CN105318891B - A kind of caliberating device of star sensor benchmark prism square installation error - Google Patents
A kind of caliberating device of star sensor benchmark prism square installation error Download PDFInfo
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- CN105318891B CN105318891B CN201410360805.7A CN201410360805A CN105318891B CN 105318891 B CN105318891 B CN 105318891B CN 201410360805 A CN201410360805 A CN 201410360805A CN 105318891 B CN105318891 B CN 105318891B
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Abstract
The invention belongs to optoelectronic device calibration technique fields, and in particular to a kind of caliberating device of star sensor benchmark prism square installation error.Photoelectric auto-collimator and single star simulator are placed respectively on two orthogonal axis on datum plane, tested star sensor is placed in the point of intersection of two axis, make the normals of two orthogonal reflective surfaces of tested star sensor benchmark rib body parallel with two orthogonal axis difference, theodolite is respectively adjusted the optical axis of photoelectric auto-collimator and single star simulator to parallel with datum plane；Star sensor is mounted on its three-dimensional adjustment pedestal, is adjusted to the input optical axis of star sensor with the output optical axis of single star simulator by the three-dimensional adjustment pedestal of star sensor parallel；Tested benchmark prism square is mounted on tested star sensor housing upper surface；With photoelectric auto-collimation measuring basis prism square around X-axis and the setting angle error of Y-axis, the three-dimensional adjustment pedestal of star sensor is rotated by 90 °, the setting angle error of measuring basis prism square about the z axis.
Description
Technical field
The invention belongs to optoelectronic device calibration technique fields, and in particular to a kind of star sensor benchmark prism square installation error
Caliberating device.
Background technology
Star sensor has obtained going deep into extensively as a kind of high-precision spatial attitude optical sensor in space industry
Application.Since the measuring coordinate system of star sensor is virtual sightless, it is necessary to which it is quick to accurately measure star in ground-mounted
The installation of the position of benchmark prism square coordinate system and posture relation in sensor measuring coordinate system and its housing, i.e. benchmark prism square misses
Difference.Realize that star sensor will in spaceborne geometry installation accuracy by measuring the benchmark prism square on star sensor
It asks.
At present there are mainly two types of the domestic methods for star sensor reference-calibrating prism square installation error：One kind is to use
Heavy caliber autocollimator mensuration, one kind are with light pipe and star simulator measurement in a closed series method.Heavy caliber autocollimator measures
Method be with a bore it is sufficiently large, the autocollimator of star sensor and benchmark prism square can be covered simultaneously, by by light pipe with
Benchmark prism square collimates, and the position coordinates for then reading autocollimator inner cross cross hair focus in star sensor is quick to resolve star
Sensor and installation error of the benchmark prism square in pitching and orientation two-dimensional direction.Light pipe is with star simulator measurement in a closed series method,
Autocollimator is installed in star simulator on a logical stent, and the two keeps optical axis parallel.During calibrated error, autocollimatic direct light
Then benchmark prism square above pipe collimation star sensor reads the image space coordinate of star simulator, i.e., in star sensor
Calculate star sensor and installation error of the benchmark prism square in pitching and azimuth direction.
Heavy caliber light pipe mensuration is since light pipe objective lens diameter is big, and machining accuracy is difficult to ensure that, high processing costs.In addition
Due to using off-axis light measurement, optical path can cause certain measurement essence by aberrations such as the aberration after optical system, spherical aberrations
The loss of degree can not meet the requirement of high-acruracy survey.Secondly, this measuring method can only measure star sensor and be stood with benchmark
Installation errors of the Fang Jing in pitching and azimuth direction can not measure the installation error in rolling direction.
Though light pipe improves measurement accuracy with star simulator measurement in a closed series method larger caliber light pipe mensuration, but still can not survey
Measure the installation error in rolling direction.
The content of the invention
It is existing to overcome it is an object of the invention to provide a kind of caliberating device of star sensor benchmark prism square installation error
There is the deficiency that technology can only measure two-dimentional installation error.
In order to achieve the above objectives, the technical solution used in the present invention is：
A kind of caliberating device of star sensor benchmark prism square installation error defines being reversed for star sensor input optical axis
Y-axis, the outgoing normal direction of plane is X-axis on benchmark prism square, and Z axis is generated naturally by right-hand rule；In datum plane
On two orthogonal axis on place photoelectric auto-collimator and single star simulator respectively, it is quick to place tested star in the point of intersection of two axis
Sensor makes the normal and two orthogonal parallel, the photoelectric autos of axis difference of two orthogonal reflective surfaces of tested star sensor benchmark rib body
Straight instrument and single star simulator are separately mounted on photoelectric auto-collimator two-dimension adjustment pedestal and single star simulator two-dimension adjustment pedestal,
Theodolite is respectively adjusted the optical axis of photoelectric auto-collimator and single star simulator to parallel with datum plane；Star sensor is mounted on
It is three-dimensional by star sensor in the case where star sensor and single star simulator are started shooting on the three-dimensional adjustment pedestal of star sensor
The input optical axis of star sensor is adjusted to parallel by adjustment pedestal with the output optical axis of single star simulator；Tested benchmark prism square installation
In tested star sensor housing upper surface；It is missed with photoelectric auto-collimator measuring basis prism square around the setting angle of X-axis and Y-axis
The three-dimensional adjustment pedestal of star sensor is rotated by 90 °, the setting angle error of measuring basis prism square about the z axis by difference.
The central shaft of the rotation axis and benchmark prism square on tested star sensor of the three-dimensional adjustment pedestal of the star sensor
Line overlaps.
The device course of work is as follows：Standard rib body is placed on datum plane, with theodolite collimation standard rib body
Then preceding reflective surface resets theodolite pitching reading θ V；It keeps theodolite state constant, removes standard rib body；Make theodolite with
Photoelectric auto-collimator collimates, and adjusts photoelectric auto-collimator two-dimension adjustment pedestal so that the output of photoelectric auto-collimator is 0 °, explanation
The optical axis of photoelectric auto-collimator is parallel with datum plane, fixed photoelectric auto-collimator；Theodolite is made to be collimated with single star simulator, is adjusted
Whole single star simulator two-dimension adjustment pedestal so that the output of light single star simulator is 0 °, illustrates the output optical axis of single star simulator
It is parallel with datum plane, fixed single star simulator；The standard rib body is removed, tested star sensor is placed in the point of intersection of two axis
And the three-dimensional adjustment pedestal of star sensor；Tested benchmark prism square is mounted on tested star sensor housing upper surface；So that star is sensitive
Device aligns with single star simulator outline, then adjusts the three-dimensional adjustment pedestal of star sensor so that the output of star sensor for (0 °,
0 °), illustrate the optical axis coincidence of star sensor and single star simulator；Reading (the θ of photoelectric auto-collimator at this timeX, θY) i.e. on the basis of stand
Square mirror 10 ties up to X and the installation error of Y-direction with star sensor measuring coordinate；The three-dimensional adjustment pedestal of star sensor is rotated, makes it
90 ° are rotated, at this time reading (the θ of photoelectric auto-collimatorX, θZ) i.e. on the basis of prism square and star sensor measuring coordinate tie up to X and Z
The installation error in direction；Thus benchmark prism square and the installation error (θ of star sensor measuring coordinate system are completedX, θY, θZ)。
Having the beneficial effect that acquired by the present invention：
The present invention can directly calibrate the three-dimensional installation error of benchmark prism square by once mounting, avoid being repeated several times
The random error brought is installed；Calibration system is easy to operate, low to the requirement of operating personnel's technical merit, and operating personnel only need to join
The reading value of star sensor and autocollimator is examined, adjusts the posture of corresponding instrument；Quick, high-precision benchmark cube can be achieved
The process alignment error calibration of mirror.
Description of the drawings
Fig. 1 defines schematic diagram for coordinate system；
Fig. 2 calibration systems photoelectric auto-collimator adjusts schematic diagram；
Fig. 3 benchmark prism square is around X, around Y-direction setting angle error calibration schematic diagram；
Fig. 4 benchmark prism square is around Z-direction setting angle error calibration schematic diagram；
In figure：1st, theodolite；2nd, standard rib body；3rd, photoelectric auto-collimator two-dimension adjustment pedestal；4th, photoelectric auto-collimator；5、
Single star simulator；6th, single star simulator two-dimension adjustment pedestal；7th, datum plane；8th, the three-dimensional adjustment pedestal of star sensor；9th, star is quick
Sensor；10th, benchmark prism square.
Specific embodiment
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.
As shown in Figure 1, the Y-axis that is reversed that star sensor 9 inputs optical axis is defined, the outgoing method of plane on benchmark prism square 10
Line direction is X-axis, and Z axis is generated naturally by right-hand rule.
As shown in Fig. 2, photoelectric auto-collimator 4 and single star mould are placed on two orthogonal axis on datum plane 7 respectively
Intend device 5, place tested star sensor 9 in the point of intersection of two axis, photoelectric auto-collimator 4 and single star simulator 5 are installed respectively
On photoelectric auto-collimator two-dimension adjustment pedestal 3 and single star simulator two-dimension adjustment pedestal 6, theodolite 1 is respectively by the photoelectricity
The optical axis of autocollimator 4 and single star simulator 5 is adjusted to parallel with datum plane 7；It is three-dimensional that star sensor 9 is mounted on star sensor
It adjusts on pedestal 8, in the case where star sensor 9 and single star simulator 5 are started shooting, passes through the three-dimensional adjustment pedestal 8 of star sensor
The input optical axis of star sensor 9 is adjusted to the output optical axis of single star simulator 5 it is parallel, at this time with the photoelectric auto-collimator
The three-dimensional adjustment pedestal 8 of star sensor is rotated by 90 °, measures around X-axis and the setting angle error of Y-axis by 4 measuring basis prism squares 10
The setting angle error of benchmark prism square 10 about the z axis.The rotation axis and tested star of the three-dimensional adjustment pedestal 8 of the star sensor are quick
The central axis of benchmark prism square 10 overlaps on sensor 9.
Standard rib body 2 is placed on datum plane 7, the preceding reflective surface of standard rib body 2, Ran Houqing are collimated with theodolite 1
Zero theodolite, 1 pitching reading θV；It keeps 1 state of theodolite constant, removes standard rib body 2；Make theodolite 1 and photoelectric auto-collimator
4 collimations, adjustment photoelectric auto-collimator two-dimension adjustment pedestal 3 so that the output of photoelectric auto-collimator 4 is 0 °, illustrates photoelectric auto
The optical axis of straight instrument 4 is parallel with datum plane 7, fixed photoelectric auto-collimator 4；Theodolite 1 is made to be collimated with single star simulator 5, is adjusted
Single star simulator two-dimension adjustment pedestal 6 so that the output of light single star simulator 5 is 0 °, illustrates the output optical axis of single star simulator 5
It is parallel with datum plane 7, fixed single star simulator 5；
As shown in figure 3, removing the standard rib body 2, tested star sensor 9 and star sensor are placed in the point of intersection of two axis
Three-dimensional adjustment pedestal 8；Tested benchmark prism square 10 is mounted on 9 housing upper surface of tested star sensor；So that star sensor 9 and list
5 outline of star simulator aligns, and then adjusts the three-dimensional adjustment pedestal 8 of star sensor so that and the output of star sensor 9 is (0 °, 0 °),
Illustrate the optical axis coincidence of star sensor 9 and single star simulator 5；Reading (the θ of photoelectric auto-collimator 4 at this timeX, θY) i.e. on the basis of stand
Square mirror 10 ties up to X and the installation error of Y-direction with 9 measuring coordinate of star sensor.
As shown in figure 4, rotating the three-dimensional adjustment pedestal 8 of star sensor, it is made to rotate 90 °, the reading of photoelectric auto-collimator at this time
Number (θX, θZ) i.e. on the basis of prism square 10 and 9 measuring coordinate of star sensor tie up to X and the installation error of Z-direction.Thus base is completed
Quasi- prism square 10 and the installation error (θ of 9 measuring coordinate system of star sensorX, θY, θZ)。
Claims (3)
1. a kind of caliberating device of star sensor benchmark prism square installation error, it is characterised in that：Star sensor (9) is defined to input
Optical axis is reversed Y-axis, and the outgoing normal direction of plane is X-axis on benchmark prism square (10), and Z axis is natural by right-hand rule
Generation；Photoelectric auto-collimator (4) and single star simulator (5) are placed in X-axis and Y-axis on datum plane (7) respectively, in X-axis
Tested star sensor (9) is placed with the point of intersection of Y-axis, photoelectric auto-collimator (4) and single star simulator (5) are separately mounted to photoelectricity
On autocollimator two-dimension adjustment pedestal (3) and single star simulator two-dimension adjustment pedestal (6), theodolite (1) is respectively by photoelectric auto
The optical axis of straight instrument (4) and single star simulator (5) is adjusted to parallel with datum plane (7)；Star sensor (9) is mounted on star sensor
It is three-dimensional by star sensor in the case where star sensor (9) and single star simulator (5) are started shooting on three-dimensional adjustment pedestal (8)
The input optical axis of star sensor (9) is adjusted to parallel by adjustment pedestal (8) with the output optical axis of single star simulator (5)；Tested benchmark
Prism square (10) is mounted on tested star sensor (9) housing upper surface；With photoelectric auto-collimator (4) measuring basis prism square
(10) around X-axis and the setting angle error of Y-axis, the three-dimensional adjustment pedestal (8) of star sensor is rotated by 90 °, measuring basis prism square
(10) setting angle error about the z axis.
2. the caliberating device of star sensor benchmark prism square installation error according to claim 1, it is characterised in that：It is described
The central axis of the rotation axis and benchmark prism square (10) on tested star sensor (9) of the three-dimensional adjustment pedestal (8) of star sensor
It overlaps.
3. the caliberating device of star sensor benchmark prism square installation error according to claim 1, it is characterised in that：The dress
It is as follows to put the course of work：Standard rib body (2) is placed on datum plane (7), with theodolite (1) collimation standard rib body (2)
Then preceding reflective surface resets theodolite (1) pitching reading θV；Theodolite (1) state of holding is constant, removes standard rib body (2)；Make
Theodolite (1) is collimated with photoelectric auto-collimator (4), adjustment photoelectric auto-collimator two-dimension adjustment pedestal (3) so that photoelectric auto-collimation
The output of instrument (4) is 0 °, illustrates that the optical axis of photoelectric auto-collimator (4) is parallel with datum plane (7), fixed photoelectric auto-collimator
(4)；Theodolite (1) is made to be collimated with single star simulator (5), adjustment single star simulator two-dimension adjustment pedestal (6) so that light list star mould
Intend the output of device (5) as 0 °, illustrate that the output optical axis of single star simulator (5) is parallel with datum plane (7), fixed single star simulator
(5)；The standard rib body (2) is removed, tested star sensor (9) and the three-dimensional tune of star sensor are placed in the point of intersection of X-axis and Y-axis
Integral basis seat (8)；Tested benchmark prism square (10) is mounted on tested star sensor (9) housing upper surface；So that star sensor (9) with
Single star simulator (5) outline aligns, and then adjusts the three-dimensional adjustment pedestal (8) of star sensor so that the output of star sensor (9) is
(0 °, 0 °) illustrates the optical axis coincidence of star sensor (9) and single star simulator (5)；The reading of photoelectric auto-collimator (4) at this time
(θX, θY) i.e. on the basis of prism square (10) and star sensor (9) measuring coordinate tie up to X and the installation error of Y-direction；It is quick to rotate star
The three-dimensional adjustment pedestal (8) of sensor, makes it rotate 90 °, at this time reading (the θ of photoelectric auto-collimatorX, θZ) i.e. on the basis of prism square
(10) X and the installation error of Z-direction are tied up to star sensor (9) measuring coordinate；Thus complete benchmark prism square (10) and star is quick
Installation error (the θ of sensor (9) measuring coordinate systemX, θY, θZ)。
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| CN201410360805.7A CN105318891B (en) | 2014-07-25 | 2014-07-25 | A kind of caliberating device of star sensor benchmark prism square installation error |
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| CN201410360805.7A CN105318891B (en) | 2014-07-25 | 2014-07-25 | A kind of caliberating device of star sensor benchmark prism square installation error |
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| CN105318891B true CN105318891B (en) | 2018-05-18 |
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