CN106441281A - Small high-precision star sensor with long service life - Google Patents
Small high-precision star sensor with long service life Download PDFInfo
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- CN106441281A CN106441281A CN201610814727.2A CN201610814727A CN106441281A CN 106441281 A CN106441281 A CN 106441281A CN 201610814727 A CN201610814727 A CN 201610814727A CN 106441281 A CN106441281 A CN 106441281A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/02—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by astronomical means
- G01C21/025—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by astronomical means with the use of startrackers
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Abstract
A small high-precision star sensor with long service life comprises a light-shielding cover, an optical system, a mechanical structure, an image sensor circuit, a control and data processing module and a posture calculating module; the light-shielding cover prevents direct light or reflective light from entering the optical system, the optical system collects navigation fixed star energy and transmits the navigation fixed star energy to the image sensor circuit, the image sensor circuit carries out energy imaging on navigation fixed star points to obtain a digital navigation fixed star map, the control and data processing circuit extracts effective image elements of the star points in the navigation fixed star map and then carries out fake star judgment and elimination to obtain the navigation fixed star points, and the posture calculating module matches the navigation fixed star points with a star table to obtain navigation fixed star posture data through recognition. The mechanical structure supports and fixes the light-shielding cover, the optical system, the image sensor circuit, the control and data processing module and the posture calculating module.
Description
Technical field
The present invention relates to Star Sensor field used by spacecraft, particularly a kind of Small Long-Life high precision star is sensitive
Device.
Background technology
With the development of space technology, the pointing accuracy of spacecraft has higher and higher requirement, attitude measurement sensor
It is the important guarantee of satellite high-precision and high stability, and star sensor is important attitude measurement in satellite control system
Sensor.Star sensor has wide range of applications, and using the aerial fixed star in sky as observation benchmark, is precision highest attitude at this stage
Measurement sensor, the certainty of measurement of its attitude up to rad level even more high, have high precision, lightweight, low in energy consumption, no drift about
The advantages of many with working method.
Traditional star sensor typical technology index is：Weight 3～5kg, in high precision 5～10 ＂, 1 °/s of dynamic property, number
According to turnover rate 5～8Hz, initial acquisition time 10～20s, working life 5～8 years.And task model is to star sensor at this stage
Technical specification demand is：Weight 2kg about, 3 ＂, 3 °/s of dynamic property, data updating rate 10Hz, initial acquisition time in high precision
1s, working life 15 years, existing star sensor is because it is detector sensitivity is relatively low and circuit noise is larger, big visual field is big
Aperture optical system as matter is not high, the suppression of shade veiling glare is weaker, structural stability is poor etc., and reason leads to product small-sized
Change aspect, because it leads to product in the side such as dynamic property and initial acquisition time in the reason such as algorithm software and its disposal ability
Face, because it leads to product in terms of data updating rate in reasons such as pixel reading speed data processing speeds, due to its
The resistance to irradiation ability of optical system is weak, reliability design is not enough etc., and reason leads to product cannot expire on the core index such as working life
The above-mentioned use requirement of foot is it is therefore desirable to break through low noise miniaturization and high throughput circuit, height as matter miniaturization and Gao Nai spoke
According to aspheric optical system, miniaturization High Extinction Ratio shade, miniaturization high stability structure, star chart immediate processing method, appearance
The key technologies such as state tenacious tracking method, study a kind of high performance Small Long-Life star sensor.
Content of the invention
Present invention solves the technical problem that being：Overcome the deficiencies in the prior art, there is provided a kind of Small Long-Life high accuracy
Star sensor, by using the high resistance to irradiation optical system of high permeability, miniaturization High Extinction Ratio shade, high stability structure,
Rapid posture tenacious tracking method, solves that existing star sensor detectivity is low, circuit noise big, optical system picture element
Problem not high, that the suppression of shade veiling glare is weak.
The technical solution of the present invention is：A kind of Small Long-Life Rotating Platform for High Precision Star Sensor, including shade, optical system
System, frame for movement, image sensor circuit, control and data processing module, Attitude Calculation module, wherein
Shade, blocks the direct projection light of the sun, the earth, the moon, satellite body surface and the reflection of satellite load equipment
Sunray, prevents the direct projection light of the sun, the earth, the sunlight of the moon, satellite body surface and the reflection of satellite load equipment
Line enters optical system；
Optical system, collection navigation stellar energy, and deliver to image sensor circuit；
Image sensor circuit, navigation stellar energy is carried out the fixed star punctate opacity of the cornea that navigates on image sensor circuit photosurface
Imaging obtains the star map that navigates, and carries out opto-electronic conversion to navigation star map and obtains digital navigation star map, numeral is led
Boat star map delivers to control and data processing circuit；
Control and data processing circuit, after receiving digital navigation star map, calculate navigation star map background and navigation
Star map threshold value, extracts effective pixel of punctate opacity of the cornea in navigation star map according to calculated navigation star map threshold value,
Then effective pixel of the punctate opacity of the cornea obtaining is clustered and carried out pseudolite differentiation and rejecting in cluster process, obtained punctate opacity of the cornea figure
Picture, calculates the energy barycenter of navigation fixed star punctate opacity of the cornea according to effective pixel in punctate opacity of the cornea image, then reject energy barycenter excessively near two
Navigation fixed star, then to remaining navigation fixed star punctate opacity of the cornea be ranked up according to energy, by navigation stellar energy sequence after star
Point delivers to Attitude Calculation module；
Attitude Calculation module, by the navigation fixed star punctate opacity of the cornea after navigation stellar energy sequence and default geocentric inertial coordinate system
Under navigational star table carry out match cognization, and then obtain vector under geocentric inertial coordinate system for the current star sensor Observing axis and refer to
To, finally give navigation fixed star attitude data, and fixed star attitude data output of navigating；Described navigation fixed star attitude data bag
Include vector under geocentric inertial coordinate system for three Observing axis of star sensor to point to, wherein, three Observing axis of star sensor are mutual
Vertically；
Frame for movement, support and fixing shade, optical system, image sensor circuit, control and data processing module,
Attitude Calculation module.
Described shade is two-part structure, including leading portion, back segment, includes three annulars inside leading portion, back segment respectively
The baffle vane of structure, leading portion, the uniform diameter of back segment reduce, and the smaller diameter end of leading portion is fixedly connected with the larger diameter end of back segment,
The diameter with diameter greater than back segment larger diameter end of leading portion smaller diameter end, the smaller diameter end of back segment is fixedly connected with frame for movement, gear
It is pitch-dark more than 0.97 that ring of light interior surface sprays absorbance.
Described optical system includes 5 eyeglasses, and the first eyeglass, the 3rd lens front surface are convex ellipsoid, the first eyeglass
Surface, the 3rd lens posterior surface, the front surface of the 4th eyeglass are convex spherical afterwards, and remaining minute surface is concave spherical surface, the first eyeglass, the 3rd
The material of eyeglass is JGS1 glass material, and the material of the second eyeglass is ZF4, the 4th lens materials are ZK9, the material of the 5th eyeglass
For ZF4；First eyeglass, the second eyeglass, the 3rd eyeglass, the 4th eyeglass, the 5th eyeglass are arranged in order and optical axis passes through each eyeglass
Center, the first lens front surface is provided with diaphragm, and entrance pupil is located at the first lens front surface；Navigation stellar energy passes sequentially through first
Converge to after eyeglass, the second eyeglass, the 3rd eyeglass, the 4th eyeglass, the 5th eyeglass on the photosurface of image sensor circuit.
Described frame for movement include pedestal, first structure support column, the second structural support posts, the 3rd structural support posts,
4th structural support posts, upper cover plate, the first side plate, the second side plate, the 3rd side plate, the 4th side plate；First structure support column, second
Structural support posts, the 3rd structural support posts, the 4th structural support posts are fixedly mounted on pedestal, first structure support column, second
Structural support posts, the 3rd structural support posts, the 4th structural support posts are fixing to support upper cover plate, the first side plate, the second side plate, the 3rd
Side plate, the 4th side plate and pedestal, upper cover plate are fixedly connected to form body structure；Optical system is placed in the middle part of pedestal, image sensing
Device circuit is placed in below optical system, controls symmetrically placed on pedestal with data processing circuit, image sensor circuit is passed through
Electric connector and control are connected with data processing circuit, and shade is logical to be fixedly mounted on upper cover plate.
Described image sensor circuit includes configuration circuit, sequence circuit, imageing sensor；
Configuration circuit, generation burning voltage is delivered to imageing sensor and is powered；Sequence circuit, produces work clock and send
To imageing sensor, pixel photosensitive array is driven to carry out opto-electronic conversion；
Imageing sensor includes pixel photosensitive array, programmable gain amplifier circuit, A/D convertor circuit；The photosensitive battle array of pixel
After row receive work clock, navigation stellar energy is carried out navigation fixed star punctate opacity of the cornea on image sensor circuit photosurface and is imaged
To the voltage signal representing navigation star map, programmable gain amplifier circuit, the voltage signal of navigation star map is entered
A/D convertor circuit is delivered to, A/D convertor circuit is converted to digital navigation star map, and exports after row voltage bias, voltage gain
To control and data processing circuit.
Described control and data processing circuit include logic control circuit, digital signal processing circuit, secondary power supply electricity
Road；
Secondary power supply circuit, is powered to logic control circuit, digital signal processing circuit；
Logic control circuit, carries out Image semantic classification after receiving digital navigation star map, obtains each fixed star punctate opacity of the cornea
Grey scale pixel value and positional information, and then obtain navigate star map background and navigation star map threshold value, then that each is permanent
Digital Signal Processing delivered to by the grey scale pixel value of star point, positional information and navigation star map background, navigation star map threshold
Circuit；
Digital signal processing circuit, extracts effective picture of punctate opacity of the cornea in navigation star map according to navigation star map threshold value
Unit, is then clustered to effective pixel of the punctate opacity of the cornea obtaining and is carried out pseudolite differentiation and rejecting in cluster process, obtained star
Dot image, calculates the energy barycenter of navigation fixed star punctate opacity of the cornea according to pixel effective in punctate opacity of the cornea image, then rejects energy barycenter excessively near
Two navigation fixed stars, to remaining navigation fixed star punctate opacity of the cornea be ranked up according to energy, by navigation stellar energy sequence after star
Point delivers to Attitude Calculation module.
In described Attitude Calculation module, the navigation fixed star punctate opacity of the cornea after navigation stellar energy sequence is used to default the earth's core
The method that navigational star table under property coordinate system carries out match cognization comprises the steps：
(1) magnitude, quantity sieve are carried out to the permanent star angular distance that navigates in the navigational star table under default geocentric inertial coordinate system
Choosing, obtains navigation fixed star and corresponding navigation perseverance star angular distance that N number of magnitude is not more than 7 grade stars, wherein, N is [5-20]；
(2) the navigation fixed star punctate opacity of the cornea after energy ordering is utilized triangle selection method build observation star triangle, then
Triangle map identification is carried out to observation star triangle according to the navigation perseverance star angular distance that step (1) obtains, if match cognization
Result is unique, then calculate vector under geocentric inertial coordinate system for three Observing axis of star sensor and point to and carry out projection checking,
Match cognization result is uniquely observed star and is projected in star sensor observation image planes, when the fixed star that navigates in star sensor observation image planes
Angle and observation star projection between is [when between 0-120 "], projection is verified, by three Observing axis of star sensor on ground
Vector under heart inertial coodinate system points to as navigation fixed star attitude data and exports, if the result of match cognization is not unique,
Tetrahedron identification is carried out to the navigation fixed star punctate opacity of the cornea after energy ordering, when tetrahedron recognition result is unique, match cognization is tied
The unique star of observing of fruit is projected in star sensor observation image planes, if navigation fixed star and observation star are thrown in star sensor observation image planes
Vector under geocentric inertial coordinate system for three Observing axis of star sensor [between 0-120 "], is then being pointed to by the angle between shadow
As navigation fixed star attitude data exporting.
Described navigation fixed star attitude data carries out storage record using following the tracks of list structure, to obtain star sensor to leading
The Tracking Recognition situation of boat fixed star.
Described shade introversion rake angle is 30 °.
Present invention advantage compared with prior art is：
(1) star sensor of the present invention compared with prior art, by using the high resistance to irradiation optical system of high permeability, small-sized
Change High Extinction Ratio shade, high stability structure, rapid posture tenacious tracking method, improve the measurement of star sensor of the present invention
Precision, dynamic property, have miniaturization and long-life advantage；
(2) star sensor of the present invention compared with prior art, using the resistance to irradiation aspheric optical system of big visual field miniaturization,
By the optical system optical glass sheet of identical parameters is reduced to 5, the height that improve star sensor is as matter, miniaturization and height
Resistance to irradiation.
Brief description
Fig. 1 is a kind of present invention Small Long-Life Rotating Platform for High Precision Star Sensor workflow diagram；
Fig. 2 is shading cover structure schematic diagram in star sensor of the present invention；
Fig. 3 is optical system light path structure chart in star sensor of the present invention；
Fig. 4 is frame for movement schematic diagram in star sensor of the present invention；
Fig. 5 is under the navigation fixed star punctate opacity of the cornea after energy ordering in star sensor of the present invention and default geocentric inertial coordinate system
Navigational star table carry out the method flow diagram of match cognization.
Specific embodiment
Presently relevant task model proposes the requirement of miniaturization, long-life and high reliability to star sensor.Existing work
Journey star sensor product all cannot meet the index request to star sensor for the above-mentioned model, simultaneously miniaturization, long-life, high number
It is also the inevitable direction of star sensor development according to renewal rate, therefore need badly and develop corresponding star sensor work for the demand
Journey product, wherein, the technical characterstic of the Small Long-Life star sensor that inter-related task model needs includes：High measurement accuracy 3 ＂
(3 σ), 3 °/s of high dynamic performance, high data updating rate 10Hz, short initial acquisition time 1s, 26 ° of high sun Xanthophyll cycle angle, small-sized
Change (main screw lift 2.1kg containing shade), 15 years long-lives etc..
Traditional star sensor is generally basede on ccd image sensor, but is as the development of microelectric technique, occurs in that one
APS imageing sensor kind based on CMOS technology, it is simple that it has miniaturization, low-power consumption, high resistance to irradiation, high integration, interface
The advantages of, it is the important development direction of star sensor.The main research institution of star sensor all passes in positive research APS image at present
The application of sensor, at this stage miniaturization, be miniaturized, the type star sensor of receiving is based on APS imageing sensor.
The present invention proposes a kind of Small Long-Life Rotating Platform for High Precision Star Sensor, development and design high sensitivity, low noise APS figure
As sensor and SoC processor, devise low noise, miniaturization, high throughput circuit it is achieved that high measurement accuracy, high number
According to turnover rate, design big visual field aspheric optical system method for designing and develop the high glass material of resistance to illuminated optical it is achieved that light
The height of system, as matter, miniaturization and Gao Nai irradiation, devises a kind of miniaturization High Extinction Ratio shade and a kind of miniaturization is high
Degree of stability structure is it is achieved that the Sunny Xanthophyll cycle angle of shade, miniaturization and lightweight are it is achieved that the miniaturization of complete machine structure
With good heat stability, devise a kind of star chart immediate processing method and a kind of attitude stabilization tracking it is achieved that star is quick
The sensor short initial acquisition time.
Star sensor operation principle of the present invention includes：Fixed star is imaged in imageing sensor by the optical system in star sensor
On the photosurface of (as CCD, APS etc.), opto-electronic conversion is completed by imageing sensor, output analogue signal send data after AD conversion
Process circuit, star place is extracted it may be determined that coordinate under star sensor body coordinate system of fixed star in visual field and
Point to, compare with navigational star table, complete importance in star map recognition, final determination finger under inertial coodinate system for the star sensor optical axis
To.Satellite or spacecraft determine satellite or this three axle under inertial coodinate system of spacecraft by the matrix of installing of star sensor
Attitude, and three-axis attitude is sent to by Attitude and orbit control computer by star sensor communication interface, below in conjunction with the accompanying drawings to the present invention
The specific embodiment of star sensor is further described in detail.
Star sensor includes hardware and software two parts composition, and wherein, hardware is mainly by shade, optical system, machinery
Structure, image sensor circuit, control and the compositions such as data processing circuit, software is soft by systems soft ware, application software and star catalogue
Three parts of part form, and are illustrated in figure 1 a kind of present invention Small Long-Life Rotating Platform for High Precision Star Sensor workflow diagram.
The light that shade blocks directly from the sun enters optical system, blocks the earth, the moon and satellite body table
Face and the sunray of part reflection.The determination of shading cover structure form and the attenuation requirement of veiling glare, the star sensor angle of visual field,
Shade bore and length, coating on inner surface absorption characteristic, the species of spuious radiant and the factor phase such as distribution, stray light intensity
Close.According to the analysis of shade veiling glare rejection ability and the restriction of overall dimensions, Small Long-Life star sensor is using suction
Receipts type one-level is in the light ring type shade.The veiling glare ability that disappears of shade has direct relation, reasonably with absorption coefficient of surface simultaneously
Design shade internal structure is also beneficial to improve its veiling glare ability that disappears.Small Long-Life star sensor shade interior surface is sprayed
Apply import high-absorbility pitch-dark, pitch-dark absorbance is more than 0.97, has relatively in VUV Irradiation, anti-atomic oxygen and hydrothermal aging
Good stability, having multiple heaven flight experience, Small Long-Life star sensor shade as shown in Fig. 2 include leading portion 11, after
Section 12, includes the baffle vane of three loop configuration, leading portion 11, the uniform diameter of back segment 12 subtract respectively inside leading portion 11, back segment 12
Little, the smaller diameter end of leading portion 11 is fixedly connected with the larger diameter end of back segment 12, leading portion 11 smaller diameter end with diameter greater than back segment 12
The diameter of larger diameter end, the smaller diameter end of back segment 12 is fixedly connected with frame for movement.
Stellar energy is converged transmission imaging on imageing sensor photosurface it is ensured that star sensor visual field by optical system
The performance indications such as angle, focal length, spectral region, relative aperture are it is ensured that the image quality such as ratio chromatism, chromatic variation of distortion, distortion, disc of confusion
Require.The feature of Small Long-Life optical system of star sensor is long-life, medium visual field, object lens of large relative aperture, disperse spot size
Strictly, lens quality is lighter etc., is therefore designed as aspheric surface diaphragm prefix type, including 5 eyeglasses, the first eyeglass, the 3rd eyeglass
Front surface is convex ellipsoid, and the first lens posterior surface, the 3rd lens posterior surface, the front surface of the 4th eyeglass are convex spherical, remaining
Minute surface is concave spherical surface, and the first eyeglass, the material of the 3rd eyeglass are JGS1 glass material, and the material of the second eyeglass is ZF4, the 4th mirror
Sheet material is ZK9, the material of the 5th eyeglass is ZF4；First eyeglass, the second eyeglass, the 3rd eyeglass, the 4th eyeglass, the 5th eyeglass
It is arranged in order and the center by each eyeglass for the optical axis, the first lens front surface is provided with diaphragm, and entrance pupil is located at table before the first eyeglass
Face；Navigation stellar energy passes sequentially through the first eyeglass, the second eyeglass, the 3rd eyeglass, the 4th eyeglass, converges to figure after the 5th eyeglass
As on the photosurface of sensor circuit.GS1 material character is stable, has Flouride-resistani acid phesphatase, anticorrosive, thermal coefficient of expansion is less, density
Relatively low advantage, is conducive to aspheric processing and the adaptability improving system space environment.Wherein, Small Long-Life star is sensitive
Device optical system light path structure chart is as shown in Figure 3.
Frame for movement supports and fixing shade, optical system and circuit board, undertakes electronic devices and components partly anti-spoke simultaneously
According to shielding action.The technical characteristics of Small Long-Life star sensor complete machine structure are：Weight 2.1kg, complete machine structure designs
" framework composition circulating type " structural shape of integration, using pedestal as core, the center of pedestal is equipped with optics to this structure
Image-forming assembly, pedestal passes through 4 structural support posts and is connected with upper lid to constitute a main force support structure assembly, the same fashionable dress of 4 side plates
Fit over pedestal and above cover the overall structure constituting a closing, circuit board assemblies are then directly installed on side plate or are directly installed in
In structural support posts, shade fit on is on upper cover plate.Small Long-Life star sensor mechanical construction drawing is as shown in figure 4, base
Seat 1, first structure support column 2, the second structural support posts 3, the 3rd structural support posts 4, the 4th structural support posts 5, upper cover plate 6,
First side plate 7, the second side plate 8, the 3rd side plate 9, the 4th side plate 10；First structure support column 2, the second structural support posts the 3, the 3rd
Structural support posts 4, the 4th structural support posts 5 are fixedly mounted on pedestal 1, first structure support column 2, the second structural support posts 3,
3rd structural support posts 4, the 4th structural support posts 5 are fixing to support upper cover plate 6, the first side plate 7, the second side plate 8, the 3rd side plate 9,
4th side plate 10 is fixedly connected to form body structure with pedestal 1, upper cover plate 6；Optical system is placed in the middle part of pedestal 1, image sensing
Device circuit is placed in below optical system, controls symmetrically placed on pedestal 1 with data processing circuit, image sensor circuit is passed through
Electric connector and control are connected with data processing circuit, and shade is logical to be fixedly mounted on upper cover plate 6, and this structural shape is compact,
It is easily achieved product miniaturization；The structural material being connected between optical system and APS device, all using titanium alloy, makes light study
As assembly has good heat stability.
Image sensor circuit (includes configuration circuit, sequence circuit, imageing sensor), completes the photoelectricity of fixed star light energy
Conversion, and generate digital star chart, image sensor circuit need to ensure higher signal to noise ratio and less dark current.Configuration circuit,
Generation burning voltage is delivered to imageing sensor and is powered；Sequence circuit, produces work clock and delivers to imageing sensor, drives
Pixel photosensitive array carries out opto-electronic conversion；Imageing sensor includes pixel photosensitive array, programmable gain amplifier circuit, AD turn
Change circuit；After pixel photosensitive array receives work clock, navigation stellar energy is carried out on image sensor circuit photosurface
Fixed star punctate opacity of the cornea imaging of navigating obtains representing the voltage signal of navigation star map, and programmable gain amplifier circuit, to navigation perseverance
The voltage signal of star figure carries out voltage bias, delivers to A/D convertor circuit after voltage gain, and A/D convertor circuit is converted to numeral
Navigation star map, and export to control and data processing circuit.Wherein, imageing sensor is using the customization based on CMOS technology
APS imageing sensor COMPASS, this imageing sensor is Anti -irradiation 4T dot structure, compares the 3T pixel commonly used at present
Structure, it is possible to decrease reset noise, reading noise and fixed pattern noise.12-Bit high-speed ADC on COMPASS piece, can enter one
Step improves star sensor list star positioning precision.COMPASS imageing sensor QE × FF is 50%, reads noise and is better than 25e-, moves
State scope 72dB, Radiation hardness 100kRad.The sequential logic chip of imageing sensor is special integrated using certainly grinding star image processing
Circuit (ASIC), based on imageing sensor and ASIC, devises the low noise video circuit, Small Long-Life Rotating Platform for High Precision Star Sensor
Video circuit overall noise 60e-.
Control and include logic control circuit, digital signal processing circuit, secondary power supply circuit with data processing circuit, complete
Star chart pretreatment, star chart extraction, star pattern matching, Attitude Calculation, including secondary power supply circuit can produce according to primary power source bus
Various secondary power supply voltages needed for star sensor inside；Logic control circuit, carries out figure after receiving digital navigation star map
As pretreatment, obtain grey scale pixel value and the positional information of each fixed star punctate opacity of the cornea, and then obtain navigation star map background and lead
Boat star map threshold value, then by the grey scale pixel value of each fixed star punctate opacity of the cornea, positional information and navigation star map background, navigation
Star map threshold value delivers to digital signal processing circuit；Digital signal processing circuit, extracts according to navigation star map threshold value and leads
In boat star map, effective pixel of punctate opacity of the cornea, is then clustered to effective pixel of the punctate opacity of the cornea obtaining and is entered in cluster process
Row pseudolite differentiates and rejects, and obtains punctate opacity of the cornea image, calculates the energy weight of navigation fixed star punctate opacity of the cornea according to pixel effective in punctate opacity of the cornea image
The heart, then rejects two excessively near navigation fixed stars of energy barycenter, remaining navigation fixed star punctate opacity of the cornea is ranked up according to energy, will
Punctate opacity of the cornea after navigation stellar energy sequence delivers to Attitude Calculation module.
Wherein, star chart pretreatment is completed by logic control circuit ASIC, and it inputs the number for image sensor circuit output
Word star chart, is output as the grey scale pixel value of each fixed star punctate opacity of the cornea pretreated, positional information and navigation star map background, leads
Boat star map threshold value, this logic control ASIC circuit is designed based on 0.18um technique, and circuit scale is million, adopts
Radiation tolerance design, running voltage I/O is 3.3V, kernel 1.8V, and single-particle SEL is 75Mev.cm2/ mg, the total agent of radioprotective
Amount 100kRad, logic control ASIC circuit major design has CPU read-write, reset, clock division, APS parameter setting, APS exposure
Control, Image semantic classification, image output string manipulation, image input string and process, the function such as external synchronization signal spectrum assignment.
Digital signal processing circuit includes processor, memorizer and interface circuit, wherein, the highest of processor SoC2008
Operating frequency 100MHz, data-handling capacity 86MIPS and 25MFLOPS, data/address bus is 32 data+8 bit checks, can be complete
Triplication redundancy (TMR), data/address bus error-detection error-correction (EDAC), multiple bus parity (PAR) ability, addressing space 4G byte
(28 bit address line), radioprotective accumulated dose 300kRad, the input of digital signal processing circuit exports each for logic control circuit
The grey scale pixel value of fixed star punctate opacity of the cornea, positional information and navigation star map background, navigation star map threshold value, are output as star sensitive
Device attitude information.
As shown in figure 1, the specific workflow of star sensor of the present invention includes
(1) optical system is acquired converging to navigation stellar energy, and punctate opacity of the cornea is imaged in APS imageing sensor photosurface
On；
(2) APS imageing sensor carries out opto-electronic conversion to stellar energy, generates digital star chart；
(3) digital processing circuit, to star chart pretreatment, completes fixed star punctate opacity of the cornea position and extracts；Wherein, star chart pretreatment content
Including the calculating of star chart background, star chart threshold calculations, the effective image element extraction of punctate opacity of the cornea, observation star cluster extract, pseudolite differentiate and reject,
Punctate opacity of the cornea energy barycenter calculates, crosses the steps such as close up survey star rejecting, observation star energy ordering.
(4) one of the capture identification of whole day ball, the identification of local sky area or window trace pattern recognition scheduling algorithm are adopted,
Fixed star in star chart and navigational star table are carried out match cognization process, identifies taken the photograph star chart corresponding sky ball position, so that it is determined that
Star sensor Observing axis are in the direction vector of inertial space；(star sensor optical axis pointing method is calculated by star place in star chart,
Referring to reference book：Satellite orbit and attitude dynamics and control, Zhang Renwei writes, publishing house of BJ University of Aeronautics ＆ Astronautics, and 1998
Year August the 1st edition, the 2nd printing of January in 2005." determination of the attitude of satellite " chapters and sections in reference book).
(5) star sensor carries out data exchange by specific communication interface and Attitude and orbit control computer, receives control computer
(star sensor is operated under local sky area pattern, needs control computer to send initial for the control command sending and attitude data
Attitude information), and attitude data is exported.
Can obtain there is the general characteristics such as high accuracy, high dynamic, miniaturization and long-life by said process this
A kind of bright Small Long-Life Rotating Platform for High Precision Star Sensor, Specifeca tion speeification includes：Star sensor certainty of measurement is 3 ＂ (3 σ), dynamic
Performance is 3 °/s, data updating rate is 10Hz, main screw lift (containing shade) is 2.1kg, initial acquisition time 1s, sunlight press down
26 ° of angle processed, projected life are 15 years.
Star sensor of the present invention designs first and employs aspheric optical system, by optical system by 8 optical glass
It is reduced to 5, and achieve the height of optical system as matter and miniaturization；Star-Sensor Design of the present invention from there being Flouride-resistani acid phesphatase to refer to
Target optical glass material is it is ensured that this optical system has higher transmitance, end of lifetime optics in whole operating spectrum band
System transmitance meets 15 years GEO track irradiation doses and requires；In star sensor of the present invention, shade adopts one-level shade to tie
Configuration formula, optimizes the internal light barrier number (6 baffle vanes) of shade, adjustment light barrier is in shade introversion rake angle
(30 °), make star sensor realize being substantially improved of veiling glare rejection ability in the case that shade overall dimensions reduce；The present invention
, using " framework composition circulating type " structural shape of integration, this structural shape is compact, it is easy to accomplish product is small-sized for frame for movement
Change, the structural material being connected between optical system and APS device, all using titanium alloy TC 4, makes optical imaging assemblies have good
Good heat stability.
Be illustrated in figure 5 in Attitude Calculation module by the navigation fixed star punctate opacity of the cornea after navigation stellar energy sequence with default
Navigational star table under heart inertial coodinate system carries out the method flow diagram of match cognization, comprises the steps：
(1) magnitude, quantity sieve are carried out to the permanent star angular distance that navigates in the navigational star table under default geocentric inertial coordinate system
Choosing, obtains navigation fixed star and corresponding navigation perseverance star angular distance that N number of magnitude is not more than 7 grade stars, wherein, N is [5-20]；
(2) the navigation fixed star punctate opacity of the cornea after energy ordering is utilized triangle selection method build observation star triangle, then
Triangle map identification is carried out to observation star triangle according to the navigation perseverance star angular distance that step (1) obtains, if match cognization
Result is unique, then calculate vector under geocentric inertial coordinate system for three Observing axis of star sensor and point to and carry out projection checking,
Match cognization result is uniquely observed star and is projected in star sensor observation image planes, when the fixed star that navigates in star sensor observation image planes
Angle and observation star projection between is [when between 0-120 "], projection is verified, by three Observing axis of star sensor on ground
Vector under heart inertial coodinate system points to as navigation fixed star attitude data and exports, if the result of match cognization is not unique,
Tetrahedron identification is carried out to the navigation fixed star punctate opacity of the cornea after energy ordering, when tetrahedron recognition result is unique, match cognization is tied
The unique star of observing of fruit is projected in star sensor observation image planes, if navigation fixed star and observation star are thrown in star sensor observation image planes
Vector under geocentric inertial coordinate system for three Observing axis of star sensor [between 0-120 "], is then being pointed to by the angle between shadow
As navigation fixed star attitude data exporting
In addition, star sensor of the present invention passes through to set up follows the tracks of list structure, the Tracking Recognition situation of record fixed star, filter out
The punctate opacity of the cornea of tenacious tracking only with can be by the star of star sensor tenacious tracking to carrying out attitude algorithm, elimination can not stably identify
The impact to corresponding output attitude for the star, improves the degree of stability that star sensor exports attitude.
The content not being described in detail in description of the invention belongs to the known technology of those skilled in the art.
Claims (9)
1. a kind of Small Long-Life Rotating Platform for High Precision Star Sensor is it is characterised in that include shade, optical system, frame for movement, figure
As sensor circuit, control and data processing module, Attitude Calculation module, wherein
Shade, blocks the direct projection light of the sun, the earth, the sun of the moon, satellite body surface and the reflection of satellite load equipment
Light, prevents the direct projection light of the sun, and the earth, the sunray of the moon, satellite body surface and the reflection of satellite load equipment enter
Enter optical system；
Optical system, collection navigation stellar energy, and deliver to image sensor circuit；
Image sensor circuit, navigation stellar energy is carried out fixed star punctate opacity of the cornea imaging of navigating on image sensor circuit photosurface
Obtain the star map that navigates, opto-electronic conversion is carried out to navigation star map and obtains digital navigation star map, digital navigation is permanent
Star figure delivers to control and data processing circuit；
Control and data processing circuit, after receiving digital navigation star map, calculate navigation star map background and navigation fixed star
Star chart threshold value, extracts effective pixel of punctate opacity of the cornea in navigation star map, then according to calculated navigation star map threshold value
Effective pixel of the punctate opacity of the cornea obtaining is clustered and is carried out pseudolite differentiation and rejecting in cluster process, obtained punctate opacity of the cornea image,
Calculate the energy barycenter of navigation fixed star punctate opacity of the cornea according to effective pixel in punctate opacity of the cornea image, then reject excessively near two of energy barycenter and lead
Boat fixed star, is then ranked up according to energy to remaining navigation fixed star punctate opacity of the cornea, and the punctate opacity of the cornea after navigation stellar energy sequence is sent
To Attitude Calculation module；
Attitude Calculation module, by under the navigation fixed star punctate opacity of the cornea and default geocentric inertial coordinate system after navigation stellar energy sequence
Navigational star table carries out match cognization, and then obtains vector sensing under geocentric inertial coordinate system for the current star sensor Observing axis,
Finally give navigation fixed star attitude data, and fixed star attitude data output of navigating；Described navigation fixed star attitude data includes
Vector under geocentric inertial coordinate system for three Observing axis of star sensor points to, and wherein, three Observing axis of star sensor hang down mutually
Directly；
Frame for movement, supports and fixing shade, optical system, image sensor circuit, control and data processing module, attitude
Computing module.
2. a kind of Small Long-Life Rotating Platform for High Precision Star Sensor according to claim 1 it is characterised in that：Described shade
For two-part structure, including leading portion (11), back segment (12), inside leading portion (11), back segment (12), include three loop configuration respectively
Baffle vane, leading portion (11), the uniform diameter of back segment (12) reduce, the major diameter of the smaller diameter end of leading portion (11) and back segment (12)
End is fixedly connected, the diameter with diameter greater than back segment (12) larger diameter end of leading portion (11) smaller diameter end, the minor diameter of back segment (12)
End is fixedly connected with frame for movement, and it is pitch-dark more than 0.97 that baffle vane interior surface sprays absorbance.
3. a kind of Small Long-Life Rotating Platform for High Precision Star Sensor according to claim 1 and 2 it is characterised in that：Described light
System includes 5 eyeglasses, and the first eyeglass, the 3rd lens front surface are convex ellipsoid, after the first lens posterior surface, the 3rd eyeglass
Surface, the front surface of the 4th eyeglass are convex spherical, and remaining minute surface is concave spherical surface, and the first eyeglass, the material of the 3rd eyeglass are JGS1
Glass material, the material of the second eyeglass is ZF4, the 4th lens materials are ZK9, the material of the 5th eyeglass is ZF4；First eyeglass,
Second eyeglass, the 3rd eyeglass, the 4th eyeglass, the 5th eyeglass are arranged in order and the center by each eyeglass for the optical axis, the first eyeglass
Front surface is provided with diaphragm, and entrance pupil is located at the first lens front surface；Navigation stellar energy pass sequentially through the first eyeglass, the second eyeglass,
Converge to after 3rd eyeglass, the 4th eyeglass, the 5th eyeglass on the photosurface of image sensor circuit.
4. a kind of Small Long-Life Rotating Platform for High Precision Star Sensor according to claim 1 and 2 it is characterised in that：Described machine
Tool structure include pedestal (1), first structure support column (2), the second structural support posts (3), the 3rd structural support posts (4), the 4th
Structural support posts (5), upper cover plate (6), the first side plate (7), the second side plate (8), the 3rd side plate (9), the 4th side plate (10)；First
Structural support posts (2), the second structural support posts (3), the 3rd structural support posts (4), the 4th structural support posts (5) are fixedly mounted on
On pedestal (1), first structure support column (2), the second structural support posts (3), the 3rd structural support posts (4), the 4th structural support
Post (5) is fixing to support upper cover plate (6), the first side plate (7), the second side plate (8), the 3rd side plate (9), the 4th side plate (10) and pedestal
(1), upper cover plate (6) is fixedly connected to form body structure；Optical system is placed in the middle part of pedestal (1), and image sensor circuit is placed in
Below optical system, control upper symmetrically placed in pedestal (1) with data processing circuit, image sensor circuit passes through electric connector
It is connected with data processing circuit with controlling, shade is logical to be fixedly mounted on upper cover plate (6).
5. a kind of Small Long-Life Rotating Platform for High Precision Star Sensor according to claim 1 it is characterised in that：Described image passes
Sensor circuit includes configuration circuit, sequence circuit, imageing sensor；
Configuration circuit, generation burning voltage is delivered to imageing sensor and is powered；Sequence circuit, produces work clock and delivers to figure
As sensor, pixel photosensitive array is driven to carry out opto-electronic conversion；
Imageing sensor includes pixel photosensitive array, programmable gain amplifier circuit, A/D convertor circuit；Pixel photosensitive array connects
After receiving work clock, navigation stellar energy is carried out navigation fixed star punctate opacity of the cornea imaging on image sensor circuit photosurface and obtains generation
The voltage signal of table navigation star map, programmable gain amplifier circuit, electricity is carried out to the voltage signal of navigation star map
A/D convertor circuit is delivered to, A/D convertor circuit is converted to digital navigation star map, and exports to control after pressure biasing, voltage gain
System and data processing circuit.
6. a kind of Small Long-Life Rotating Platform for High Precision Star Sensor according to claim 1 and 2 it is characterised in that：Described control
System and data processing circuit include logic control circuit, digital signal processing circuit, secondary power supply circuit；
Secondary power supply circuit, is powered to logic control circuit, digital signal processing circuit；
Logic control circuit, carries out Image semantic classification after receiving digital navigation star map, obtains the pixel of each fixed star punctate opacity of the cornea
Gray value and positional information, and then obtain navigate star map background and navigation star map threshold value, then by each fixed star star
Digital signal processing circuit delivered to by the grey scale pixel value of point, positional information and navigation star map background, navigation star map threshold；
Digital signal processing circuit, extracts effective pixel of punctate opacity of the cornea in navigation star map, so according to navigation star map threshold value
Afterwards effective pixel of the punctate opacity of the cornea obtaining is clustered and carried out pseudolite differentiation and rejecting in cluster process, obtained punctate opacity of the cornea figure
Picture, calculates the energy barycenter of navigation fixed star punctate opacity of the cornea according to effective pixel in punctate opacity of the cornea image, then reject energy barycenter excessively near two
Navigation fixed star, to remaining navigation fixed star punctate opacity of the cornea be ranked up according to energy, by navigation stellar energy sequence after punctate opacity of the cornea give
To Attitude Calculation module.
7. a kind of Small Long-Life Rotating Platform for High Precision Star Sensor according to claim 1 and 2 it is characterised in that：Described appearance
By the navigation under the navigation fixed star punctate opacity of the cornea and default geocentric inertial coordinate system after navigation stellar energy sequence in state computing module
The method that star catalogue carries out match cognization comprises the steps：
(1) magnitude, quantity screening are carried out to the permanent star angular distance that navigates in the navigational star table under default geocentric inertial coordinate system, obtain
It is not more than navigation fixed star and the corresponding navigation perseverance star angular distance of 7 grade stars to N number of magnitude, wherein, N is [5-20]；
(2) the navigation fixed star punctate opacity of the cornea after energy ordering is utilized triangle selection method build observation star triangle, then basis
The navigation perseverance star angular distance that step (1) obtains carries out triangle map identification to observation star triangle, if the result of match cognization
Uniquely, then calculate vector under geocentric inertial coordinate system for three Observing axis of star sensor to point to and carry out projection checking, general
Join recognition result and uniquely observe star and be projected in star sensor observation image planes, when navigation fixed star and sight in star sensor observation image planes
Survey angle between star projection [when between 0-120 "], projection is verified, and three Observing axis of star sensor are used in the earth's core
Property coordinate system under vector point to as navigation fixed star attitude data exporting, if the result of match cognization is not unique, to energy
Navigation fixed star punctate opacity of the cornea after amount sequence carries out tetrahedron identification, when tetrahedron recognition result is unique, by match cognization result only
One observation star is projected in star sensor observation image planes, if navigation fixed star and observation star project it in star sensor observation image planes
Between angle [between 0-120 "], then vector under geocentric inertial coordinate system for three Observing axis of star sensor is pointed to as
Navigation fixed star attitude data simultaneously exports.
8. a kind of Small Long-Life Rotating Platform for High Precision Star Sensor according to claim 1 and 2 it is characterised in that：Described leads
Boat fixed star attitude data carries out storage record using following the tracks of list structure, to obtain the Tracking Recognition to navigation fixed star for the star sensor
Situation.
9. a kind of Small Long-Life Rotating Platform for High Precision Star Sensor according to claim 1 and 2 it is characterised in that：Described screening
Light shield introversion rake angle is 30 °.
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| CN112061425B (en) * | 2020-09-08 | 2022-04-08 | 上海航天控制技术研究所 | Method for avoiding interference of earth gas light on agile small satellite star sensor |
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