CN105318891B - A kind of caliberating device of star sensor benchmark prism square installation error - Google Patents

Abstract

The invention belongs to the technical field of photoelectric equipment calibration, and in particular relates to a calibration device for installation errors of star sensor reference cube mirrors. Place a photoelectric autocollimator and a single star simulator on two orthogonal axes on the reference plane, and place the star sensor to be measured at the intersection of the two axes so that the two positive The normal line of the cross-reflective surface is parallel to the two orthogonal axes respectively, and the theodolite adjusts the optical axes of the photoelectric autocollimator and the single-star simulator to be parallel to the reference plane; the star sensor is installed on its three-dimensional adjustment base, Adjust the input optical axis of the star sensor and the output optical axis of the single star simulator to be parallel through the three-dimensional adjustment base of the star sensor; the measured reference cube mirror is installed on the upper surface of the measured star sensor housing; use photoelectric self-alignment Directly measure the installation angle error of the reference cube mirror around the X-axis and Y-axis, rotate the three-dimensional adjustment base of the star sensor by 90°, and measure the installation angle error of the reference cube mirror around the Z-axis.

Description

A Calibration Device for Installation Error of Star Sensor Reference Cube Mirror

technical field

The invention belongs to the technical field of photoelectric equipment calibration, and in particular relates to a calibration device for installation errors of star sensor reference cube mirrors.

Background technique

As a high-precision space attitude optical sensor, the star sensor has been widely and deeply used in the aerospace field. Since the measurement coordinate system of the star sensor is virtual and invisible, it is necessary to accurately measure the position and attitude relationship between the measurement coordinate system of the star sensor and the coordinate system of the reference cube mirror on its shell during ground assembly, that is, the installation of the reference cube mirror error. That is, the geometric installation accuracy requirements of the star sensor on the spacecraft are realized by measuring the reference cube mirror on the star sensor.

At present, there are mainly two methods for calibrating the installation error of the reference cube mirror for star sensors in China: one is to use a large-diameter self-collimating light tube measurement method, and the other is to use a light tube and a star simulator combined measurement method. The large-aperture self-collimating light pipe measurement method uses an self-collimating light pipe with a diameter large enough to cover both the star sensor and the reference cube, and then reads the star sensor by collimating the light pipe with the reference cube. The position coordinates of the crosshair focus in the internal self-collimating light pipe are used to solve the installation error between the star sensor and the reference cube mirror in the two-dimensional directions of pitch and azimuth. The combined measurement method of the light pipe and the star simulator is that the self-collimating light pipe and the star simulator are installed on a bracket, and the two keep the optical axis parallel. When calibrating the error, the self-collimating light pipe collimates the reference cube above the star sensor, and then reads the imaging position coordinates of the star simulator in the star sensor, that is, calculates the pitch and azimuth between the star sensor and the reference cube. Installation error in direction.

Due to the large diameter of the light tube objective lens in the large-aperture light tube measurement method, it is difficult to guarantee the processing accuracy and the processing cost is high. In addition, due to off-axis light measurement, aberrations such as chromatic aberration and spherical aberration after the optical path passes through the optical system will cause a certain loss of measurement accuracy, which cannot meet the requirements of high-precision measurement. Secondly, this measurement method can only measure the installation error between the star sensor and the reference cube mirror in the pitch and azimuth directions, but cannot measure the installation error in the roll direction.

Although the light pipe and star simulator combination measurement method has a larger aperture light pipe measurement method, although the measurement accuracy has been improved, the installation error in the roll direction cannot be measured.

Contents of the invention

The object of the present invention is to provide a calibration device for the installation error of the reference cube mirror of the star sensor, so as to overcome the deficiency that the prior art can only measure the two-dimensional installation error.

In order to achieve the above object, the technical scheme adopted in the present invention is:

A calibration device for the installation error of the star sensor reference cube mirror, which defines the reverse of the input optical axis of the star sensor as the Y axis, the exit normal direction of the plane on the reference cube mirror as the X axis, and the Z axis is naturally generated by the right-handed spiral rule ; Place the photoelectric autocollimator and the single-star simulator respectively on two orthogonal axes on the reference plane, and place the measured star sensor at the intersection of the two axes, so that the two sides of the reference prism of the measured star sensor The normal line of the orthogonal reflective surface is parallel to the two orthogonal axes, and the photoelectric autocollimator and the single-star simulator are respectively installed on the two-dimensional adjustment base of the photoelectric autocollimator and the two-dimensional adjustment base of the single-star simulator , the theodolite adjusts the optical axes of the photoelectric autocollimator and the single-star simulator to be parallel to the reference plane; the star sensor is installed on the three-dimensional adjustment base of the star sensor, and the star sensor and the single-star simulator are both turned on In this case, adjust the input optical axis of the star sensor and the output optical axis of the single-star simulator to be parallel through the three-dimensional adjustment base of the star sensor; the measured reference cube mirror is installed on the upper surface of the measured star sensor housing; use The photoelectric autocollimator measures the installation angle error of the reference cube mirror around the X-axis and Y-axis, rotates the three-dimensional adjustment base of the star sensor by 90°, and measures the installation angle error of the reference cube mirror around the Z-axis.

The rotation axis of the three-dimensional adjustment base of the star sensor coincides with the central axis of the reference cube mirror on the star sensor to be measured.

The working process of the device is as follows: place the standard prism on the reference plane, collimate the front reflective surface of the standard prism with a theodolite, then clear the elevation reading θV of the theodolite; keep the state of the theodolite unchanged, remove the standard prism; make the theodolite Align with the photoelectric autocollimator, adjust the two-dimensional adjustment base of the photoelectric autocollimator, so that the output of the photoelectric autocollimator is 0°, indicating that the optical axis of the photoelectric autocollimator is parallel to the reference plane, and the fixed photoelectric Collimator; align the theodolite with the single-satellite simulator, adjust the two-dimensional adjustment base of the single-satellite simulator, so that the output of the optical single-satellite simulator is 0°, indicating that the output optical axis of the single-satellite simulator is parallel to the reference plane , to fix the single-star simulator; remove the standard prism, place the measured star sensor and the three-dimensional adjustment base of the star sensor at the intersection of the two axes; the measured reference cube mirror is installed on the measured star sensor housing The upper surface; make the star sensor roughly aligned with the single-star simulator, then adjust the three-dimensional adjustment base of the star sensor so that the output of the star sensor is (0°, 0°), that is, the star sensor and the single-star simulator The optical axes coincide; at this time, the readings (θ _X , θ _Y ) of the photoelectric autocollimator are the installation errors between the reference cube mirror 10 and the star sensor measurement coordinate system in the X and Y directions; rotate the star sensor three-dimensional adjustment base , so that it rotates 90°, at this time the readings (θ _X , θ _Z ) of the photoelectric autocollimator are the installation errors between the reference cube mirror and the star sensor measurement coordinate system in the X and Z directions; thus the reference cube mirror is completed The installation error (θ _X , θ _Y , θ _Z ) of the measurement coordinate system with the star sensor.

The beneficial effects obtained by the present invention are:

The invention can directly calibrate the three-dimensional installation error of the reference cubic mirror through one installation, avoiding random errors caused by repeated installations; the calibration system is simple to operate, and requires low technical level of operators, and the operators only need to refer to the star sensor and the reading value of the autocollimation light tube to adjust the attitude of the corresponding instrument; it can realize fast and high-precision calibration of the installation error of the reference cube.

Description of drawings

Figure 1 is a schematic diagram of coordinate system definition;

Figure 2 Schematic diagram of calibration system photoelectric autocollimator adjustment;

Figure 3 is a schematic diagram of calibration of the installation angle error of the reference cube mirror around X and Y;

Fig. 4 Schematic diagram of the calibration of the installation angle error of the reference cube mirror around the Z direction;

In the figure: 1. Theodolite; 2. Standard prism; 3. Two-dimensional adjustment base of photoelectric autocollimator; 4. Photoelectric autocollimator; 5. Single-star simulator; 6. Two-dimensional adjustment of single-star simulator Base; 7. Datum plane; 8. Star sensor three-dimensional adjustment base; 9. Star sensor; 10. Datum cube mirror.

Detailed ways

The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

As shown in Fig. 1, the reverse of the input optical axis of the star sensor 9 is defined as the Y axis, the outgoing normal direction of the plane on the reference cube mirror 10 is the X axis, and the Z axis is naturally generated by the right-handed spiral rule.

As shown in Figure 2, the photoelectric autocollimator 4 and the single star simulator 5 are respectively placed on two orthogonal axes on the reference plane 7, and the measured star sensor 9 is placed at the intersection of the two axes, The photoelectric autocollimator 4 and the single-star simulator 5 are respectively installed on the two-dimensional adjustment base 3 of the photoelectric autocollimator and the two-dimensional adjustment base 6 of the single-star simulator, and the theodolite 1 sets the photoelectric autocollimator respectively 4 and the optical axis of the single-star simulator 5 are adjusted to be parallel to the reference plane 7; the star sensor 9 is installed on the three-dimensional adjustment base 8 of the star sensor, under the condition that both the star sensor 9 and the single-star simulator 5 are turned on , the input optical axis of the star sensor 9 and the output optical axis of the single star simulator 5 are adjusted to be parallel through the three-dimensional adjustment base 8 of the star sensor. For the installation angle error of the X-axis and the Y-axis, rotate the three-dimensional adjustment base 8 of the star sensor by 90°, and measure the installation angle error of the reference cubic mirror 10 around the Z-axis. The rotation axis of the three-dimensional adjustment base 8 of the star sensor coincides with the central axis of the reference cube mirror 10 on the star sensor 9 to be measured.

Place the standard prism 2 on the reference plane 7, collimate the front reflective surface of the standard prism 2 with theodolite 1, then clear the pitch reading θ _V of theodolite 1; keep the state of theodolite 1 unchanged, and remove the standard prism 2; Make theodolite 1 collimate with photoelectric autocollimator 4, adjust photoelectric autocollimator two-dimensional adjustment base 3, make the output of photoelectric autocollimator 4 be 0 °, illustrate the optical axis of photoelectric autocollimator 4 and The reference plane 7 is parallel, and the photoelectric autocollimator 4 is fixed; the theodolite 1 is collimated with the single-star simulator 5, and the two-dimensional adjustment base 6 of the single-star simulator is adjusted so that the output of the light single-star simulator 5 is 0°. Explain that the output optical axis of the single-star simulator 5 is parallel to the reference plane 7, and the single-star simulator 5 is fixed;

As shown in Figure 3, the standard prism 2 is removed, and the measured star sensor 9 and the star sensor three-dimensional adjustment base 8 are placed at the intersection of the two axes; the measured reference cube mirror 10 is installed on the measured star sensor. The upper surface of the device 9 housing; make the star sensor 9 roughly aligned with the single star simulator 5, then adjust the three-dimensional adjustment base 8 of the star sensor, so that the output of the star sensor 9 is (0 °, 0 °), said star The optical axis of the sensor 9 coincides with the single star simulator 5; at this moment, the reading (θ _X , θ _Y ) of the photoelectric autocollimator 4 is the measurement coordinate system of the reference cube mirror 10 and the star sensor 9 in the X and Y directions. installation error.

As shown in Figure 4, turn the three-dimensional adjustment base 8 of the star sensor to make it rotate 90°, at this time, the readings (θ _X , θ _Z ) of the photoelectric autocollimator are measured by the reference cube mirror 10 and the star sensor 9 The installation error of the coordinate system in the X and Z directions. Thus, the installation error (θ _X , θ _Y , θ _Z ) of the measurement coordinate system between the reference cube mirror 10 and the star sensor 9 is completed.

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 θ_V；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 (θ_X, θ_Y) 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-collimator_X, θ_Z) 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 system_X, θ_Y, θ_Z)。