CN104792347B - Indoor simulation method for space target optical characteristic actual measurement conditions - Google Patents

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

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Publication number
CN104792347B
CN104792347B CN201510081259.8A CN201510081259A CN104792347B CN 104792347 B CN104792347 B CN 104792347B CN 201510081259 A CN201510081259 A CN 201510081259A CN 104792347 B CN104792347 B CN 104792347B
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angle
axle
detector
axis
extraterrestrial target
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CN201510081259.8A
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CN104792347A (en
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赵飞
徐融
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 method for space target optical characteristic actual measurement conditions. The indoor simulation method for the space target optical characteristic actual measurement conditions comprises the following steps of step 1, arranging a simulation device for the space target optical characteristic actual measurement conditions; step 2, establishing a body coordinate system for a space target model; step 3, establishing a reference coordinate system for an indoor simulation device; step 4, defining a light source vector VL and a detector vector VD; step 5, establishing an auxiliary coordinate system; step 6, enabling three axes of the body coordinate system and three axes of the reference coordinate system to be coincided respectively and the detector vector VD and the light source vector VL to be parallel at the zero moment; step 7, obtaining angular variation on a real satellite from the moment t to the zero moment after the illumination and detection angles of the real satellite are changed at some moment t, adjusting the indoor simulation system according to the above three coordinate systems and achieving simulation of real space target illumination and observation conditions to further achieve simulation of a real space target observation process.

Description

A kind of extraterrestrial target optical characteristics surveys the lab simulation method 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 lab simulation method 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 a kind of lab simulation method that extraterrestrial target optical characteristics surveys condition. This method 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 lab simulation method of condition, and it includes:

Step 1, arrangement space target optical characteristic surveys the device of condition simulation:

Step 1-1, chooses all parts of described device, and the part includes:Light source (1), speculum (2), three axles turn Platform (3), detector (4), detector guide rail (5), extraterrestrial target model (6) and detector carriage (7);

Step 1-2, chooses a half-circle area indoors, and all parts are arranged in half-circle area:

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) is sent passes through speculum (2) reflex to and be installed on the extraterrestrial target model (6) of three-axle table (3);

Detector (4) is installed into detector carriage (7) one end, the other end is connected with three-axle table, it is turned around three axles Platform carries out 180 degree motion, and movement locus is the circular arc of the half-circle area, and detector carriage rotating shaft is set to Axis 0, passes through It rotates control light source, object module, the observation phase angle of detector three;

Semi-hexagonal detector guide rail (5) is chosen, by the center of circle weight of the center of the detector guide rail (5) and half-circle area Close, and detector carriage (7) is connected to detector guide rail (5) by the way that moving fulcrum accessory is mobilizable, make the activity branch Point accessory can be moved along detector guide rail (5), while can be moved along the bearing of trend of detector carriage (7);

Design three-axle table (3):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, the first support arm (32) is rotatably installed on base (31) on, rotating shaft is set to Axis 1, and rotation by the first support arm (32) controls extraterrestrial target model (6) relative to light source The yaw angle in direction;Second support arm is fixed on the first support arm (32), the 3rd support arm (34) is rotatably installed on On second support arm (33), rotating shaft is set to Axis2, and extraterrestrial target model (6) phase is controlled by the rotation of the 3rd support arm (34) For the roll angle of light source direction;3rd support arm (34) two ends are equipped with extension, and extraterrestrial target model (6) is installed on into two Between extension, extraterrestrial target model (6) around rotating shaft be Axis3, by the rotation adjustment space of extraterrestrial target model (6) The angle of pitch of the object module (6) relative to 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;

Step 2, sets up the body coordinate system OXYZ of extraterrestrial target model:Origin O is in the geometry of extraterrestrial target model (6) In the heart, 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 Axle and Z axis meet right-hand law;

Step 3, sets up the reference frame OX ' Y ' Z ' of indoor simulation device, is fixed relative to lab space:Origin O On the pivot of three-axle table (3), with extraterrestrial target model (6) center superposition, X ' axles are several from extraterrestrial target model (6) What center starts, directional mirror (2) center, 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 4, defines light source vector VL, detector vector VD:Light source vector VL is from the geometry of extraterrestrial target model (6) The heart starts, the center of directional mirror (2), and detector vector VD is pointed to and visited since the geometric center of extraterrestrial target model (6) Survey device (4);

Step 5, 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, with vector PY as Z " axle, with the Y ' axles in reference frame as Y " axle, it is vertical to cross O In O Y " Z " face vector be X " axle, set up auxiliary coordinates OX " Y " Z ";

Step 6, zero moment, detector (4) on light source vector VL, with reference sit respectively by the axles of body coordinate system XYZ tri- The overlapping of axles of mark system X ' Y ' Z ' three, detector vector VD is parallel with light source vector VL;

After step 7, 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 Lift Angle so that X in auxiliary coordinates " axle and body coordinate system Middle X-axis angle is equal to Lift Angle.

Further, from terms of depression angle, light source vector starts, Phase Angle be clockwise for just, counterclockwise it is negative, Phase Angle can only take 0~180 degree in the design;

When the observation phase angle Phase Angle of real satellite are 0 to 180 °, carried out according to the mode of claim 1 Extraterrestrial target optical characteristic measurement is simulated;

It is when the observation phase angle Phase Angle of real satellite are 0 to -180 °, whole indoor simulation device is virtual Ground rotates 180 ° by axle of light source vector VL, that is, control detector carriage to go to opposite Phase Angle around Axis 0, i.e., Phase Angle add negative sign, the first support arm to go to opposite Base Angle, i.e. Base Angle around axle Axis 1 and add negative Number, the 3rd support arm carries out extraterrestrial target optical characteristics survey after the turnbacks of axle Axis 2 according still further to the mode of claim 1 Amount.

Further, in step 1 by indoor simulation device in the indoor coffin, light source (1) and speculum (2) It is arranged on two angles of same short side in coffin;The straight flange of half-circle area is parallel to coffin side arrangement long, wall side Reserve the revolution space of three-axle table;And the particular location of speculum (2) is in the straight flange end points of half-circle area or its extension On line.

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

Further, the detector carriage (7) chosen in step 1 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, moving fulcrum part described in step 1 is equipped with motor, is driven on detector guide rail (5) by motor Advance, drive detector carriage (7) and detector (4) to be rotated around three-axle table.

Further, motor is installed in step 1 at the axle Axis 0 of detector carriage (7), detector branch is driven by motor Frame (7) drives detector (4) rotation, and 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 device schematic layout pattern of extraterrestrial target optical characteristics lab simulation method of the invention;

Fig. 5 is the device layout top view of extraterrestrial target optical characteristics lab simulation method 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

Extraterrestrial target optical characteristics of the invention surveys the lab simulation method of condition, and it includes:

Step 1, arrangement space target optical characteristic surveys the device of condition:

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

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, detector carriage rotating shaft is set to Axis 0, and control light is rotated by it The observation phase angle of 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.

Step 2, 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 3, 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 4, 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 5, 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 OY " Z " faces is X " axle, set up auxiliary coordinates OX " Y " Z ", as shown in Figure 10.

Step 6, 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 7, 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 Base Angle from moment t to zero moment in real satellite are obtained, control first is supported Arm is rotated around axle Axis 1 and rotational angle is Base Angle so that X in auxiliary coordinates " X ' axles in axle and reference frame Angle be equal to Base Angle;

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 Roll Angle;

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 Lift Angle so that X in auxiliary coordinates " axle and body coordinate system Middle X-axis angle is equal to Lift Angle.

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 (6)

1. a kind of extraterrestrial target optical characteristics surveys the lab simulation method of condition, it is characterised in that including:
Step 1, arrangement space target optical characteristic surveys the device of condition simulation:
Step 1-1, chooses all parts of described device, and the part includes:Light source (1), speculum (2), three-axle table (3), detector (4), detector guide rail (5), extraterrestrial target model (6) and detector carriage (7);
Step 1-2, chooses a half-circle area indoors, and all parts are arranged in half-circle area:
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) is sent is anti-by speculum (2) It is incident upon on the extraterrestrial target model (6) for being installed on three-axle table (3);
The device of extraterrestrial target optical characteristics actual measurement condition simulation in an indoor coffin, light source (1) and reflection Mirror (2) is arranged on two angles of same short side in coffin;The straight flange of half-circle area parallel to coffin side long arrangement, Wall side reserves the revolution space of three-axle table;And the particular location of speculum (2) the straight flange end points of half-circle area or its On extended line;
Detector (4) is installed into detector carriage (7) one end, the other end is connected with three-axle table, it is entered around three-axle table Row 180 degree is moved, and movement locus is the circular arc of the half-circle area, and detector carriage rotating shaft is set to Axis 0, by its turn Dynamic control light source, object module, the observation phase angle of detector three;
Semi-hexagonal detector guide rail (5) is chosen, the center of the detector guide rail (5) is overlapped with the center of circle of half-circle area, And detector carriage (7) is connected to detector guide rail (5) by the way that moving fulcrum accessory is mobilizable, match somebody with somebody the moving fulcrum Part can be moved along detector guide rail (5), while can be moved along the bearing of trend of detector carriage (7);
Design three-axle table (3):The three-axle table (3) includes base (31), the first support arm (32), the second support arm (33) With the 3rd support arm (34), base (31) is fixed on ground, the first support arm (32) is rotatably installed on base (31) On, rotating shaft is set to Axis 1, and rotation by the first support arm (32) controls extraterrestrial target model (6) relative to light source direction Yaw angle;Second support arm is fixed on the first support arm (32), the 3rd support arm (34) is rotatably installed on second On support arm (33), rotating shaft is set to Axis2, by the rotation of the 3rd support arm (34) control extraterrestrial target model (6) relative to The roll angle of light source direction;3rd support arm (34) two ends are equipped with extension, and extraterrestrial target model (6) is installed on into two extensions Section between, extraterrestrial target model (6) around rotating shaft be Axis3, by the rotation adjustment space target of extraterrestrial target model (6) The angle of pitch of the model (6) relative to light source direction;
Above-mentioned Axis 0 and Axis 1 is coaxial, axle center be located at three-axle table pivot, Axis 1 perpendicular to ground, and with Axis 0 is coaxial, and Axis2 causes Axis3 in a rotation with surface parallel to ground by the rotation of the 3rd support arm (34), The plane is perpendicular to Axis2;Extraterrestrial target model (6) is on the intersection point of Axis 1, Axis2 and Axis3;
Step 2, 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;
Step 3, sets up the reference frame OX ' Y ' Z ' of indoor simulation device, is fixed relative to lab space:Origin O is three On the pivot of axle turntable (3), with extraterrestrial target model (6) center superposition, X ' axles are from the geometry of extraterrestrial target model (6) The heart starts, directional mirror (2) center, and Y ' axles, perpendicular to ground, are pointed to since the geometric center of extraterrestrial target model (6) Top, Z ' axles meet right-hand law relative to X ' axles and Y ' axles;
Step 4, defines light source vector VL, detector vector VD:Light source vector VL is opened from the geometric center of extraterrestrial target model (6) Begin, the center of directional mirror (2), detector vector VD since the geometric center of extraterrestrial target model (6), directed towards detector (4);
Step 5, with the OX ' Z ' faces in reference frame as a reference plane, makees the Y-axis in body coordinate system in the reference planes On projection, obtain vector PY, with vector PY as Z " axle, with the Y ' axles in reference frame as Y " axle, with mistake O perpendicular to O The vector in Y " Z " faces is X " axle, set up auxiliary coordinates OX " Y " Z ";
Step 6, zero moment, detector (4) on light source vector VL, the axles of body coordinate system XYZ tri- respectively with reference frame The overlapping of axles of X ' Y ' Z ' three, detector vector VD is parallel with light source vector VL;
After step 7, 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, detector branch is slided Frame and slip angle are Phase Angle so that the angle between VL and VD is equal to Phase Angle;
Obtain yaw angle variable quantity Base Angle from moment t to zero moment in real satellite, the first support arm of control around Axle Axis 1 is rotated and rotational angle is Base Angle so that X in auxiliary coordinates " folder of X ' axles in axle and reference frame Angle is equal to Base Angle;
The rolling angle variable quantity Roll Angle from moment t to zero moment in real satellite are obtained, control the 3rd is supported Arm is rotated around axle Axis 2 and rotational angle is Roll Angle so that Y-axis in Y ' axles and body coordinate system in reference frame Angle be equal to Roll Angle;
The target pitch angle variable quantity Lift Angle from moment t to zero moment in real satellite are obtained, extraterrestrial target is controlled Model is rotated around axle Axis 3 and rotational angle is Lift Angle so that X in auxiliary coordinates " X in axle and body coordinate system Axle clamp angle is equal to Lift Angle.
2. extraterrestrial target optical characteristics as claimed in claim 1 surveys the lab simulation method of condition, it is characterised in that
From in terms of depression angle, light source vector starts, and Phase Angle are clockwise for just, counterclockwise is negative, Phase in the design Angle can only take 0~180 degree;
When the observation phase angle Phase Angle of real satellite are 0 to 180 °, space is carried out according to the mode of claim 1 Target optical characteristic measurement simulation;
When the observation phase angle Phase Angle of real satellite is 0 to -180 °, by whole indoor simulation device virtually with Light source vector VL is that axle rotates 180 °, that is, control detector carriage to go to opposite Phase Angle, i.e. Phase around Axis 0 Angle adds negative sign, the first support arm to go to opposite Base Angle, i.e. Base Angle around axle Axis 1 and add negative sign, the 3rd Support arm carries out extraterrestrial target optical characteristic measurement after the turnbacks of axle Axis 2 according still further to the mode of claim 1.
3. extraterrestrial target optical characteristics as claimed in claim 1 surveys the lab simulation method of condition, it is characterised in that three axles The distance between turntable center and speculum are the radius of the half-circle area.
4. extraterrestrial target optical characteristics as claimed in claim 1 surveys the lab simulation method of condition, it is characterised in that step The detector carriage (7) chosen in 1 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.
5. extraterrestrial target optical characteristics as claimed in claim 1 surveys the lab simulation method of condition, it is characterised in that step Moving fulcrum part described in 1 is equipped with motor, is driven by motor and is advanced on detector guide rail (5), drives detector carriage (7) Rotated around three-axle table with detector (4).
6. extraterrestrial target optical characteristics as claimed in claim 1 surveys the lab simulation method of condition, it is characterised in that step Motor is installed in 1 at the axle Axis 0 of detector carriage (7), drives detector carriage (7) to drive detector (4) to revolve by motor Turn, moving fulcrum uses driven structure.
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