CN104792346B - Indoor simulation device for space target optical characteristic actual measurement conditions - Google Patents

Indoor simulation device for space target optical characteristic actual measurement conditions Download PDF

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Publication number
CN104792346B
CN104792346B CN201510081245.6A CN201510081245A CN104792346B CN 104792346 B CN104792346 B CN 104792346B CN 201510081245 A CN201510081245 A CN 201510081245A CN 104792346 B CN104792346 B CN 104792346B
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detector
axle
support arm
extraterrestrial target
light source
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CN201510081245.6A
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CN104792346A (en
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徐融
赵飞
杨新
项磊
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中国科学院光电研究院
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Abstract

The invention provides an indoor simulation device for space target optical characteristic actual measurement conditions. The indoor simulation device for the space target optical characteristic actual measurement conditions comprises a light source (1), a reflecting mirror (2), a three-axle table (3), a detector (4), a detector guide rail (5), a space target model (6) and a detector support (7). According to the indoor simulation device for the space target optical characteristic actual measurement conditions, optical characteristic measurement of a high angle precision and large-size space target model in any postures and under any illumination angles is simply achieved through small space due to a craft design, especially a four-axis system which is formed by the three-axle table and a single-axis rotary detector support.

Description

A kind of extraterrestrial target optical characteristics surveys the indoor simulation device of condition

Technical field

The invention belongs to extraterrestrial target optical characteristic measurement field, more particularly to a kind of extraterrestrial target optical characteristics actual measurement bar The indoor simulation device of part.

Background technology

Extraterrestrial target optical characteristics lab simulation technology, is in laboratory simulation extraterrestrial target institute face using apparatus and method The space illumination condition that faces, while the relative geometrical relation of analog light source-target-detector, it is therefore an objective to realize to actual observation The parallel simulation of process (observation of ground telescope, the observation of space-based load) with observation data.Using laboratory simulation, can aid in All kinds of theoretical models of target optical characteristic are set up, actual observation data can be compared is come goal in research shape, phase angle, material Influence of the multiclass such as characteristic, revolving property factor to target optical characteristic, more effectively to recognize known and unknown in-orbit mesh Mark.One of key technology of extraterrestrial target optical characteristics indoor simulation device is the geometric layout and angle map method of device.

Extraterrestrial target optical characteristics lab simulation technology in the relative geometrical relation of analog light source-target-detector, by In condition limitation, the equipment with direct corresponding " on the basis of satellite body coordinate " in the case of actual observation is built in laboratory Layout method, i.e. object module are motionless, solar simulator around target make at any angle 2 axles rotation, detector simultaneously also around Object module and make 2 axles rotation at any angle, be infeasible.Reason is space not enough big, solar simulator and receiver Generally heavier, rotating mechanism load-bearing limitation can not support them simultaneously to ensure precision, as shown in Figure 1.

Therefore it is laid out, it is necessary to set up the device being suitable under laboratory condition in the construction of laboratory simulation device, and And using the method for angle map, realize relative geometrical relation that is equivalent with actual observation and easily realizing.

Existing indoor simulation device, such as U.S. Optical Measurements Center (OMC) at NASA/JSC, (National Aeronautics and Space Administration/Johnson Space Center) (state aviation The optical measurement center of space agency/Johnson space center) relevant apparatus, as shown in Figure 2.

The U.S. mainly carries out at OMC optical measurement center the indoor optical characteristic measurement of space junk, is reflected which employs angle The method penetrated is mapped to measurement space in horizontal plane.As shown in Fig. 2 object module is located at the industrial machinery arm at laboratory center On, it can be manipulated and realize that three axles are rotated.Across whole laboratory, below the crossbeam has one in field experiment to one overarm brace The spiral arm of heart axle rotation, light source is located at long-armed one end of spiral arm, and black background is fixed in galianconism one end to be used to absorb veiling glare and with matching somebody with somebody Galassing weighs, and it is motionless and point to target to be measured all the time that detector is fixed on laboratory side.

The system advantage is that total system computerizeds control, and using the control mode of " 3+1 " axle, only needs operating robotic arm to adjust Whole target three-axis attitude in itself, and the observation phase angle between light source and detector can remain at the change of horizontal plane single shaft, Need not move up and down.While this device realizes the arbitrarily angled illumination of target and observation, compared with satellite body coordinate as base Accurate device layout method enormously simplify equipment arrangement, reduce cost.

But the program has weak point:The program is that 360 degree of rotations for realizing spiral arm need larger circle real Space is tested, special large area laboratory need to be set up.Although central robot arm can realize the three-axis attitude control of target, its load-bearing Ability is small, attitude angular accuracy is low, central point stability not enough.In addition for large scale target measurement, it is necessary to using heavy caliber too Positive analog light source, its scale of construction is larger to be difficult to be installed and used on spiral arm, therefore the program is still only applicable to low precision analog measurement The optical characteristics of small size space junk.

The content of the invention

To solve the above problems, the present invention provides the indoor simulation device that a kind of extraterrestrial target optical characteristics surveys condition. The present invention only with the space of script half, and it is simple and direct realize under extraterrestrial target any attitude, any lighting angle, high angle The measurement of precision, the optical characteristics of large scale model.

Extraterrestrial target optical characteristics of the invention surveys the indoor simulation device of condition, and it includes light source (1), speculum (2), three-axle table (3), detector (4), detector guide rail (5), extraterrestrial target model (6) and detector carriage (7);

A half-circle area is chosen indoors, and the circle centre position in half-circle area installs three-axle table (3);

Light source (1), speculum (2) are installed outside the half-circle area, the light that light source (1) sends passes through speculum (2) Reflex to and be installed on the extraterrestrial target model (6) of three-axle table (3);

Detector (4) is installed in detector carriage (7) one end, and the other end is connected with three-axle table, is carried out around three-axle table 180 degree is moved, and movement locus is the circular arc of the half-circle area;

Detector guide rail (5), is semi-hexagon shape, and the center of hexagon overlaps with the center of circle of half-circle area, detector branch Frame (7) is connected to detector guide rail (5) by the way that moving fulcrum accessory is mobilizable, and moving fulcrum accessory can be along detector guide rail (5) move, while can be moved along the bearing of trend of detector carriage (7);

The three-axle table (3) includes:Base (31), the first support arm (32), the second support arm (33) and the 3rd support Arm (34), base (31) is fixed on ground, and the first support arm (32) is rotatably installed on base (31), and rotating shaft is set to Axis 1, extraterrestrial target model (6) is controlled relative to the yaw angle of light source direction by the rotation of the first support arm (32);Second Support arm is connected and fixed on the first support arm (32), and the 3rd support arm (34) is rotatably installed on the second support arm (33) On, rotating shaft is set to Axis2, and extraterrestrial target model (6) is controlled relative to light source direction by the rotation of the 3rd support arm (34) Roll angle;And the 3rd support arm (34) two ends Jun You extension, extraterrestrial target model (6) is installed between two extensions, space Object module (6) around rotating shaft be Axis3, it is relative by rotation adjustment space object module (6) of extraterrestrial target model (6) In the angle of pitch of light source direction;

Above-mentioned Axis 1 is caused parallel to ground perpendicular to ground, Axis2 by the rotation of the 3rd support arm (34) , in a rotation with surface, the plane is perpendicular to Axis2 for Axis3;Extraterrestrial target model (6) positioned at Axis 1, Axis2 and On the intersection point of Axis3.

Further, in an indoor coffin, light source (1) and speculum (2) are arranged in square to indoor simulation device In shape space on two angles of same short side;Parallel to coffin side arrangement long, wall side reserves three to the straight flange of half-circle area The revolution space of axle turntable;And the particular location of speculum (2) is on the straight flange end points or its extended line of half-circle area.

Further, the distance between three-axle table center and speculum are the radius of the half-circle area.

Further, detector carriage (7) is brace type or suspension type;

The brace type is:Detector guide rail (5) is laid on ground;

The suspension type is:Detector guide rail (5) is fixed on indoor ceiling.

Further, the moving fulcrum part is equipped with motor, is driven by motor and is advanced on detector guide rail (5), band Dynamic detector carriage (7) and detector (4) are rotated around three-axle table.

Further, motor is installed at the axle Axis 0 of the detector carriage (7), detector carriage is driven by motor (7) detector (4) rotation is driven, moving fulcrum uses driven structure.

Beneficial effect:

Contrast prior art, the present invention can either realize the complete phase of device layout with " on the basis of satellite body coordinate " Same relative angle coverage effect, can simplify experimental implementation again, save lab space, be easy to automation mechanized operation, specific advantage It is as follows:

1st, the present invention can realize the arbitrarily angled illumination in laboratory simulation extraterrestrial target and observation scene.

2nd, under the conditions of same distance, compared to U.S. OMC, space needed for the solution of the present invention layout is only about its one Half, it is easier to carry out in rectangle room, the transformation arrangement of common laboratory environment is more suitable for, save environmental reconstruction expense With.

3rd, the Arbitrary Rotation of object module, is realized by three-axle table, and running accuracy is high, and (angle precision is better than 0.1 Degree), rotary middle point is fixed (center excursD is limited in a spherical space of diameter 10mm) all the time, is capable of achieving high-precision mesh Mark attitude-simulating.And due to the mechanical property that three-axle table is excellent, can be with load-bearing greater weight object module (>=10Kg). And the arbitrarily rotation of U.S. OMC control targes model uses tandem industrial machinery arm, its angle control precision is low, central point Stability is low, and load-bearing is small (can only clamp small fragment), and its gesture stability is sufficiently complex, and (serial mechanism control planning is answered It is miscellaneous).

4th, light source uses heavy caliber light source in this programme, and irradiation hot spot (diameter >=1.1m) can cover large-sized mesh Mark model (width or height are more than 1m) simultaneously realizes measurement.

5th, the in-orbit position and attitude simulation of this programme Satellite is carried out using ripe business software, by building coordinate system and arrow Change of variable, can directly calculate the anglec of rotation needed for each axle, then angle-data is directly inputted into turntable and guide rail controlling organization , schduling control algorithm is succinct.

6th, delustring treatment is done in the overall plan of laboratory in itself to metope, ground, ceiling and equipment so that experimentation Middle environment veiling glare is low, disturbs small.

Brief description of the drawings

Fig. 1 is the device layout schematic diagram on the basis of the coordinate system by satellite body of the prior art;

Fig. 2 is indoor optical characteristic measurement schematic layout pattern of the prior art;

Fig. 3 is three-axle table structural representation of the invention;

Fig. 4 is the schematic layout pattern of extraterrestrial target optical characteristics indoor simulation device of the invention;

Fig. 5 is the layout top view of extraterrestrial target optical characteristics indoor simulation device of the invention;

Fig. 6 is satellite body coordinate system schematic diagram of the invention;

The coordinate system schematic diagram of extraterrestrial target when Fig. 7 is actual measurement;

Fig. 8 is the coordinate system schematic diagram of extraterrestrial target model of the invention;

Fig. 9 is the schematic diagram of Y-axis projection vector PY on the reference plane in the present invention;

Figure 10 is auxiliary coordinates OX of the invention " Y " Z " and the axle anglec of rotation schematic diagram of turntable three;

Figure 11 is four-axis system of the invention entirety shafting figure.

Wherein reference is:

Light source -1;Speculum -2;Three-axle table -3;Detector -4;Detector guide rail -5;Extraterrestrial target model -6;Detection Device support -7;Base -31;First support arm -32;Second support arm -33;3rd support arm -34.

Specific embodiment

As shown in Figure 4 and Figure 5, the indoor simulation device of extraterrestrial target optical characteristics actual measurement condition of the invention includes light source 1st, speculum 2, three-axle table 3, detector 4, detector guide rail 5, extraterrestrial target model 6 and detector carriage 7;

A half-circle area is chosen indoors, and the circle centre position in half-circle area installs three-axle table 3;

Light source 1, speculum 2 are installed outside the half-circle area, the light that light source 1 sends reflexes to peace by speculum 2 On extraterrestrial target model 6 loaded on three-axle table 3;

Detector 4 is installed in the one end of detector carriage 7, and the other end is connected with three-axle table, and 180 degree is carried out around three-axle table Motion, and movement locus is the circular arc of the half-circle area, effect preferably, detector carriage rotating shaft is set to Axis 0, passes through Its observation phase angle for rotating control light source-object module-detector three definition;

Detector guide rail 5, is semi-hexagon shape, and the centers of six deformations overlap with the center of circle of half-circle area, detector carriage 7 Detector guide rail 5 is connected to by the way that moving fulcrum accessory is mobilizable, moving fulcrum accessory can be moved along detector guide rail 5, together When can be moved along the bearing of trend of detector carriage 7;

As shown in figure 3, the three-axle table 3 includes:Base 31, the first support arm 32, the second support arm 33 and the 3rd Brace 34, base 31 is fixed on ground, and the first support arm 32 is rotatably installed on base 31, and rotating shaft is set to Axis 1, By the yaw angle of the rotation control extraterrestrial target model 6 relative to light source direction of the first support arm 32;Second support arm is connected It is fixed on the first support arm 32, the 3rd support arm 34 is rotatably installed on the second support arm 33, and rotating shaft is set to Axis2, By the roll angle of the rotation control extraterrestrial target model 6 relative to light source direction of the 3rd support arm 34;And the 3rd support arm 34 Two ends Jun You extensions, extraterrestrial target model 6 is installed between two extensions, extraterrestrial target model 6 around rotating shaft be Axis3, by the angle of pitch of the rotation adjustment space object module 6 relative to light source direction of extraterrestrial target model 6;

Above-mentioned Axis 1 causes Axis3 parallel to ground perpendicular to ground, Axis2 by the rotation of the 3rd support arm 34 In a rotation with surface, the plane is perpendicular to Axis2;Extraterrestrial target model 6 is located at the intersection point of Axis 1, Axis2 and Axis3 On.Now, four-axis system entirety shafting is as shown in figure 11.

In the indoor coffin, light source 1 and speculum 2 are arranged in same short in coffin indoor simulation device On two angles on side;The straight flange of half-circle area is parallel to coffin side arrangement long, and the rotation that wall side reserves three-axle table is empty Between;And the particular location of speculum 2 is shown in Fig. 5 on the straight flange end points or its extended line of half-circle area;

Further, the distance between three-axle table center and speculum are the radius of the half-circle area.

Further, detector carriage is brace type or suspension type;

The brace type is:Detector guide rail 5 is laid on ground;

The suspension type is:Detector guide rail 5 is fixed on indoor ceiling.

Further, the moving fulcrum part is equipped with motor, is driven by motor and is advanced on detector guide rail 5, drives Detector carriage 7 and detector 4 are rotated around three-axle table.Motor can be also installed at the axle Axis 0 of detector carriage 7, by electricity Machine drives detector carriage 7 to drive detector 4 to rotate, and moving fulcrum uses driven structure.

The implementation method of the present apparatus is:

Step 1, sets up the body coordinate system OXYZ of extraterrestrial target model:Geometric centers of the origin O in extraterrestrial target model 6 On, the payload of Z axis correspondence real satellite is pointed to, and the satellite sailboard axle of Y-axis correspondence real satellite is pointed to, and X-axis is relative to Y-axis Meet right-hand law with Z axis, as shown in Figure 6.

Step 2, as shown in figure 8, the reference frame OX ' Y ' Z ' of indoor simulation device are set up, relative to lab space It is fixed:Origin O on the pivot of three-axle table 3, and the center superposition of extraterrestrial target model 6, X ' axles are from extraterrestrial target model 6 Geometric center start, the center of directional mirror 2, Y ' axles since the geometric center of extraterrestrial target model 6, perpendicular to ground, Point up, Z ' axles meet right-hand law relative to X ' axles and Y ' axles;

Step 3, defines light source vector VL, detector vector VD:Geometric centers of the light source vector VL from extraterrestrial target model 6 Start, the center of directional mirror 2, detector vector VD since the geometric center of extraterrestrial target model 6, directed towards detector 4, Real space target is corresponding with the coordinate system of laboratory model as shown in Figure 7 and Figure 8;

Step 4, with the OX ' Z ' faces in reference frame as a reference plane, makees the Y-axis in body coordinate system in the reference Projection in plane, obtains vector PY, as shown in figure 9, with vector PY as Z " axle, with the Y ' axles in reference frame as Y " The vector in axle, to cross O perpendicular to O Y " Z " faces is X " axle, set up auxiliary coordinates OX " Y " Z ", as shown in Figure 10.

Step 5, zero moment, detector 4 be located at light source vector VL on, the axles of body coordinate system XYZ tri- respectively with reference coordinate It is the overlapping of axles of X ' Y ' Z ' three, detector vector VD is parallel with light source vector VL.

After step 6, certain moment t, real satellite illumination and detection angle change:

The observation phase angle variations amount Phase Angle from moment t to zero moment in real satellite are obtained, detection is slided Device support and slip angle are Phase Angle so that the angle between VL and VD is equal to Phase Angle;

The yaw angle variable quantity BaseAngle from moment t to zero moment in real satellite is obtained, the first support arm is controlled Rotated around axle Axis 1 and rotational angle be Base Angle so that X in auxiliary coordinates " X ' axles in axle and reference frame Angle is equal to BaseAngle;

Obtain the rolling angle variable quantity Roll Angle from moment t to zero moment in real satellite, control the 3rd Support arm is rotated around axle Axis 2 and rotational angle is Roll Angle so that in reference frame in Y ' axles and body coordinate system The angle of Y-axis is equal to RollAngle;

The target pitch angle variable quantity Lift Angle from moment t to zero moment in real satellite are obtained, space is controlled Object module is rotated around axle Axis 3 and rotational angle is LiftAngle so that X in auxiliary coordinates " axle and body coordinate system Middle X-axis angle is equal to LiftAngle.

Shone the full angle for making light source realize target by way of movement on whole circuit orbit for U.S. OMC It is bright, the larger problem of required lab space.This programme employs the mode of space folding, can reduce required laboratory area Nearly half.From in terms of depression angle, light source vector starts regulation, and Phase Angle are clockwise for just, counterclockwise is negative, the design Middle Phase Angle can only take 0~180 degree;

When the observation phase angle Phase Angle of real satellite are 0 to 180 °, space mesh is carried out in a manner mentioned above Mark optical characteristic measurement simulation;

When the observation phase angle Phase Angle of real satellite are 0 to -180 °, by whole indoor simulation device with light Source vector VL virtually rotates 180 ° for axle, that is, control detector carriage to go to opposite Phase Angle around Axis 0 (plus negative Number), the first support arm goes to opposite Base Angle (plus negative sign) around axle Axis 1, and the 3rd support arm is around 2 turns of axle Axis 180 degree, after carry out extraterrestrial target optical characteristic measurement according still further to above-mentioned mode.

Above-mentioned Base Angle, clockwise to be counterclockwise negative just, rotate model as the positive and negative definition of Phase Angle It is -180~180 degree to enclose.

When whole indoor simulation device virtually is rotated into 180 ° as axle with light source vector VL, extraterrestrial target model is around axle It is zero that Axis 3 is rotated, therefore need not rotate Axis 3.

Certainly, the present invention can also have other various embodiments, ripe in the case of without departing substantially from spirit of the invention and its essence Know those skilled in the art and work as and various corresponding changes and deformation, but these corresponding changes and change can be made according to the present invention Shape should all belong to the protection domain of appended claims of the invention.

Claims (5)

1. a kind of extraterrestrial target optical characteristics surveys the indoor simulation device of condition, it is characterised in that including light source (1), reflection Mirror (2), three-axle table (3), detector (4), detector guide rail (5), extraterrestrial target model (6) and detector carriage (7);
A half-circle area is chosen indoors, and the circle centre position in half-circle area installs three-axle table (3);
Light source (1), speculum (2) are installed outside the half-circle area, the light that light source (1) sends is reflected by speculum (2) To being installed on the extraterrestrial target model (6) of three-axle table (3);
Detector (4) is installed in detector carriage (7) one end, and the other end is connected with three-axle table, and 180 degree is carried out around three-axle table Motion, and movement locus is the circular arc of the half-circle area;
Detector guide rail (5), is semi-hexagon shape, and the center of hexagon overlaps with the center of circle of half-circle area, detector carriage (7) Detector guide rail (5) is connected to by the way that moving fulcrum accessory is mobilizable, moving fulcrum accessory can be transported along detector guide rail (5) It is dynamic, while can be moved along the bearing of trend of detector carriage (7);
The three-axle table (3) includes:Base (31), the first support arm (32), the second support arm (33) and the 3rd support arm (34), base (31) is fixed on ground, and the first support arm (32) is rotatably installed on base (31), and rotating shaft is set to Axis1, extraterrestrial target model (6) is controlled relative to the yaw angle of light source direction by the rotation of the first support arm (32);Second Support arm is connected and fixed on the first support arm (32), and the 3rd support arm (34) is rotatably installed on the second support arm (33) On, rotating shaft is set to Axis2, and extraterrestrial target model (6) is controlled relative to light source direction by the rotation of the 3rd support arm (34) Roll angle;And the 3rd support arm (34) two ends Jun You extension, extraterrestrial target model (6) is installed between two extensions, space Object module (6) around rotating shaft be Axis3, it is relative by rotation adjustment space object module (6) of extraterrestrial target model (6) In the angle of pitch of light source direction;
Above-mentioned Axis1 causes Axis3 one parallel to ground perpendicular to ground, Axis2 by the rotation of the 3rd support arm (34) Individual rotation with surface, the plane is perpendicular to Axis2;Extraterrestrial target model (6) is on the intersection point of Axis1, Axis2 and Axis3;
In an indoor coffin, light source (1) and speculum (2) are arranged in coffin together the indoor simulation device On two angles of one short side;Parallel to coffin side arrangement long, wall side reserves the rotation of three-axle table to the straight flange of half-circle area Turn space;And the particular location of speculum (2) is on the straight flange end points or its extended line of half-circle area.
2. extraterrestrial target optical characteristics as claimed in claim 1 surveys the indoor simulation device of condition, it is characterised in that three axles The distance between turntable center and speculum are the radius of the half-circle area.
3. extraterrestrial target optical characteristics as claimed in claim 1 surveys the indoor simulation device of condition, it is characterised in that detection Device support (7) is brace type or suspension type;
The brace type is:Detector guide rail (5) is laid on ground;
The suspension type is:Detector guide rail (5) is fixed on indoor ceiling.
4. extraterrestrial target optical characteristics as claimed in claim 1 surveys the indoor simulation device of condition, it is characterised in that described Moving fulcrum part is equipped with motor, is driven by motor and is advanced on detector guide rail (5), drives detector carriage (7) and detection Device (4) is rotated around three-axle table.
5. extraterrestrial target optical characteristics as claimed in claim 1 surveys the indoor simulation device of condition, it is characterised in that described Motor is installed at the axle Axis0 of detector carriage (7), drives detector carriage (7) to drive detector (4) to rotate by motor, it is living Activity supporting point uses driven structure.
CN201510081245.6A 2015-02-15 2015-02-15 Indoor simulation device for space target optical characteristic actual measurement conditions CN104792346B (en)

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