CN104266660B - High accuracy spectrum tests the speed navigator ground test verification method and system - Google Patents
High accuracy spectrum tests the speed navigator ground test verification method and system Download PDFInfo
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- CN104266660B CN104266660B CN201410476156.7A CN201410476156A CN104266660B CN 104266660 B CN104266660 B CN 104266660B CN 201410476156 A CN201410476156 A CN 201410476156A CN 104266660 B CN104266660 B CN 104266660B
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Abstract
Navigator ground test verification method and system the invention discloses a kind of high accuracy spectrum tests the speed, the method utilizes Motor drive runner mode, build relative motion state between target simulation source and navigation system, there is provided test case input for navigator system to be measured, spectrogram imaging is completed by navigator test platform to be measured and calibrates, combined ground receives and control terminal completes spectrogram pickup and information resolves, and realizes the ground test checking of navigator function and performance.The present invention also provides corresponding ground test checking system；The principle of the invention is simple, intuitive and reliable, is that spacecraft spectrum tests the speed the new method of navigator ground test checking and new approaches.The present invention for current light spectrum test the speed navigator ground test checking system disappearance present situation, the method proposing to implement the test of high accuracy spectrum navigator with controlled relative motion analog, the method can effectively utilizes in the deep space of light wave Doppler effect independent navigation and near-earth space mission, filled up corresponding technological gap.
Description
Technical field
The present invention relates to aviation field, the navigator ground test authentication in particular it relates to a kind of high accuracy spectrum tests the speed
Method and system.
Background technology
For most spacecrafts, especially deep space mission spacecraft, the independent navigation energy in its in-orbit flight course
Power is one of long-term important indicator in orbit in the case that can spacecraft be supported being independent of ground.From astronomical certainly leading
In boat methods, mainly there are astronomical angle measurement navigation and pulsar navigation etc. at present, the former precision is limited by absorbed target source
The picture matter of celestial image, the latter is then limited by the precision of pulse signal integration timing.Proposed based on Doppler effect
Celestial spectrum test the speed air navigation aid, measuring principle and measurement object are existed from above two method larger different, are
A kind of new Spacecraft Autonomous Navigation instrument method for designing, can take into account the continuously autonomous for a long time, demand of real-time high-precision of navigating.
In order to verify the correctness of navigator conceptual design, need to carry out the ground test checking of instrument.Due to based on many
The general celestial spectrum strangling effect tests the speed the novelty of air navigation aid, and its corresponding ground test verification method is not yet looked into and seen.With work
Cheng Yingyong is starting point, and the requirement of Spacecraft Autonomous Navigation rate accuracy should reach more than meter level.With this index for design input
Carry out navigator system design, its ground test checking system also should possess corresponding accuracy detection means, proposition of still needing at present
Ground test proof scheme for this kind of navigation mode.
Content of the invention
The defect existing for above-mentioned prior art, the navigation it is an object of the invention to provide a kind of high accuracy spectrum tests the speed
Instrument ground test verification method and system, the present invention carries out high accuracy spectrum navigator essence using controlled relative motion analog
Degree test, the method is applied to deep space and the near-earth spacecraft implementing independent navigation task using light wave Doppler effect.
According to an aspect of the present invention, a kind of high accuracy spectrum is provided to test the speed navigator ground test verification method, bag
Include following steps：
Step 1：According to measurement requirement, for describing relative position relation between test equipment, set up spectrum with testing the speed navigator
Face test reference coordinate system oxyz；
Step 2：On the basis of step 1, build relative motion analog and navigator to be measured according to relative position relation
Test platform, the high accuracy spectrum of foundation tests the speed navigator ground test checking system, measures the examination including angle information
Check system each assembly meta puts relation；
Step 3：Tested the speed navigator ground test checking system according to the high accuracy spectrum that step 2 is set up, by relatively transporting
Dynamic analog, directional light analog systemss and telescopic system ground based terminal are adjusted to light path it is ensured that target simulation source is incident
Optical signal can effectively be incident in navigator system, adjusts each ground receiver control terminal to state to be measured, completion system is initial
Change setting；
Step 4：On the basis of step 2,3, set objectives simulation source and navigator system according to light wave Doppler frequency shift relation
Test case table between the speed of related movement of angle information and wavelength shift is contained between system；
Step 5：On the basis of step 4, according to test case table handling relative motion analog：Open target simulation source
And observe its spectral line stability, train rotating speed is arranged by relative motion simulator control terminal and opens analog systemss, pass through
Navigator ground control terminal opens navigator system, and opens that spectrogram receives and quick look system receives and records target source spectrum
Figure；
Step 6：On the basis of step 5, change test case table parameter, complete in test under different relative motion states
Hold, record spectral line data；
Step 7：Reset relative motion simulator, be set to stop state, change target simulator for calibrations such as iodine absorptions
Light source, operation navigator system record calibration spectrum；
Step 8：On the basis of step 5,6,7, with selected reference wavelength as object, using Gauss profile matching and calibration
The mode that spectrum combines, is picked up to target simulation source spectrum line centre wavelength, resolves according to Doppler frequency shift relation and obtains relatively
Motion velocity information, and compare with relative motion analog initial value, obtain the effectiveness conclusion of test.
Preferably, the spectrum set up in step 1 tests the speed in navigator ground test reference frame oxyz, and initial point is platform
Upper surface near relative motion analog one corner, x-axis point to perpendicular to relative motion analog (vertical paper to
Outward), y-axis points to analog by air supporting test platform, and z-axis meets right-handed system.
According to another aspect of the present invention, a kind of high accuracy spectrum is provided to test the speed navigator ground test checking system,
Including：Terminal is surveyed on relative motion analog, navigator test platform to be measured, navigator system ground, terminal is surveyed on telescopic system ground
Receive and quick look system with spectrogram, relative motion analog includes interconnective relative motion simulator control terminal and phase
To motion simulator, navigator test platform to be measured is disposed adjacent with relative motion simulator, and navigator test platform to be measured enters
One step includes：Navigator system, telescopic system, directional light analog systemss, conduction optical fiber and air supporting test platform, parallel optical analog
System is arranged on air supporting test platform near relative motion analog side, and navigator system is arranged on air supporting test platform
The upper opposite side relative with directional light analog systemss, telescopic system is arranged between navigator system and parallel optical analog system,
And telescopic system is passed through conduction optical fiber and is connected with navigator system, telescopic system ground is surveyed terminal and is connected with telescopic system, navigator
Systematically survey terminal and spectrogram is received and is all connected with navigator system with quick look system.
Relative motion analog is basis and the input that dynamic speed testing realized by navigator, by relative motion simulator and its
Control terminal forms, and its objective is the relative motion state between target simulator and the navigator system by setting up, to test
Function and performance indications that optical band Doppler frequency shift tests the speed.
A) relative motion simulator control terminal, implements control to relative motion simulator rotation system switch, polarity, rotating speed
The ground installation of system.
B) relative motion simulator, relative motion execution unit, during operating can simulated target source and navigator system phase
To motion (close to or away from, different motion speed etc.), includings drivewheel, driven pulley and conveyer belt, transmission belt respectively with active
Wheel and driven pulley connect, Motor drive drivewheel, and connect driven pulley with conveyer belt, above put target simulation source or reference source etc. and carry
Lotus.
Navigator test platform to be measured, spectrum tests the speed navigator ground test checking main body and object, realizes target source letter
Number collection, control, transmission, light splitting and imaging processing.
A) navigator system, the ingredient of the navigation system that tests the speed, complete the light splitting to incident optical signal, imaging and note
Record.
B) telescopic system, the ingredient of the navigation system that tests the speed, completion system is to the collection of optical signal and transmission.
C) directional light analog systemss, simulation in-orbit incidence light state, need target simulation source (point source) incidence gloss
Integrate and arrange as directional light, be resent to telescopic system.
D) conduct optical fiber, the ingredient of the navigation system that tests the speed, complete optical signal coupling propagate, connect telescopic system and
Navigator system.
E) air supporting test platform, that tests checking test system builds main body, for test bars such as test offer level, vibration isolation
Part.
Navigator system ground survey terminal, is responsible for navigator system is implemented to control, and completes switch, state is arranged, information is adopted
The functions such as collection.
Telescopic system ground survey terminal, is responsible for telescopic system is implemented to control, completes driving switch, points to the functions such as regulation.
Spectrogram receives and quick look system, is responsible for receiving, records and show navigator system spectrogram information, completes spectrogram information
Regard soon in real time, and dock with backend information processing system.
The present invention is by building controlled relative motion analog, the washability in conjunction with light source spectral coverage and relative motion simulation
Relative position relation between device and navigator to be measured, by parallel optical analog, telescopic system reception, fiber optic conduction, beam path alignment,
The links such as dispersion light splitting, spectrogram reception realize the test of navigator rate accuracy.It is certain to possessing that this method can also verify navigator
The response condition of dynamic range kinestate target.
The high accuracy spectrum of the present invention tests the speed navigator ground test verification method, different from angle measurement and pulsar navigation instrument
Ground test is verified.According to light wave doppler shift effect, by building controlled relative motion analog systemss, and navigation instrument
Test platform carries out accuracy test.For different measurement condition, navigator can be completed in different speed of related movements, different spectrum
Test under ambit.
The principle of the invention is simple, intuitive and reliable, is the new breakthrough of spacecraft spectrum navigator ground test method, expands
Spacecraft spectrum navigator means of testing, improves test motility, can be widely applied to China's survey of deep space spectrum and test the speed lead
The development of boat instrument and test mission, have broad application prospects in deep-space detection field.
Compared with prior art, the invention has the advantages that：Full to using Doppler effect as theoretical starting point,
The navigation system that tests the speed with celestial body spectrum as object of observation, the present invention is proposed and is inputted for core with relative motion analog,
Including the testing scheme of navigator test platform to be measured and corresponding supporting ground checkout equipment, it is celestial spectrum autonomous navigator
Function and performance test provide support, have filled up the testing scheme technological gap towards this navigation scheme.
Brief description
Below with reference to accompanying drawing and example, the invention will be further described.
Fig. 1 tests the speed for high accuracy spectrum of the present invention the structure principle chart of navigator ground test checking system.
In figure：1 is relative motion simulator control terminal；2 is drivewheel；3 is driven pulley；4 is target simulation source；5 are
Terminal is surveyed on telescopic system ground；6 is that terminal is surveyed on navigator system ground；7 receive and quick look system for spectrogram；8 is navigator system；9
For conducting optical fiber；10 is telescopic system；11 is directional light analog systemss；12 is air supporting test platform.
Specific embodiment
With reference to specific embodiment, the present invention is described in detail.Following examples will be helpful to the technology of this area
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill to this area
For personnel, without departing from the inventive concept of the premise, some deformation can also be made and improve.These broadly fall into the present invention
Protection domain.
The ultimate principle of method of testing of the present invention is：To simulate relative motion as starting point it is considered to the tieing up of trystate
Holding property, takes into account simple and safe and operability, and by setting up the relative motion model of mono-/bis-wheel drive, carrying 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
Light path, finally collects the Doppler's spectrogram comprising relative movement information, provides for navigation system and tests the speed observed quantity to resolve
Obtain navigation information.
The mathematical description of this method is as follows：
Known：
1st, configured according to relative motion analog systemss, make navigator to be measured be in relative static conditions in measurement coordinate system,
Then navigator and simulated target source relative motion are provided by relative motion analog systemss, and its speed output valve can be described as：
vr=2 π rn cos θ
Wherein, vrFor relative motion line of vision linear velocity, r is the train radius of gyration, and n is train rotating speed, and θ receives for navigator
Light wave wave vector direction and simulated target source speed of related movement angular separation.
2nd, according to optical band Doppler effect it is known that because relative motion Doppler effect produce wavelength shift can describe
For：
Wherein, Δ λ is Doppler's wavelength shift, λ0It is with reference to spectral line centre wavelength, c is the light velocity in vacuum.
3rd, by 1,2 liang of step simultaneous, and the parameters such as train rotating speed, angle and light source category are adjusted to complete to different relative
Kinestate, optical band Doppler's spectrogram picked-up in different target source, obtain navigator precision in conjunction with steps such as data processings and survey
Test result.Need in test process to carry out corresponding data processing for the real-time change of angle.
Refer to Fig. 1, a kind of high accuracy spectrum tests the speed navigator ground test checking system, including：Relative motion is simulated
Terminal is surveyed on device, navigator test platform to be measured, navigator system ground, terminal is surveyed on telescopic system ground and spectrogram receives with fast depending on being
System, relative motion analog includes interconnective relative motion simulator control terminal and relative motion simulator, to be measured
Navigator test platform is disposed adjacent with relative motion simulator, and navigator test platform to be measured further includes：Navigator system
System, telescopic system, directional light analog systemss, conduction optical fiber and air supporting test platform, directional light analog systemss are arranged on air supporting examination
Test on platform near relative motion analog side, navigator system be arranged on air supporting test platform with parallel optical analog system
The relative opposite side of system, telescopic system is arranged between navigator system and parallel optical analog system, and telescopic system passes through to pass
Guiding fiber is connected with navigator system, and telescopic system ground is surveyed terminal and is connected with telescopic system, and terminal and spectrum are surveyed in navigator system ground
Figure is received and is all connected with navigator system with quick look system.
Relative motion analog is basis and the input that dynamic speed testing realized by navigator, by relative motion simulator and its
Control terminal forms, and its objective is the relative motion state between target simulator and the navigator system by setting up, to test
The performance indications that optical band Doppler frequency shift tests the speed.Wherein, relative motion simulator control terminal is responsible for relative motion is simulated
Device rotation system switch, polarity, rotating speed are implemented to control；Relative motion simulator as relative motion execution unit, mould during operating
Intend the relative motion (close to or away from, different motion speed etc.) of target source and navigator system, its own is (powered by drivewheel
Machine), driven pulley and conveyer belt composition, rely on Motor drive drivewheel, and with conveyer belt connect driven pulley, above put target simulation source
Or the load such as reference source.
Navigator test platform to be measured is that spectrum tests the speed navigator ground test checking main body and object, to realize target source
The collection of signal, control, transmission, light splitting and imaging processing.Each composition partial function is as follows：Navigator system is as checking test
Main body, be responsible for completing the light splitting to incident optical signal, imaging and recording process；Telescopic system (band guiding function) is responsible for completing
System is to the collection of optical signal and transmission；Directional light analog systemss simulate in-orbit condition of incidence, by target simulation source incidence gloss
Integrate and arrange as directional light, be resent to telescopic system；The coupling that conduction optical fiber is responsible for completing optical signal is propagated, and connecting looks in the distance is
System and navigator system；Air supporting test platform builds main body as test checking test system, for test offer level, vibration isolation
Deng experimental condition.
Navigator system ground is surveyed terminal and is responsible for navigator system is implemented to control, and completes switch, state setting, information gathering
Etc. function.
Telescopic system ground is surveyed terminal and is responsible for telescopic system is implemented to control, and completes the functions such as driving switch, sensing.
Spectrogram receives and quick look system (navigation system interface), is responsible for receiving, record and show that navigator system spectrogram is believed
Breath, the enforcement completing spectrogram information regards soon, and docks with backend information processing system.
The present invention also provides a kind of high accuracy spectrum to test the speed navigator ground test verification method, comprises the following steps：
Step 1：According to measurement requirement, for describing relative position relation between test equipment, set up spectrum with testing the speed navigator
Face test reference coordinate system oxyz.
Specifically, spectrum tests the speed in navigator ground test reference frame oxyz, and initial point is platform upper surface near phase
To motion simulator one corner, x-axis is pointed to perpendicular to relative motion analog (vertical paper is outside), and y-axis is by gas
Floating test platform points to analog on one side, and z-axis meets right-handed system.
Step 2：On the basis of step 1, build relative motion analog and navigator to be measured according to relative position relation
Test platform, the high accuracy spectrum of foundation tests the speed navigator ground test checking system, measures the examination including angle information
Check system each assembly meta puts relation.
Step 3：Tested the speed navigator ground test checking system according to the high accuracy spectrum that step 2 is set up, by relatively transporting
Dynamic analog, directional light analog systemss and telescopic system ground based terminal are adjusted to light path it is ensured that target simulation source is incident
Optical signal can effectively be incident in navigator system, adjusts each ground receiver control terminal to state to be measured, completion system is initial
Change setting.
Step 4：On the basis of step 2,3, set objectives simulation source and navigator system according to light wave Doppler frequency shift relation
Test case table between the speed of related movement of angle information and wavelength shift is contained between system.
Step 5：On the basis of step 4, according to test case table handling relative motion analog：Open target simulation source
And observe its spectral line stability, train rotating speed is arranged by relative motion simulator control terminal and opens analog systemss, pass through
Navigator ground control terminal opens navigator system, and opens that spectrogram receives and quick look system receives and records target source spectrum
Figure.
Step 6：On the basis of step 5, change test case table parameter, complete different relative motion state (speed, angles
Degree) under test content, record spectral line data.
Step 7：Reset relative motion simulator, be set to stop state, change target simulator for calibrations such as iodine absorptions
Light source, operation navigator system record calibration spectrum.
Step 8：On the basis of step 5,6,7, with selected reference wavelength as object, using Gauss profile matching and calibration
The mode that spectrum combines, is picked up to target simulation source spectrum line centre wavelength, resolves according to Doppler frequency shift relation and obtains relatively
Motion velocity information, and compare with relative motion analog initial value, obtain the effectiveness conclusion of test.
The present invention intuitively achieves the relative motion between navigation target source and spectrum navigator system, can meet positive and negative double
To kinestate, possess the functions such as rotating speed control, angle adjustment, test and scaling function can be met simultaneously, possess higher can
By property.
The foregoing is only the specific embodiment of the present invention, but protection scope of the present invention is not limited thereto, any
Be familiar with the people of this technology disclosed herein technical scope in it will be appreciated that the conversion expected or replacement, all should cover at this
Invention comprise within the scope of.
Claims (4)
1. a kind of high accuracy spectrum tests the speed navigator ground test verification method it is characterised in that comprising the following steps：
Step 1：According to measurement requirement, for description test equipment between relative position relation, set up spectrum navigator ground of testing the speed and survey
Examination reference frame oxyz；
Step 2：On the basis of step 1, build relative motion analog and navigator to be measured test according to relative position relation
Platform, the high accuracy spectrum of foundation tests the speed navigator ground test checking system, measures the test system including angle information
Each assembly meta of uniting puts relation；
Step 3：Tested the speed navigator ground test checking system according to the high accuracy spectrum that step 2 is set up, by relative motion mould
Intend device, directional light analog systemss and telescopic system ground based terminal light path to be adjusted it is ensured that target simulation source incident illumination is believed
Number can effectively be incident in navigator system, adjust each ground receiver control terminal to state to be measured, completion system initialization sets
Put；
Step 4：On the basis of step 2,3, set objectives between simulation source and navigator system according to light wave Doppler frequency shift relation
Test case table between the speed of related movement containing angle information and wavelength shift；
Step 5：On the basis of step 4, according to test case table handling relative motion analog：Open target simulation source and see
Survey its spectral line stability, train rotating speed is arranged by relative motion simulator control terminal and opens analog systemss, by navigation
Instrument ground control terminal opens navigator system, and opens that spectrogram receives and quick look system receives and records target source fingerprint；
Step 6：On the basis of step 5, change test case table parameter, complete to test content, note under different relative motion states
Record spectral line data；
Step 7：Reset relative motion simulator, be set to stop state, replacing target simulator is iodine ABSORPTION SCALING light source, behaviour
Make navigator system record calibration spectrum；
Step 8：On the basis of step 5,6,7, with selected reference wavelength as object, using Gauss profile matching and calibration spectrum knot
The mode closed, is picked up to target simulation source spectrum line centre wavelength, resolves according to Doppler frequency shift relation and obtains relative motion
Velocity information, and compare with relative motion analog initial value, obtain the effectiveness conclusion of test.
2. high accuracy spectrum according to claim 1 tests the speed navigator ground test verification method it is characterised in that step
The spectrum set up in 1 tests the speed in navigator ground test reference frame oxyz, and initial point is platform upper surface near relative motion
Analog one corner, x-axis is pointed to perpendicular to relative motion analog, and y-axis points to simulation dress by air supporting test platform
Put on one side, z-axis meets right-handed system.
3. a kind of high accuracy spectrum tests the speed navigator ground test checking system it is characterised in that including：Relative motion simulation dress
Put, navigator test platform to be measured, survey to navigator system terminal, survey terminal and spectrogram telescopic system and receive with soon depending on being
System, described relative motion analog includes interconnective relative motion simulator control terminal and relative motion simulator,
Described navigator test platform to be measured is disposed adjacent with described relative motion simulator, and described navigator test platform to be measured enters one
Step includes：Navigator system, telescopic system, directional light analog systemss, conduction optical fiber and air supporting test platform, described parallel optical mode
Plan system is arranged on described air supporting test platform near described relative motion analog side, described navigator system setting
The opposite side relative with described directional light analog systemss on described air supporting test platform, described telescopic system be arranged on described in lead
Between boat instrument system and parallel optical analog system, and described telescopic system is by described conduction optical fiber with described navigator system even
Connect, described telescopic system ground is surveyed terminal and is connected with described telescopic system, described navigator system ground survey terminal and spectrogram reception and
Quick look system is all connected with described navigator system.
4. high accuracy spectrum according to claim 3 tests the speed navigator ground test checking system it is characterised in that described
Relative motion simulator includes drivewheel, driven pulley, transmission belt and target simulation source, described transmission belt respectively with described drivewheel
Connect with driven pulley, described target simulation source is arranged on described transmission belt.
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| CN106371149A (en) * | 2016-11-30 | 2017-02-01 | 上海卫星工程研究所 | Extrasolar terrestrial planet space-based high-precision detection method |
| CN106767842B (en) * | 2016-11-30 | 2020-09-08 | 上海卫星工程研究所 | Emission type target source selection method taking asymmetric spatial heterodyne velocity measurement as target |
| CN110174850A (en) * | 2019-04-30 | 2019-08-27 | 上海卫星工程研究所 | Angle measurement test the speed Integrated Navigation Semi-physical Simulation verifying system and method |
| CN113534080B (en) * | 2021-08-16 | 2023-07-25 | 电子科技大学 | Short-range Doppler radar test system |
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