CN104567864A - Dynamic exposure time adjusting method for APS (active pixel sensor) star sensor - Google Patents
Dynamic exposure time adjusting method for APS (active pixel sensor) star sensor Download PDFInfo
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- CN104567864A CN104567864A CN201410838397.1A CN201410838397A CN104567864A CN 104567864 A CN104567864 A CN 104567864A CN 201410838397 A CN201410838397 A CN 201410838397A CN 104567864 A CN104567864 A CN 104567864A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/02—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by astronomical means
- G01C21/025—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by astronomical means with the use of startrackers
Abstract
The invention discloses a dynamic exposure time adjusting method for an APS (active pixel sensor) star sensor. The method comprises the following steps: (1), the size of a 4T image sensor area array is set, and the time Tus for reading one line is taken as the basic exposure unit; (2), an exposure time gear register is arranged in an FPGA (field programmable gate array), and N-gear exposure time is set; (3), according to a new exposure time gear written by a processor, a corresponding exposure adjusting formula is determined, exposure idle lines and read idle lines are obtained through calculation, read and exposure operation is controlled by switching on and off a pixel charge transfer switch in one-line time, the exposure operation is not performed when exposure is in an idle line, and the read operation is not performed when read is in an idle line; after exposure of the idle lines is finished, a rolling exposure pipeline at a new exposure time gear is entered, and setting of the new exposure time gear is finished. Seamless and dynamic adjustment of multiple-gear exposure time can be realized, the exposure pipeline is not interrupted during dynamic adjustment of the exposure time, and the data read time interval is reduced.
Description
Technical field
The present invention relates to a kind of APS star sensor dynamic exposure time adjusting method, be applicable to spacecraft Star Sensor field.
Background technology
Star sensor is a kind of optical imaging type sensor, for the high-acruracy survey of spatial attitude.During star sensor operation on orbit, adopt the method for sensor visual field star aberration Electrical imaging and local sky district or whole day ball star pattern matching, determine the sensing of star sensor optical axis at inertial space, utilize the transformational relation of sensor body coordinate system and attitude of satellite coordinate system, determine the attitude of satellite.Star sensor has the feature such as high precision, high reliability, is widely used on the aircraft platforms such as satellite, airship and guided missile.
Current numerous satellite platform all needs to have maneuverability in-orbit, and the feature maximum when motor-driven of satellite is exactly have larger motor-driven angular velocity, and under large angular velocity, export attitude effectively is fast star sensor important technology index.The most effective method of the lifting of star sensor dynamic property adjusts the time shutter exactly, reduces the hangover of star image on star chart.Under different angular velocity condition, star sensor needs the ability with the dynamic conditioning time shutter, and while the dynamic conditioning time shutter, needs the effective attitude information of output fast as far as possible.
In existing dynamic exposure time-align technique, when receiving time shutter adjustment signal, first reading current frame image data, then interrupting current exposure flowing water, again exposing.After end exposure, then view data is read, enter new time shutter gear.The shortcoming of the method is that exposure flowing water can interrupt, need to re-start exposure, namely after receiving time shutter adjustment signal, at least needed for 2 two field picture times just can obtain new time shutter hypograph data, if the time shutter is very long, then can have a strong impact on the data updating rate of star sensor.
Another kind of dynamic exposure time-align technique is as " design and implimentation based on the cmos image sensor of adpative exposure " (author: Lu Yao, Yao Suying, Xu Jiangtao; Source: photoelectron. laser) etc. described in document, propose a kind of imageing sensor dynamic conditioning time shutter method based on 3T structure, the method is provided with two groups of reseting registers, for recording the adjustment time shutter.The shortcoming of the method to arrange the time shutter setting range being less than 65ms, and during exposure adjustment, inherent delay needs the two field picture time.
Summary of the invention
The technical matters that the present invention solves is: the limitation and the deficiency that overcome prior art, in conjunction with 4T imageing sensor feature, propose a kind of APS star sensor dynamic exposure time adjusting method, the seamless dynamic conditioning of many grades of time shutter can be realized, exposure flowing water is not interrupted when time shutter dynamic conditioning, reduce the data reading time interval in time shutter adjustment process, rapid posture when reaching the dynamic conditioning time shutter exports requirement.
Technical scheme of the present invention is: a kind of APS star sensor dynamic exposure time adjusting method, and step is as follows:
1) set 4T imageing sensor face battle array size as M × M, langley based on the time T us reading a line;
2) arrange time shutter gear register register_IT in FPGA inside, and arrange the N shelves time shutter, N is positive integer;
3) according to the new time shutter gear of processor write, determine to expose adjustment formula accordingly, calculate and obtain the idle line number of exposure and read idle line number, in a line time, closing pixel charge transfer switch by opening, controlling to read and exposing operation, when being exposed on vacant line, do not perform exposing operation, read when vacant line, do not perform read operation; After vacant line has exposed, enter new time shutter gear roller shutter exposure flowing water, complete new time shutter gear and arrange;
Describedly determine that the concrete grammar exposing adjustment formula is accordingly: set current exposure time gear as old_integration_time, new time shutter gear is new_integration_time, then time shutter change is divided into two classes greatly, one class is increase the time shutter, and a class is reduce the time shutter; Time shutter increase is subdivided into again two kinds of situations, and one is old_integration_time<M × T, and another kind is old_integration_time >=M × T; When increasing for the first situation time shutter, namely
During old_integration_time<M × T, read idle line number Read_dummy_line=base_expo (n)+add_expo (n)-base_expo (m)+10 under new gear, under new gear, expose idle line number Reset_dummy_line=10; When increasing for the second situation time shutter, namely
During old_integration_time >=M × T, idle line number Read_dummy_line=base_expo (n)+add_expo (n)-base_expo (m)+10 is read under new gear, expose idle line number Reset_dummy_line=10 under new gear, under the new gear of the second frame, expose idle line number
Reset_dummy_line2=base_expo (n); Time shutter reduction is subdivided into again three kinds of situations, and the first is old_integration_time>M × T, and new_integration_time >=M × T; The second is old_integration_time≤M × T, and new_integration_time≤M × T; The third is old_integration_time >=M × T, and new_integration_time<M × T; When reducing for the first situation time shutter, i.e. old_integration_time>M × T, and
During new_integration_time >=M × T, under new gear, read idle line number
Read_dummy_line=base_expo (n)+add_expo (n)-base_expo (m)+10, expose idle line number Reset_dummy_line=10 under new gear, under the new gear of the second frame, expose vacant line Reset_dummy_line2=base_expo (n); Reduce when the second situation time shutter, namely
Old_integration_time<=M × T, and during new_integration_time<=M × T, under new gear, expose idle line number Reset_dummy_line=
Base_expo (n)+add_expo (n)-base_expo (m)+10, reads idle line number Read_dummy_line=10 under new gear; Reduce when third party's situation time shutter, namely
Old_integration_time>=M × T, and during new_integration_time<M × T, expose under new gear idle line number Reset_dummy_line=base_expo (n)+add_expo (n)-
Base_expo (m)+10, reads idle line number Read_dummy_line=10 under new gear; Wherein base_expo (n) is exposure line number in basis under exposure gear n, and add_expo (n) is exposure line number idle under exposure gear n, and base_expo (m) is exposure line number basis exposure line number in basis under exposure gear m; N ∈ N, m ∈ N.
The present invention's beneficial effect is compared with prior art:
(1) the present invention proposes a kind of APS star sensor dynamic exposure time adjusting method, it is 1024 × 1024 that imageing sensor face battle array size is chosen as, and single pixel readout time is 80ns, and to read langley based on a line time, the time is 82us.This Exposure mode takes full advantage of the dirigibility of row exposure, is the basis of subsequent dynamic time shutter adjustment mathematical model.
(2) the present invention is with on the roller shutter type Exposure mode basis of behavior langley, introduce vacant line for increasing or reduce the technology of time shutter, the classification of the increase of appropriate design time shutter and reduction on this basis, in conjunction with the demand of actual 13 grades of time shutter gears, the adjustment of time shutter between each gear is set as five classes, be deduced the mathematical model of each gear dynamic conditioning time shutter on this basis, for follow-up specific implementation dynamic exposure time seamless adjustment is laid a good foundation.
(3) the present invention devises the function that can arrange time shutter gear from outside flexibly, and the time shutter write that can will be needed by ppu, enhances dirigibility and the extensibility of algorithm.
Accompanying drawing explanation
Fig. 1 is process flow diagram of the present invention;
Fig. 2 is time shutter dynamic adjusting data model;
Fig. 3 adjusts schematic diagram 70ms to the 80ms time shutter;
Fig. 4 adjusts schematic diagram 125ms to the 200ms time shutter.
Embodiment
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is further described in detail.
A kind of APS star sensor dynamic exposure time adjusting method, its step is as follows:
(1) in conjunction with 4T imageing sensor feature, the roller shutter type Exposure mode with behavior base langley is introduced.Imageing sensor face battle array size is 1024 × 1024, and single pixel readout time is 80ns, and to read langley based on a line time, the time is T=82us.
(2) according to the actual requirements, time shutter gear is designed.The gear of current design is 13 grades, is respectively 20ms, 30ms, 40ms, 50ms, 60ms, 70ms, 80ms, 85ms, 100ms, 125ms, 200ms, 250ms and 500ms.According to 13 grades of time shutter gears, determine basis exposure line number and the list of idle exposure line number, as shown in table 1:
Basis exposure line number and vacant line ordered series of numbers table under table 1 each gear time shutter
| Exposure gear | Basis exposure line number | Expose idle line number |
| 20ms | 243 | 10 |
| 30ms | 365 | 10 |
| 40ms | 486 | 10 |
| 50ms | 608 | 10 |
| 60ms | 730 | 10 |
| 70ms | 851 | 10 |
| 80ms | 973 | 10 |
| 85ms | 1023 | 10 |
| 100ms | 1023 | 193 |
| 125ms | 1023 | 497 |
| 200ms | 1023 | 1410 |
| 250ms | 1023 | 2018 |
| 500ms | 1023 | 5061 |
At FPGA indoor design time shutter gear register register_IT, according to the 13 grades of time shutter arranged, register is set to 4bit size, the corresponding 13 grades of time shutter gears of 0x0-0xC.Ppu can by the inner time shutter gear register of write of new time shutter FPGA, and FPGA inside can response external write operation, and performs time shutter adjustment operation.
If current exposure time gear is old_integration_time, the new time shutter is new_integration_time, then time shutter change can be divided into two classes greatly, and a class is increase the time shutter, and a class is time shutter reduction.Time shutter increase is subdivided into again two kinds of situations, and one is old_integration_time<=80ms (corresponding register and register_IT<=6) and old_integration_time>=85ms (corresponding register and register_IT>=7).Time shutter reduction is subdivided into again three kinds of situations, the first is old_integration_time>85ms (corresponding register and register_IT>7), new_integration_time>=85ms (newly writing register_IT>=6); The second is old_integration_time<=80ms (corresponding register and register_IT>7), new_integration_time<=80ms (newly writing register_IT>=6); The third is old_integration_time>=85ms (corresponding register and register_IT>=7), new_integration_time<85ms (newly writing register_IT<7); According to five kinds of situations of time shutter change segmentation, set up time shutter dynamic conditioning mathematical model, corresponding mathematical formulae of deriving is for upgrading the idle line number of exposure and reading idle line number.
(3) according to the new time shutter gear of processor write, select the idle line number of corresponding exposure adjustment formula calculation exposure and read idle line number, after vacant line has exposed, enter new time shutter gear roller shutter exposure flowing water, complete new time shutter gear and arrange.
80ms is adjusted to 70ms, and 125ms to adjust to 200ms be example, this method realize on little time shutter gear (as 70ms adjusts to 80ms), original regulation time can be reduced to 10ms from 80ms, exposing completely (as 125ms adjusts to 200ms) on time gear, original regulation time can be reduced to 75ms from 200ms, ensure that star sensor attitude data there will not be " jumping figure " phenomenon, this design has good practicality and versatility.Shown in above-mentioned two following Fig. 3 and Fig. 4 of adjustment use-case schematic diagram.That time shutter 70ms adjusts to time shutter 80ms shown in Fig. 3, Fig. 3 arrow place is write moment time shutter (namely outside by time shutter gear write FPGA register), as seen from Figure 3, next frame reads idle line number by increasing, and extends readout time and reaches the object adjusting the time shutter.Figure 4 shows that time shutter 125ms adjusts to time shutter 200ms, Fig. 4 arrow place is write moment time shutter (namely outside by time shutter gear write FPGA register), as seen from Figure 4, next frame reads idle line number and the idle line number of exposure by increasing, and prolonging exposure time reaches the object of adjustment time shutter.
Described time shutter gear is set, can arrange according to the actual requirements, the method introduces the Exposure mode of unit based on the row time shutter, the time shutter can based on the integral multiple of chronomere, be not limited only to 13 grades of time shutter, there is good extrapolation.In described step (5), time shutter 85ms is exposure particular point, because a two field picture is 1024 row, 1024 row exposure T.T.s, 1024 was the bases time shutter adjusting mathematical model close to 85ms.
The content be not described in detail in instructions of the present invention belongs to the known technology of those skilled in the art.
Claims (1)
1. an APS star sensor dynamic exposure time adjusting method, is characterized in that step is as follows:
1) set 4T imageing sensor face battle array size as M × M, langley based on the time Tus reading a line;
2) arrange time shutter gear register register_IT in FPGA inside, and arrange the N shelves time shutter, N is positive integer;
3) according to the new time shutter gear of processor write, determine to expose adjustment formula accordingly, calculate and obtain the idle line number of exposure and read idle line number, in a line time, closing pixel charge transfer switch by opening, controlling to read and exposing operation, when being exposed on vacant line, do not perform exposing operation, read when vacant line, do not perform read operation; After vacant line has exposed, enter new time shutter gear roller shutter exposure flowing water, complete new time shutter gear and arrange;
Describedly determine that the concrete grammar exposing adjustment formula is accordingly: set current exposure time gear as old_integration_time, new time shutter gear is new_integration_time, then time shutter change is divided into two classes greatly, one class is increase the time shutter, and a class is reduce the time shutter; Time shutter increase is subdivided into again two kinds of situations, and one is old_integration_time<M × T, and another kind is old_integration_time >=M × T; When increasing for the first situation time shutter, namely during old_integration_time<M × T, read idle line number Read_dummy_line=base_expo (n)+add_expo (n)-base_expo (m)+10 under new gear, under new gear, expose idle line number Reset_dummy_line=10; When increasing for the second situation time shutter, during i.e. old_integration_time >=M × T, idle line number Read_dummy_line=base_expo (n)+add_expo (n)-base_expo (m)+10 is read under new gear, expose idle line number Reset_dummy_line=10 under new gear, under the new gear of the second frame, expose idle line number Reset_dummy_line2=base_expo (n); Time shutter reduction is subdivided into again three kinds of situations, and the first is old_integration_time>M × T, and new_integration_time >=M × T; The second is old_integration_time≤M × T, and new_integration_time≤M × T; The third is old_integration_time >=M × T, and new_integration_time<M × T; When reducing for the first situation time shutter, i.e. old_integration_time>M × T, and during new_integration_time >=M × T, idle line number Read_dummy_line=base_expo (n)+add_expo (n)-base_expo (m)+10 is read under new gear, expose idle line number Reset_dummy_line=10 under new gear, under the new gear of the second frame, expose vacant line Reset_dummy_line2=base_expo (n); Reduce when the second situation time shutter, i.e. old_integration_time<=M × T, and during new_integration_time<=M × T, expose idle line number Reset_dummy_line=base_expo (n)+add_expo (n)-base_expo (m)+10 under new gear, under new gear, read idle line number Read_dummy_line=10; Reduce when third party's situation time shutter, i.e. old_integration_time>=M × T, and during new_integration_time<M × T, expose idle line number Reset_dummy_line=base_expo (n)+add_expo (n)-base_expo (m)+10 under new gear, under new gear, read idle line number Read_dummy_line=10; Wherein base_expo (n) is exposure line number in basis under exposure gear n, and add_expo (n) is exposure line number idle under exposure gear n, and base_expo (m) is exposure line number basis exposure line number in basis under exposure gear m; N ∈ N, m ∈ N.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111121756A (en) * | 2019-07-16 | 2020-05-08 | 上海航天控制技术研究所 | High-dynamic star sensor image processing control method |
| CN111412915A (en) * | 2020-04-21 | 2020-07-14 | 中国科学院光电技术研究所 | Rolling shutter exposure star sensor star point position correction method based on average speed |
| CN111787245A (en) * | 2020-05-27 | 2020-10-16 | 北京控制工程研究所 | CCD star sensor series-parallel connection dynamic image acquisition method and system based on FPGA |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111121756A (en) * | 2019-07-16 | 2020-05-08 | 上海航天控制技术研究所 | High-dynamic star sensor image processing control method |
| CN111121756B (en) * | 2019-07-16 | 2021-12-07 | 上海航天控制技术研究所 | High-dynamic star sensor image processing control method |
| CN111412915A (en) * | 2020-04-21 | 2020-07-14 | 中国科学院光电技术研究所 | Rolling shutter exposure star sensor star point position correction method based on average speed |
| CN111412915B (en) * | 2020-04-21 | 2022-08-26 | 中国科学院光电技术研究所 | Rolling shutter exposure star sensor star point position correction method based on average speed |
| CN111787245A (en) * | 2020-05-27 | 2020-10-16 | 北京控制工程研究所 | CCD star sensor series-parallel connection dynamic image acquisition method and system based on FPGA |
| CN111787245B (en) * | 2020-05-27 | 2022-10-14 | 北京控制工程研究所 | CCD star sensor series-parallel connection dynamic image acquisition method and system based on FPGA |
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