CN104567929A - Double-frame processing based star sensor space particle interference suppression method - Google Patents
Double-frame processing based star sensor space particle interference suppression method Download PDFInfo
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- CN104567929A CN104567929A CN201410838155.2A CN201410838155A CN104567929A CN 104567929 A CN104567929 A CN 104567929A CN 201410838155 A CN201410838155 A CN 201410838155A CN 104567929 A CN104567929 A CN 104567929A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
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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 relates to a double-frame processing based star sensor space particle interference suppression method. Under the condition of higher space particle interference, non-star-point bright spots are rejected, and space particle interference is suppressed, so that rolling type exposure of a star sensor sensitive chip is controlled, and two-frame star charts with a very short time interval are read out and cached; suspected start point information of the two-frame star charts is extracted, and suspicious start point information queues of the two-frame star charts is obtained; meshing features of the suspicious queues are compared, non-star-point image spot information is rejected, and alternative star point information queues are obtained; the star point information in the alternative queues are verified, so that an actual fixed star point information queue is obtained and used for follow-up calculation. When the star point queues are compared, the star points are subjected to image surface mesh partitioning, and the comparison searching time is effectively shortened; after the star point queues are compared, windowing verification is performed in a next frame of images by means of residual star point information, and effectiveness of output star point information is guaranteed.
Description
Technical field
The invention belongs to spacecraft Star Sensor field, relate to a kind of star sensor Space Particle disturbance restraining method based on two frame process.
Background technology
Star sensor is that a kind of imaging type spatial attitude measures sensor, by extracting the asterism of clapped star chart, identify and calculate, export the three-axis attitude information of star sensor, because it has the feature such as high precision, high reliability, be widely used in all kinds of spacecraft such as satellite, airship.When star sensor uses in the environment that space particle radiation is stronger, a large amount of, random non-asterism speck in output image, can be produced.The energy size of these specks, distribution and fixed star image patch are similar, cause it cannot to be rejected by the pseudo-star distinguished number that star sensor feature based extracts, and then make star sensor cannot normally resolve output attitude data, greatly reduce star sensor reliability in-orbit.
The many random characters based on non-asterism speck of existing star sensor, adopt the mode of serial multiframe exposure star chart asterism energy and coordinate comparison, namely " exposure-process-exposure-process-comparison " mode, rejects non-asterism speck.Because every width star image processing time is longer, under current intelligence, the image patch change in location of same true fixed star on multiframe star chart is comparatively large, easily causes true fixed star by situation about rejecting by mistake, affects match cognization and the attitude algorithm of star sensor.
Summary of the invention
The technical matters that the present invention solves is: overcome the deficiencies in the prior art, a kind of star sensor Space Particle disturbance restraining method based on two frame process is provided, when making star sensor be subject to Space Particle interference in comparatively Larger Dynamic situation, can pseudo-star be differentiated effectively, rapidly thus realize AF panel.
Technical scheme of the present invention is: a kind of star sensor Space Particle disturbance restraining method based on two frame process, and step is as follows:
1) set p as the star sensor between-line spacing time, p is positive integer, and unit is microsecond; If the sensitive chip time shutter is m × p, the total line number of sensitive chip is N; Set up the first counter, original state value is 0, and maximal value is N+2m, keeps after counting down to maximal value;
2) by the star sensor of Space Particle interference under autonomous attitude acquisition pattern, new once two frame mode sensitive chip star charts exposure and reading by star sensor hardware logic; If new once two frame mode sensitive chip star chart exposure and the initial time read are t
0, t
0time to put the first counter be original state; From t
0start, star sensor hardware logic is the trigger interval time carry out operation a with p; Described operation a is that the first counter adds one, if judge, the first Counter Value is greater than N, carries out blank operation, otherwise starts the capable first time exposure of sensitive chip aa; Described aa is the currency of the first counter in star sensor hardware logic;
3) from t
0in+m × p moment, after carrying out operation a, carry out operation b immediately at every turn, carry out operation c immediately more afterwards; If described operation b, for judging that (aa-m) is greater than N, carries out blank operation, otherwise the first time starting sensitive chip (aa-m) row reads; If described operation c, for judging that (aa-m) is greater than N, carries out blank operation, otherwise start the second time exposure of sensitive chip (aa-m) row;
4) from t
0+ 2m × p moment, after carrying out operation a, operation b, operation c at every turn, executable operations d immediately; Described operation d is that the second time starting sensitive chip (aa-2m) row reads;
5) at t
0after+(N+2m-1) × p moment complete operation a, operation b, operation c, operation d, once two frame mode sensitive chip star chart exposure and reading terminate, store first time exposure and read the capable pixel of all sensitive chips of gained as the first star chart, the capable pixel of all sensitive chips storing second time exposure and read gained is as the second star chart;
6) star sensor carries out stress and strain model respectively to the first star chart and the second star chart, and every width star chart divides L × L grid altogether, and L is for being positive integer;
7) carry out asterism extraction to the first star chart and the second star chart, only retain the highest K of an energy asterism in each grid, K is for being positive integer;
8) the first asterism queue is set up; Contrast the asterism extracted in same grid in the first star chart and the second star chart, the asterism that rejecting only appears at the second star chart and do not appear in the same grid of the first star chart, preserve the asterism of remaining second star chart after rejecting to the first asterism queue;
9) set window size as 2W × 2W; Obtain window queue 1 with the coordinate position of asterism in the first asterism queue and window size, wherein the initial ranks coordinate of window equals asterism ranks coordinate and deducts W, and W is positive integer;
10) star sensor obtains a new frame window star chart by window queue 1;
11) the second asterism queue is set up; Star sensor carries out the extraction of window asterism, and the asterism that preservation is extracted is to the second asterism queue;
12) the 3rd asterism queue is set up; Contrast the asterism in the first asterism queue and the second asterism queue, rejecting only appears at the second asterism queue and does not appear at the asterism of the first asterism queue, preserves and rejects the rear remaining asterism of second asterism queue to the 3rd asterism queue;
13) the 3rd asterism queue is adopted to carry out star sensor star point match cognization and attitude is determined.
The present invention's good effect compared with prior art:
1, the dynamic adaptable that star sensor suppresses Space Particle interference function is optimized.The many employings of prior art " exposure-process-exposure-process-comparison " mode rejects non-asterism speck, and when star sensor operates in comparatively under Larger Dynamic operating mode, between every frame star chart, same asterism position deviation is comparatively large, and this suppressor mode easily rejects true fixed star information; The present invention passes through sequential control, under the very short time interval continuous exposure, read two frame star charts, then the comparison carrying out pseudo-star speck between star chart is rejected, when star sensor operates in comparatively under Larger Dynamic operating mode, between star chart, same asterism position deviation is minimum, ensure that the correctness that pseudo-star is rejected;
2, optimize doubtful asterism comparison and proof procedure, improve the validity exporting asterism queue.Prior art is when non-asterism speck is rejected in comparison, many employings position and energy information are in the comparison of full figure faceted search, rejected rear many directly output and remained asterism message queue, this mode is consuming time longer, and also likely containing invalid asterism information in the message queue of residue asterism; The present invention is when asterism platoon ratio pair, carry out image planes stress and strain model to asterism in advance, effective reduction gear ratio, to search time, completes asterism platoon ratio to rear, in next frame image, carry out checking of windowing by residue asterism information, ensure that the validity exporting asterism information.
Accompanying drawing explanation
Fig. 1 is two frame mode schematic diagram;
Fig. 2 is star chart 1 example obtained by two frame mode under Space Particle interference;
Fig. 3 is star chart 2 example obtained by two frame mode under Space Particle interference;
Fig. 4 is the asterism distribution example after Space Particle AF panel.
Embodiment
The present invention has been applied to certain small-sized star sensor domestic, and concrete implementation step is as follows:
1) set p as the star sensor between-line spacing time, p is positive integer, and unit is microsecond; If the sensitive chip time shutter is m × p, the total line number of sensitive chip is N; Set up counter 1, counter initial value is 0, and maximal value is N+2m, keeps after counting down to maximal value;
2) by the star sensor of Space Particle interference under autonomous attitude acquisition pattern, new once two frame mode sensitive chip star charts exposure and reading by star sensor hardware logic; If new once two frame mode sensitive chip star chart exposure and the initial time read are t
0, t
0time put counter 1 for original state; From t
0start, star sensor hardware logic is the trigger interval time carry out operation a with p; Described operation a is that counter 1 adds one, if judge, counter 1 value is greater than N, carries out blank operation, otherwise starts the capable first time exposure of sensitive chip aa; Described aa is the currency of linage-counter 1 in star sensor hardware logic;
3) from t
0in+m × p moment, after carrying out operation a, carry out operation b immediately at every turn, carry out operation c immediately afterwards; If described operation b, for judging that (aa-m) is greater than N, carries out blank operation, otherwise the first time starting sensitive chip (aa-m) row reads; If described operation c, for judging that (aa-m) is greater than N, carries out blank operation, otherwise start the second time exposure of sensitive chip (aa-m) row;
4) from t
0+ 2m × p moment, after carrying out operation a, operation b, operation c at every turn, executable operations d immediately; Described operation d is that the second time starting sensitive chip (aa-2m) row reads;
5) at t
0after+(N+2m-1) × p moment complete operation a, operation b, operation c, operation d, once two frame mode sensitive chip star chart exposure and reading terminate, store first time exposure and read the capable pixel of all sensitive chips of gained as star chart 1, the capable pixel of all sensitive chips storing second time exposure and read gained is as star chart 2;
6) star sensor carries out stress and strain model respectively to star chart 1 and star chart 2, and every width star chart divides L × L grid altogether;
7) asterism extraction is carried out to star chart 1 and star chart 2, in each grid, only retain the highest K of an energy asterism;
8) asterism queue 1 is set up; Contrast the asterism extracted in same grid in star chart 1 and star chart 2, the asterism that rejecting only appears at star chart 2 and do not appear in the same grid of star chart 1, after preservation rejecting, the asterism of remaining star chart 2 is to asterism queue 1;
9) set window size as 2W × 2W; Obtain window queue 1 with the coordinate position of asterism in asterism queue 1 and window size, wherein the initial ranks coordinate of window equals asterism ranks coordinate and deducts W;
10) star sensor obtains a new frame window star chart by window queue 1;
11) asterism queue 2 is set up; Star sensor carries out the extraction of window asterism, and the asterism that preservation is extracted is to asterism queue 2;
12) asterism queue 3 is set up; Contrast the asterism in asterism queue 1 and asterism queue 2, rejecting only appears at asterism queue 2 and does not appear at the asterism of asterism queue 1, preserves and rejects the rear remaining asterism of asterism queue 2 to asterism queue 3;
13) asterism queue 3 is adopted to carry out star sensor star point match cognization and attitude is determined.
Described pair of frame mode sensitive chip star chart exposure and reading, i.e. two frame process, for obtaining star chart exposure and the playback mode of two frame star charts with minimum time interval.Getting star quick between-line spacing time p is 1000 microseconds, and m is 3, and namely the sensitive chip time shutter is 3000 microseconds, and the total line number N of sensitive chip is 10, then step 1)-5) the two frame mode sensitive chip star charts exposure that describes and readout sequence are as shown in Figure 1.Wherein, from t
0in the moment, start the exposure of each row of the first frame star chart successively; From t
0in+3p the moment, while exposure first frame star chart remaining rows, read the row that the first frame star chart has completed exposure, and start the exposure of each row of the second frame star chart successively; From t
0in+6p the moment, the row that the second frame star chart has completed exposure is also read out; At t
0in+15p the moment, it is the star chart of time shutter that star sensor obtained for two frame period times.
The two frame star charts of Fig. 2 and Fig. 3 for obtaining based on two frame process when star sensor is subject to Space Particle interference.In figure, foursquare point represents actual asterism, and circular point represents the pseudo-asterism that Space Particle causes, represented by dotted arrows step 6) described in star chart stress and strain model.By step 6)-12) process obtain suppress Space Particle interference after asterism queue 3, in asterism queue 3 asterism star sensor image planes distribution as shown in Figure 4.
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., based on a star sensor Space Particle disturbance restraining method for two frame process, it is characterized in that step is as follows:
1) set p as the star sensor between-line spacing time, p is positive integer, and unit is microsecond; If the sensitive chip time shutter is m × p, the total line number of sensitive chip is N; Set up the first counter, original state value is 0, and maximal value is N+2m, keeps after counting down to maximal value;
2) by the star sensor of Space Particle interference under autonomous attitude acquisition pattern, new once two frame mode sensitive chip star charts exposure and reading by star sensor hardware logic; If new once two frame mode sensitive chip star chart exposure and the initial time read are t
0, t
0time to put the first counter be original state; From t
0start, star sensor hardware logic is the trigger interval time carry out operation a with p; Described operation a is that the first counter adds one, if judge, the first Counter Value is greater than N, carries out blank operation, otherwise starts the capable first time exposure of sensitive chip aa; Described aa is the currency of the first counter in star sensor hardware logic;
3) from t
0in+m × p moment, after carrying out operation a, carry out operation b immediately at every turn, carry out operation c immediately more afterwards; If described operation b, for judging that (aa-m) is greater than N, carries out blank operation, otherwise the first time starting sensitive chip (aa-m) row reads; If described operation c, for judging that (aa-m) is greater than N, carries out blank operation, otherwise start the second time exposure of sensitive chip (aa-m) row;
4) from t
0+ 2m × p moment, after carrying out operation a, operation b, operation c at every turn, executable operations d immediately; Described operation d is that the second time starting sensitive chip (aa-2m) row reads;
5) at t
0after+(N+2m-1) × p moment complete operation a, operation b, operation c, operation d, once two frame mode sensitive chip star chart exposure and reading terminate, store first time exposure and read the capable pixel of all sensitive chips of gained as the first star chart, the capable pixel of all sensitive chips storing second time exposure and read gained is as the second star chart;
6) star sensor carries out stress and strain model respectively to the first star chart and the second star chart, and every width star chart divides L × L grid altogether, and L is for being positive integer;
7) carry out asterism extraction to the first star chart and the second star chart, only retain the highest K of an energy asterism in each grid, K is for being positive integer;
8) the first asterism queue is set up; Contrast the asterism extracted in same grid in the first star chart and the second star chart, the asterism that rejecting only appears at the second star chart and do not appear in the same grid of the first star chart, preserve the asterism of remaining second star chart after rejecting to the first asterism queue;
9) set window size as 2W × 2W; Obtain window queue 1 with the coordinate position of asterism in the first asterism queue and window size, wherein the initial ranks coordinate of window equals asterism ranks coordinate and deducts W, and W is positive integer;
10) star sensor obtains a new frame window star chart by window queue 1;
11) the second asterism queue is set up; Star sensor carries out the extraction of window asterism, and the asterism that preservation is extracted is to the second asterism queue;
12) the 3rd asterism queue is set up; Contrast the asterism in the first asterism queue and the second asterism queue, rejecting only appears at the second asterism queue and does not appear at the asterism of the first asterism queue, preserves and rejects the rear remaining asterism of second asterism queue to the 3rd asterism queue;
13) the 3rd asterism queue is adopted to carry out star sensor star point match cognization and attitude is determined.
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| CN107315357A (en) * | 2017-05-31 | 2017-11-03 | 西北工业大学 | A kind of Approximation Modeling Method of shaft-like compliant mechanism for chip star attitude regulation |
| CN111412914A (en) * | 2020-04-21 | 2020-07-14 | 中国科学院光电技术研究所 | Method for improving attitude update rate of star sensor based on rolling shutter exposure frame correlation |
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Cited By (5)
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