CN106441374A - Real-time semi-physical simulation all-sky celestial navigation simulator - Google Patents
Real-time semi-physical simulation all-sky celestial navigation simulator Download PDFInfo
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- CN106441374A CN106441374A CN201611161457.6A CN201611161457A CN106441374A CN 106441374 A CN106441374 A CN 106441374A CN 201611161457 A CN201611161457 A CN 201611161457A CN 106441374 A CN106441374 A CN 106441374A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
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Abstract
The invention discloses a real-time semi-physical simulation all-sky celestial navigation simulator which comprises a collimating system, a liquid crystal display plate, a reflector, a light source, a star sensor, a spacecraft flight control simulation system and a star map scene generation system, wherein the liquid crystal display plate is positioned at a focus of the collimating system, the reflector provides backlight for the liquid crystal display plate, the light source is positioned at a focus of the reflector, the star sensor is positioned at an exit pupil position of the collimating system, the spacecraft flight control simulation system respectively transmits synchronous exposure signals to the star sensor and the star map scene generation system, and the star map scene generation system drives the liquid crystal display plate to display a star map scene in a current spacecraft state after receiving spacecraft flight parameters and the synchronous exposure signals. As exposure time of the star sensor is quite short, the star map scene displayed by the liquid crystal display plate can be in a stable output state when the star sensor is exposed in the real-time semi-physical simulation process only by driving the liquid crystal display plate to refresh a star map under control of the synchronous exposure signals.
Description
Technical field
The present invention relates to a kind of Star navigation system analog.Whole day area is emulated more particularly, to a kind of real-time semi-physical
Star navigation system analog.
Background technology
Real-time semi-physical emulation whole day area Star navigation system analog is a kind of analog starry sky on the ground, so as to quick to star
Sensor and control system carry out real-time semi-physical simulator, are mainly used in half of star sensor in spacecraft Star navigation system system
Matter emulation is tested.
Existing Star navigation system analog has based on the Star navigation system analog of collimator, based on optical fiber at present
Star navigation system analog and the three kinds of technological approaches of Star navigation system analog based on liquid crystal.Fixed star mould based on collimator
Intend device and had the advantages that based on the fixed star analog of optical fiber simple for structure, but based on collimator fixed star simulation dress
Putting causes resolution ratio relatively low due to the machining accuracy of diaphragm；Fixed star analog based on optical fiber cannot carry out whole day area
Fixed star is simulated, and can only be fixed the fixed star simulation in day area.High-resolution can be provided based on the Star navigation system analog of liquid crystal
The whole day area star chart of rate, but as the certainty of measurement of star sensor is very high, while the data of measurement are more, there are substantial amounts of data
Process and identification will be completed within the limited time, and the time of exposure for leaving star sensor for is very short, usually Millisecond, it is impossible to
The exposure for meeting star sensor requires the real-time requirement with HWIL simulation.
For existing at present non real-time liquid crystal Star navigation system analog, as the time of exposure of star sensor is short, with
When HWIL simulation requirement of real-time height, and the image of liquid-crystal apparatus generate, transmission and full frame refresh time long, it is difficult to
Meet the exposure requirement of star sensor and the real-time requirement of HWIL simulation, accordingly, it is desirable to provide a kind of new technical scheme is come
Solve the above problems.
Content of the invention
The technical problem to be solved in the present invention is to provide one kind to disclosure satisfy that star sensor exposure and HWIL simulation are real-time
The requirement of property is while Star navigation system analog with high-resolution, the real-time star chart feature in whole day area.
For solving above-mentioned technical problem, the present invention adopts following technical proposals：
A kind of real-time semi-physical emulation whole day area Star navigation system analog, including colimated light system, is located at the collimation system
The LCD panel of system focal point, the reflection shield of the offer LCD panel backlight, the light positioned at the reflection shield focal point
Source, the star sensor for being located at the colimated light system exit pupil position, spacecraft flight control analogue system and star chart scene are generated
System, the spacecraft flight control analogue system calculates flying power, flight control modules control by flying power module
Flight course, and coupled with the star chart Real-Time Communication Interface of star chart scene generation system by real-time control communication interface,
Spacecraft flight parameter is transferred to star chart scene and generates system, the synchronous exposure letter of the spacecraft flight control analogue system
Number control module generates the star of system respectively with the synchronous exposure signal receiver module of the star sensor and the star chart scene
The synchronous exposure signal receiver module connection of figure, synchronous exposure signal is respectively transmitted to star sensor and star chart scene generates system
System, the star sensor controls the real-time control communication interface of analogue system by Real-Time Communication Interface and the spacecraft flight
Connection, navigation information is transferred to spacecraft flight and controls analogue system, the star chart scene generates system and receives space flight
After device flight parameter and synchronous exposure signal, LCD panel is driven to show current space flight by the star chart Real-Time Communication Interface
Star chart scene under device state.As the time of exposure of star sensor is very short, drive only under the control of synchronous exposure signal
Hydrodynamic crystal display refreshes star chart, just can guarantee that in real-time semi-physical simulation process, when star sensor exposes, LCD panel
The star chart scene of display is for stablizing output state.If asynchronous, the exposure that cannot meet star sensor at all is required, Zhi Nengjin
Row static observation and real-time simulation cannot be carried out.
Preferably, the star chart scene generates system and further includes punctate opacity of the cornea coordinate calculation module and punctate opacity of the cornea generation module,
The punctate opacity of the cornea coordinate calculation module is counted after star chart scene generation system receives spacecraft flight parameter and synchronous exposure signal
Punctate opacity of the cornea coordinate is calculated, punctate opacity of the cornea coordinate is transferred to LCD panel by star chart Real-Time Communication Interface by the punctate opacity of the cornea generation module, institute
State LCD panel and corresponding point is refreshed according to punctate opacity of the cornea coordinate.The star chart scene of the present invention generates system and only generates in the first frame
Image, only calculates punctate opacity of the cornea coordinate, and only transmits punctate opacity of the cornea coordinate to LCD panel after the first frame, LCD panel is according to star
Point coordinates refreshes corresponding point, rather than the pointwise of full display panel refreshes, and has saved star chart and has generated the time and reduce star chart transmission
Time with refreshing, improve the real-time of this device.
Preferably, the device further include the equal light microscopic of the Fresnel that is arranged between the LCD panel and light source and
Narrow band pass filter, the light of directive LCD panel is carried out shimming process, the narrow band pass filter by the equal light microscopic of the Fresnel
Light transmission corresponding with star sensor spectrum is made on LCD panel.The equal light microscopic of Fresnel can be right using binary optical technique
Light source is finely revised, and not only improves uniformity but also the volume of the equal light microscopic of Fresnel, weight are all little than common all light microscopics,
The volume and weight of apparatus of the present invention can be effectively reduced.The transmitted spectrum of narrow band pass filter is the sensitive ripple according to star sensor
Section design, light-transmissive corresponding with star sensor spectrum is so can ensure that, unwanted light is filtered out, meets star quick
The low-light (level) of sensor is required.
Preferably, the device further includes to ensure that the light source that the light source stably can be exported in low light situations is anti-
Feedback control system.As the outgoing illuminance that Star navigation system analog is required is very low, ordinary light source is in low light situations
Output is unstable, thus is provided in the present invention ensureing the light source feedback that light source stably can be exported in low light situations
Control system.
Preferably, the device further includes to ensure the light that the entrance pupil of the star sensor is overlapped with the emergent pupil of colimated light system
Pupil butt junction location device.The pupil butt junction location device is used to dock and positions pupil, is filled according to Star navigation system simulation
The angle of visual field of the colimated light system that puts, emergent pupil pupil location, the entrance pupil position of exit pupil diameter and star sensor and Entry pupil diameters design
, in the HWIL simulation Preparatory work of experiment stage, star sensor is needed on pupil butt junction location device, it is ensured that star sensor
Entrance pupil overlap with the emergent pupil of colimated light system, it is to avoid occur optics gradual halation phenomena.
Description of the drawings
Below in conjunction with the accompanying drawings the specific embodiment of the present invention is described in further detail.
Fig. 1 illustrates the structural representation of the present invention.
Specific embodiment
In order to be illustrated more clearly that the present invention, with reference to preferred embodiments and drawings, the present invention is done further
Bright.In accompanying drawing, similar part is indicated with identical reference.It will be appreciated by those skilled in the art that institute is concrete below
The content of description is illustrative and be not restrictive, and should not be limited the scope of the invention with this.
As shown in figure 1, a kind of real-time semi-physical emulation whole day area Star navigation system analog, including：Reflection shield 1, light source
2nd, the equal light microscopic 4 of narrow band pass filter 3, Fresnel, LCD panel 5, colimated light system 6, pupil butt junction location device 7, light source feedback
Control system 8, star sensor 10, spacecraft flight control analogue system 20 and star chart scene system 30, star sensor 10 includes
Synchronous exposure signal receiver module 11 and Real-Time Communication Interface 12, spacecraft flight control analogue system 20 includes flying power mould
Block 21, flight control modules 22, synchronous exposure signal control module 23 and real-time control communication interface 24, star chart scene system bag
Include punctate opacity of the cornea coordinate calculation module 31, punctate opacity of the cornea generation module 32, star chart synchronization exposure signal receiver module 33 and star chart real-time Communication for Power
Interface 34.
As LCD panel 5 itself does not light, it is therefore desirable to which light source 2, reflection shield 1, narrow band pass filter 3, Fresnel are equal
The illuminators such as light microscopic 4, light source feedback control system 8.Light source 2 is in reflection shield 1, and the light that light source 2 sends is through reflective
After 1 reflection of cover, through 3 transmission of narrow band pass filter, then through the equal light microscopic 4 of Fresnel, after uniform light intensity, LCD panel is projected
5, LCD panel 5 is illuminated.LCD panel 5, installed in the focal point of colimated light system 6, is flat through the collimation of colimated light system 6
Row light, forms clear, the uniform whole day area dynamic star chart equivalent to infinity.The transmitted spectrum of narrow band pass filter 3 be according to star
Sensor 10 sensitive band design, so can ensure that light-transmissive corresponding with 10 spectrum of star sensor, do not need
Light filter out, meet star sensor 10 low-light (level) require.Due to light source 2 actual luminous site be filament, filament equal
Even property is bad, it is therefore desirable to which the light that the equal light microscopic 4 of Fresnel is sent to light source is carried out all by force, and the equal light microscopic 4 of Fresnel adopts binary optical
Technology can be finely revised to light source, not only improve uniformity but also the volume of the equal light microscopic 4 of Fresnel, weight are all than general
Lead to equal light microscopic little.As the outgoing illuminance that Star navigation system analog is required is very low, ordinary light source is in the feelings of low-light (level)
Export under condition unstable, therefore present invention additionally comprises light source feedback control system 8, it is ensured that light source can be steady in low light situations
Fixed output.Light source feedback control system 8 ensure that light source 1 is stably exported in low light situations.Pupil butt junction location device 7
Be used to dock and position pupil, be according to the angle of visual field of Star navigation system analog colimated light system 6, emergent pupil pupil location,
The entrance pupil position of exit pupil diameter and star sensor 10 and Entry pupil diameters are designed, and in the HWIL simulation Preparatory work of experiment stage, star is quick
Sensor 10 is needed on pupil butt junction location device 7, it is ensured that the emergent pupil weight of the entrance pupil of star sensor 10 and colimated light system 6
Close, it is to avoid optics gradual halation phenomena.
Because star sensor navigation system is mounted on spacecraft in flight course, therefore spacecraft flight control is imitative
True system 20 is mainly used to simulate and control flight course, and the real-time Communication for Power being responsible for star chart scene system 30, and and star
The real-time Communication for Power of sensor 10, it is ensured that HWIL simulation hard real time.
During real-time simulation, spacecraft flight controls analogue system 20 according to the requirement of spacecraft HWIL simulation,
Flying power, flight control modules 22 are calculated by flying power module 21 and controls flight course.Spacecraft flight control emulation system
System 20 is coupled with the star chart Real-Time Communication Interface 34 of star chart scene system 30 by real-time control communication interface 24, and spacecraft is flown
Line parameter is exported to star chart scene system 30.
At the same time, spacecraft flight control analogue system 20 is by synchronous exposure signal control module 23 and star sensor
The connection of the synchronous exposure signal receiver module 11 in 10, control star sensor 10 exposes, and by synchronous exposure signal control
Module 23 couples the synchronous exposure signal of transmission to star chart scene system 30 with star chart synchronization exposure signal receiver module 33.Star chart
After scene system 30 receives flight parameter and synchronous exposure signal, punctate opacity of the cornea coordinate calculation module 31 is had to calculate punctate opacity of the cornea coordinate, by
Punctate opacity of the cornea generation module 32 drives LCD panel 5 to refresh by star chart Real-Time Communication Interface 34.Exposure due to star sensor 10
Time short (usually Millisecond), only under the control of synchronous exposure signal, just can guarantee that in real-time semi-physical simulation process,
When star sensor 10 exposes, the punctate opacity of the cornea scene that LCD panel 5 shows reaches stable output.Further star chart field of the present invention
Scape system 30 is different from the working method of non real-time liquid crystal image system.The conventional type of drive of non real-time liquid crystal be by image
Computer generated image, image computer transmission image to liquid crystal drive system, again full frame pointwise refresh LCD panel, so
The consuming time, it is unsatisfactory for real-time demand.The star chart scene system 30 of the present invention does not generate image, only calculates and transmission punctate opacity of the cornea seat
Mark data, LCD panel 5 only refreshes respective point further according to punctate opacity of the cornea coordinate, rather than the pointwise of full display panel refreshes, and so saves
Image generation times, reduce image transmitting time and refresh time, improve the real-time of device.
Spacecraft flight control analogue system is again by real-time control communication interface 24 and the real-time Communication for Power of star sensor 10
The connection of interface 12, gathers the navigation information for exporting after star sensor 10 exposes, and according to the navigation information correction flight course,
Again flight parameter is transferred to star chart scene system 30, waits next frame synchronization exposure signal to drive the punctate opacity of the cornea field of next frame again
Scape.
The present invention can realize the Star navigation system simulation of real-time semi-physical emulation whole day area, can be used for the survey of Star navigation system system
Examination and HWIL simulation, its outstanding feature is high-resolution, real-time is strict, output is stable, whole day area shows.
Obviously, the above embodiment of the present invention is only intended to clearly illustrate example of the present invention, and is not right
The restriction of embodiments of the present invention, for those of ordinary skill in the field, may be used also on the basis of the above description
To make other changes in different forms, all of embodiment cannot be exhaustive here, every belong to this
Obvious change that bright technical scheme is extended out or change row still in protection scope of the present invention.
Claims (5)
1. a kind of real-time semi-physical emulates whole day area Star navigation system analog, it is characterised in that：Including colimated light system, it is located at institute
The LCD panel for stating colimated light system focal point, the reflection shield that the LCD panel backlight is provided, it is located at reflection shield Jiao
Light source, the star sensor for being located at the colimated light system exit pupil position, spacecraft flight control analogue system and star chart at point
Scene generates system, and the spacecraft flight control analogue system calculates flying power, flight control by flying power module
Module controls flight course, and the star chart real-time Communication for Power for generating system with the star chart scene by real-time control communication interface connects
Mouth connection, spacecraft flight parameter is transferred to star chart scene and generates system, and the spacecraft flight controls the same of analogue system
Synchronous exposure signal receiver module and the star chart scene generation respectively with the star sensor of step exposure signal control module
The star chart synchronization exposure signal receiver module connection of system, synchronous exposure signal is respectively transmitted to star sensor and star chart scene
Generation system, the star sensor controls the real-time control of analogue system to lead to by Real-Time Communication Interface and the spacecraft flight
The connection of letter interface, navigation information is transferred to spacecraft flight and controls analogue system, and the star chart scene generates system reception
To after spacecraft flight parameter and synchronous exposure signal, drive LCD panel to show by the star chart Real-Time Communication Interface and work as
Star chart scene under front spacecraft state.
2. real-time semi-physical according to claim 1 emulates whole day area Star navigation system analog, it is characterised in that：Described
Star chart scene generates system and further includes punctate opacity of the cornea coordinate calculation module and punctate opacity of the cornea generation module, the punctate opacity of the cornea coordinate calculation module
After star chart scene generation system receives spacecraft flight parameter and synchronous exposure signal, punctate opacity of the cornea coordinate is calculated, described
Punctate opacity of the cornea coordinate is transferred to LCD panel by star chart Real-Time Communication Interface by punctate opacity of the cornea generation module, the LCD panel according to
Punctate opacity of the cornea coordinate refreshes corresponding point.
3. real-time semi-physical according to claim 1 emulates whole day area Star navigation system analog, it is characterised in that：The dress
Put the equal light microscopic of the Fresnel for further including to be arranged between the LCD panel and light source and narrow band pass filter, the phenanthrene alunite
The light of directive LCD panel is carried out shimming process by all light microscopics by you, and the narrow band pass filter makes corresponding with star sensor spectrum
Light transmission on LCD panel.
4. real-time semi-physical according to claim 1 emulates whole day area Star navigation system analog, it is characterised in that：The dress
Put the light source feedback control system for further including to ensure that the light source stably can be exported in low light situations.
5. real-time semi-physical according to claim 1 emulates whole day area Star navigation system analog, it is characterised in that：The dress
Put the pupil butt junction location device for further including to ensure that the entrance pupil of the star sensor is overlapped with the emergent pupil of colimated light system.
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| CN108234885A (en) * | 2018-02-26 | 2018-06-29 | 北京仿真中心 | A kind of Synchronization Control image generation system |
| CN111947686A (en) * | 2020-08-05 | 2020-11-17 | 南京理工大学 | Ground semi-physical simulation system and method for remote angle-only relative navigation |
| CN112833911A (en) * | 2020-12-30 | 2021-05-25 | 中国科学院西安光学精密机械研究所 | High-precision inter-satellite angular distance sky area constant-satellite simulator and calibration method thereof |
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| CN107145081A (en) * | 2017-06-27 | 2017-09-08 | 北京仿真中心 | A kind of empty target-seeking Method of Hardware of feedback formula low frequency and system |
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| CN111947686A (en) * | 2020-08-05 | 2020-11-17 | 南京理工大学 | Ground semi-physical simulation system and method for remote angle-only relative navigation |
| CN111947686B (en) * | 2020-08-05 | 2024-04-09 | 南京理工大学 | Ground semi-physical simulation system and method for remote angle-measurement-only relative navigation |
| CN112833911A (en) * | 2020-12-30 | 2021-05-25 | 中国科学院西安光学精密机械研究所 | High-precision inter-satellite angular distance sky area constant-satellite simulator and calibration method thereof |
| CN112833911B (en) * | 2020-12-30 | 2023-12-08 | 中国科学院西安光学精密机械研究所 | High-precision space star simulator with inter-star angular distance and calibration method thereof |
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| CN106441374B (en) | 2019-10-29 |
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