authentication pilot system, for test provides the test condition such as level, vibration isolation.
Navigator system ground is surveyed terminal and is responsible for implementing to control to navigator system, completes the functions such as switch, state setting, information acquisition.
Telescopic system ground is surveyed terminal and is responsible for controlling System Implementation of looking in the distance, and completes the function such as driving switch, sensing.
Spectrogram receives and quick look system (navigational system interface), is responsible for receiving, recording and show navigator instrument system spectrogram information, and the enforcement completing spectrogram information is looked soon, and docks with backend information disposal system.
The present invention also provides a kind of high precision spectrum to test the speed navigating instrument ground test verification method, comprises the following steps:
Step 1: according to measurement requirement is describe relative position relation between testing apparatus, sets up spectrum and to test the speed navigating instrument ground test reference frame oxyz.
Particularly, spectrum tests the speed in navigating instrument ground test reference frame oxyz, initial point is that platform upper surface is near relative motion analogue means one corner, x-axis directed in orthogonal in relative motion analogue means on one side (vertical paper is outside), y-axis points to analogue means on one side by air supporting test platform, and z-axis meets right-handed system.
Step 2: on step 1 basis, relative motion analogue means and navigating instrument test platform to be measured is built according to relative position relation, the high precision spectrum set up tests the speed navigating instrument ground test verification system, measures each inter-module position relationship of pilot system comprising angle information.
Step 3: to test the speed navigating instrument ground test verification system according to the high precision spectrum that step 2 is set up, by relative motion analogue means, directional light simulation system and telescopic system ground based terminal, light path is adjusted, ensure that target simulation source incident optical signal can effectively be incident in navigator system, adjust each ground receiver control terminal to state to be measured, completion system Initialize installation.
Step 4: on step 2,3 bases, sets objectives between dummy source and navigator system containing test case table between the speed of related movement of angle information and wavelength shift according to light wave Doppler shift relation.
Step 5: on step 4 basis, according to test case table handling relative motion analogue means: open target simulation source and observe its spectral line stability, train rotating speed is set by relative motion simulator control terminal and opens simulation system, open navigator system by navigating instrument ground control terminal, and open spectrogram reception and quick look system reception also record object source fingerprint.
Step 6: on step 5 basis, changes test case table parameter, completes content measurement under different relative motion state (speed, angle), record spectral line data.
Step 7: reset relative motion simulator, be set to stop state, changing target simulator is the scaling light sources such as iodine absorption, operation navigator system record calibration spectrum.
Step 8: step 5,6, on 7 bases, with selected reference wavelength for object, the matching of Gauss's profile is adopted to compose with calibration the mode combined, target simulation source core wavelength is picked up, resolve according to Doppler shift relation and obtain speed of related movement information, and compare with relative motion analogue means initial value, obtain the validity conclusion of test.
The present invention intuitively achieves the relative motion between navigation target source and spectrum navigator system, can meet positive and negative bidirectional-movement state, possesses the functions such as rotating speed control, angular setting, can meet test and scaling function simultaneously, possess higher reliability.
The foregoing is only the specific embodiment of the present invention; but protection scope of the present invention is not limited thereto; any people being familiar with this technology, in the technical scope disclosed by the present invention, can understand the conversion or replacement expected, should be encompassed in of the present invention comprising within scope.
Claims (4)
1. high precision spectrum tests the speed a navigating instrument ground test verification method, it is characterized in that, comprises the following steps:
Step 1: according to measurement requirement is describe relative position relation between testing apparatus, sets up spectrum and to test the speed navigating instrument ground test reference frame oxyz;
Step 2: on step 1 basis, relative motion analogue means and navigating instrument test platform to be measured is built according to relative position relation, the high precision spectrum set up tests the speed navigating instrument ground test verification system, measures each inter-module position relationship of pilot system comprising angle information;
Step 3: to test the speed navigating instrument ground test verification system according to the high precision spectrum that step 2 is set up, by relative motion analogue means, directional light simulation system and telescopic system ground based terminal, light path is adjusted, ensure that target simulation source incident optical signal can effectively be incident in navigator system, adjust each ground receiver control terminal to state to be measured, completion system Initialize installation;
Step 4: on step 2,3 bases, sets objectives between dummy source and navigator system containing test case table between the speed of related movement of angle information and wavelength shift according to light wave Doppler shift relation;
Step 5: on step 4 basis, according to test case table handling relative motion analogue means: open target simulation source and observe its spectral line stability, train rotating speed is set by relative motion simulator control terminal and opens simulation system, open navigator system by navigating instrument ground control terminal, and open spectrogram reception and quick look system reception also record object source fingerprint;
Step 6: on step 5 basis, changes test case table parameter, completes content measurement under different relative motion state, record spectral line data;
Step 7: reset relative motion simulator, be set to stop state, changing target simulator is the scaling light sources such as iodine absorption, operation navigator system record calibration spectrum;
Step 8: step 5,6, on 7 bases, with selected reference wavelength for object, the matching of Gauss's profile is adopted to compose with calibration the mode combined, target simulation source core wavelength is picked up, resolve according to Doppler shift relation and obtain speed of related movement information, and compare with relative motion analogue means initial value, obtain the validity conclusion of test.
2. high precision spectrum according to claim 1 tests the speed navigating instrument ground test verification method, it is characterized in that, the spectrum set up in step 1 tests the speed in navigating instrument ground test reference frame oxyz, initial point is that platform upper surface is near relative motion analogue means one corner, x-axis directed in orthogonal in relative motion analogue means on one side, y-axis points to analogue means on one side by air supporting test platform, and z-axis meets right-handed system.
3. a high precision spectrum tests the speed navigating instrument ground test verification system, it is characterized in that, comprise: relative motion analogue means, navigating instrument test platform to be measured, terminal is surveyed on navigator system ground, terminal is surveyed on telescopic system ground and spectrogram receives and quick look system, described relative motion analogue means comprises interconnective relative motion simulator control terminal and relative motion simulator, described navigating instrument test platform to be measured is disposed adjacent with described relative motion simulator, described navigating instrument test platform to be measured comprises further: navigator system, telescopic system, directional light simulation system, the gentle floating test platform of conduction optical fiber, described directional light simulation system is arranged on described air supporting test platform near described relative motion analogue means side, described navigator system is arranged on opposite side relative with described directional light simulation system on described air supporting test platform, described telescopic system is arranged between described navigator system and parallel optical analog system, and described telescopic system is connected with described navigator system by described conduction optical fiber, described telescopic system ground is surveyed terminal and is connected with described telescopic system, described navigator system ground is surveyed terminal and is all connected with described navigator system with quick look system with spectrogram reception.
4. high precision spectrum according to claim 3 tests the speed navigating instrument ground test verification system, it is characterized in that, described relative motion simulator comprises driving wheel, engaged wheel, driving-belt and target simulation source, described driving-belt is connected with described driving wheel and engaged wheel respectively, and described target simulation source is arranged on described driving-belt.
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