CN106441374B - A kind of real-time semi-physical emulation whole day area Star navigation system simulator - Google Patents
A kind of real-time semi-physical emulation whole day area Star navigation system simulator Download PDFInfo
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- CN106441374B CN106441374B CN201611161457.6A CN201611161457A CN106441374B CN 106441374 B CN106441374 B CN 106441374B CN 201611161457 A CN201611161457 A CN 201611161457A CN 106441374 B CN106441374 B CN 106441374B
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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 present invention discloses a kind of real-time semi-physical emulation whole day area Star navigation system simulator, including colimated light system, positioned at the LCD panel of colimated light system focal point, the reflector of LCD panel backlight is provided, positioned at the light source of reflector focal point, star sensor positioned at colimated light system exit pupil position, spacecraft flight controls analogue system and star chart scene generates system, spacecraft flight controls analogue system and synchronous exposure signal is respectively transmitted to star sensor and star chart scene generation system, star chart scene generate system receive spacecraft flight parameter with after synchronous exposure signal, driving LCD panel shows the star chart scene under current spacecraft state.Since the time for exposure of star sensor is very short, only driving LCD panel refreshes star chart under the control of synchronous exposure signal, it just can guarantee in real-time semi-physical simulation process, when star sensor exposure, the star chart scene that LCD panel is shown is to stablize output state.
Description
Technical field
The present invention relates to a kind of Star navigation system simulators.Whole day area is emulated more particularly, to a kind of real-time semi-physical
Star navigation system simulator.
Background technique
Real-time semi-physical emulation whole day area Star navigation system simulator 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 for half of star sensor in spacecraft Star navigation system system
Matter emulation test.
Current existing Star navigation system simulator has Star navigation system simulator based on parallel light tube, based on optical fiber
Star navigation system simulator and three kinds of technological approaches of Star navigation system simulator based on liquid crystal.Fixed star mould based on parallel light tube
Quasi- device and the fixed star simulator based on optical fiber have the advantages that simple for structure, but the simulation of the fixed star based on parallel light tube fills
It sets since the machining accuracy of diaphragm causes resolution ratio lower；Fixed star simulator based on optical fiber can not carry out whole day area
The fixed star simulation in day area can only be fixed in fixed star simulation.Star navigation system simulator based on liquid crystal is capable of providing high-resolution
The whole day area star chart of rate, but since the measurement accuracy of star sensor is very high, while the data measured are more, there is a large amount of data
Processing and identification will be completed within the limited time, and the time for exposure for leaving star sensor for is very short, usually Millisecond, cannot
The exposure for meeting star sensor requires and the real-time requirement of HWIL simulation.
For current existing non real-time liquid crystal Star navigation system simulator, since the time for exposure of star sensor is short, together
When HWIL simulation requirement of real-time it is high, and the image of liquid-crystal apparatus generates, transmission and full frame refresh time are long, it is difficult to
The exposure for meeting star sensor requires and the real-time requirement of HWIL simulation, accordingly, it is desirable to provide a kind of new technical solution is come
It solves the above problems.
Summary of the invention
It can satisfy star sensor exposure the technical problem to be solved in the present invention is to provide one kind and HWIL simulation be real-time
Property requirement, have the characteristics that the Star navigation system simulator of high-resolution, the real-time star chart in whole day area simultaneously.
In order to solve the above technical problems, the present invention adopts the following technical solutions:
A kind of real-time semi-physical emulates whole day area Star navigation system simulator, including colimated light system, is located at collimation system
Unite focal point LCD panel, the LCD panel backlight is provided reflector, positioned at the light of the reflector focal point
Source, the star sensor positioned at the colimated light system exit pupil position, spacecraft flight control analogue system and star chart scene generate
System, the spacecraft flight control analogue system calculate flying power, flight control modules control by flying power module
Flight course, and coupled by real-time control communication interface with the star chart Real-Time Communication Interface that the star chart scene generates system,
Spacecraft flight parameter is transferred to star chart scene and generates system, the synchronous exposure letter of the spacecraft flight control analogue system
Exposure signal receiving module synchronous with the star sensor and the star chart scene generate the star of system respectively for number control module
Scheme synchronous exposure signal receiving module connection, synchronous exposure signal is respectively transmitted to star sensor and star chart scene generates system
System, the star sensor control 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 control analogue system, the star chart scene generates system and receives space flight
Device flight parameter drives LCD panel to show current space flight with after synchronous exposure signal by the star chart Real-Time Communication Interface
Star chart scene under device state.Since the time for exposure of star sensor is very short, only driven under the control of synchronous exposure signal
Hydrodynamic crystal display refreshes star chart, just can guarantee in real-time semi-physical simulation process, when star sensor exposure, LCD panel
The star chart scene of display is to stablize output state.If asynchronous, it is unable to satisfy the exposure requirement of star sensor, Zhi Nengjin at all
Row static observation and real-time simulation can not be carried out.
Preferably, it further comprises asterism coordinate calculation module and asterism generation module that the star chart scene, which generates system,
The asterism coordinate calculation module generates system in star chart scene and receives spacecraft flight parameter with after synchronous exposure signal, counts
Asterism coordinate is calculated, asterism coordinate is transferred to LCD panel by star chart Real-Time Communication Interface by the asterism generation module, institute
It states LCD panel and corresponding point is refreshed according to asterism coordinate.Star chart scene of the invention generates system and only generates in first frame
Image, first frame only calculates asterism coordinate later, and only transmits asterism coordinate to LCD panel, and LCD panel is according to star
Point coordinate refreshes corresponding point, rather than full display board refreshes point by point, has saved star chart and has generated the time and reduce star chart transmission
With the time of refreshing, the real-time of the present apparatus is improved.
Preferably, the device further comprise the equal light microscopic of Fresnel being arranged between the LCD panel and light source and
The light of directive LCD panel is carried out shimming processing, the narrow band filter by narrow band filter, the equal light microscopic of Fresnel
Make in light transmission to LCD panel corresponding with star sensor spectrum.The equal light microscopic of Fresnel can be right using binary optical technique
Light source is finely corrected, and volume, the weight for not only improving uniformity but also the equal light microscopic of Fresnel are smaller than common light microscopic,
The volume and weight of apparatus of the present invention can be effectively reduced.The transmitted spectrum of narrow band filter is the sensitive wave according to star sensor
Section design, it can guarantee light-transmissive corresponding with star sensor spectrum in this way, unwanted light is filtered out, it is quick to meet star
The low-light (level) requirement of sensor.
Preferably, which further comprises guaranteeing the light source in low light situations and can stablizing that the light source of output is anti-
Present control system.Since the outgoing illuminance that Star navigation system simulator requires is very low, ordinary light source is in low light situations
It exports unstable, thus is arranged can stablize the light source feedback of output for guaranteeing light source in low light situations in the present invention
Control system.
Preferably, which further comprises the light for guaranteeing the entrance pupil of the star sensor and being overlapped with the emergent pupil of colimated light system
Pupil butt junction location device.The pupil butt junction location device is for docking and positioning pupil, is to be simulated to fill according to Star navigation system
Entrance pupil position and the Entry pupil diameters design of the field angle, emergent pupil pupil location, exit pupil diameter and star sensor of the colimated light system set
, in the HWIL simulation Preparatory work of experiment stage, star sensor needs to be mounted on pupil butt junction location device, guarantees star sensor
Entrance pupil be overlapped with the emergent pupil of colimated light system, avoid occur optics gradual halation phenomena.
Detailed description of the invention
Specific embodiments of the present invention will be described in further detail with reference to the accompanying drawing.
Fig. 1 shows structural schematic diagram of the invention.
Specific embodiment
In order to illustrate more clearly of the present invention, the present invention is done further below with reference to preferred embodiments and drawings
It is bright.Similar component is indicated in attached drawing with identical appended drawing reference.It will be appreciated by those skilled in the art that institute is specific 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 emulates whole day area Star navigation system simulator, comprising: reflector 1, light source
2, the equal light microscopic 4 of narrow band 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 include
Synchronous exposure signal receiving module 11 and Real-Time Communication Interface 12, it includes flying power mould that spacecraft flight, which controls analogue system 20,
Block 21, flight control modules 22, synchronous exposure signal control module 23 and real-time control communication interface 24, star chart scene system packet
Include the synchronous exposure signal receiving module 33 of asterism coordinate calculation module 31, asterism generation module 32, star chart and star chart real time communication
Interface 34.
Since LCD panel 5 does not emit light itself, it is therefore desirable to which light source 2, reflector 1, narrow band filter 3, Fresnel are equal
The lighting devices such as light microscopic 4, light source feedback control system 8.Light source 2 is mounted in reflector 1, and the light that light source 2 issues is by reflective
It after 1 reflection of cover, is transmitted by narrow band filter 3, using the equal light microscopic 4 of Fresnel, after uniform light intensity, projects LCD panel
5, LCD panel 5 is illuminated.LCD panel 5 is mounted on the focal point of colimated light system 6, is flat by the collimation of colimated light system 6
Row light forms whole day area dynamic star chart that is clear, being uniformly equivalent to infinity.The transmitted spectrum of narrow band filter 3 is according to star
The sensitive band design of sensor 10, it can guarantee light-transmissive corresponding with 10 spectrum of star sensor in this way, not needing
Light filter out, meet star sensor 10 low-light (level) requirement.Due to light source 2 practical luminous site be filament, filament it is equal
Even property is bad, it is therefore desirable to which the light progress that the equal light microscopic 4 of Fresnel issues light source is strong, and the equal light microscopic 4 of Fresnel uses binary optical
Technology can finely correct light source, and the volume that not only improves uniformity but also the equal light microscopic 4 of Fresnel, weight are than general
Lead to equal light microscopic and wants small.Since the outgoing illuminance that Star navigation system simulator requires is very low, feelings of the ordinary light source in low-light (level)
It exports unstable under condition, therefore the invention also includes light source feedback control system 8, guarantees that light source can be steady in low light situations
Fixed output.Light source feedback control system 8 can guarantee the stable output in low light situations of light source 1.Pupil butt junction location device 7
Be for docking and position pupil, be according to the field angle of Star navigation system simulator colimated light system 6, emergent pupil pupil location,
The entrance pupil position and Entry pupil diameters design of exit pupil diameter and star sensor 10, in the HWIL simulation Preparatory work of experiment stage, star is quick
Sensor 10 needs to be mounted on pupil butt junction location device 7, guarantees the entrance pupil of star sensor 10 and the emergent pupil weight of colimated light system 6
It closes, avoids optics gradual halation phenomena.
Because star sensor navigation system is mounted on spacecraft in flight course, spacecraft flight control is imitative
True system 20 is mainly used to simulate and control flight course, and is responsible for the real time communication with star chart scene system 30, and and star
The real time communication of sensor 10 guarantees 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 is calculated by flying power module 21, flight control modules 22 control flight course.Spacecraft flight control emulation system
System 20 is coupled by real-time control communication interface 24 with the star chart Real-Time Communication Interface 34 of star chart scene system 30, and spacecraft is flown
Row parameter is output to star chart scene system 30.
At the same time, spacecraft flight control analogue system 20 passes through synchronous exposure signal control module 23 and star sensor
The connection of synchronization exposure signal receiving module 11 in 10, control star sensor 10 expose, and pass through synchronous exposure signal control
The connection of the exposure signal receiving module 33 synchronous with star chart of module 23 sends synchronous exposure signal to star chart scene system 30.Star chart
Scene system 30 receive flight parameter with after synchronous exposure signal, have asterism coordinate calculation module 31 calculate asterism coordinate, by
Asterism generation module 32 drives LCD panel 5 to refresh by star chart Real-Time Communication Interface 34.Due to the exposure of star sensor 10
Time is short (usually Millisecond), only under the control of synchronous exposure signal, just can guarantee in real-time semi-physical simulation process,
When star sensor 10 exposes, the asterism scene that LCD panel 5 is shown 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 non real-time common driving method of liquid crystal is by image
Computer generated image, image computer transmission image to liquid crystal drive system, full frame point-by-point refreshing LCD panel again, in this way
The time is expended, real-time demand is unsatisfactory for.Star chart scene system 30 of the invention does not generate image, only calculates and transmission asterism is sat
Data are marked, LCD panel 5 only refreshes respective point further according to asterism coordinate, rather than full display board refreshes point by point, saves in this way
Image generation times, reduce image transmitting time and refresh time, improve the real-time of device.
Spacecraft flight control analogue system passes through the real time communication of real-time control communication interface 24 Yu star sensor 10 again
The connection of interface 12, the navigation information that acquisition star sensor 10 exports after exposing, and flight course is corrected according to the navigation information,
Flight parameter is transferred to star chart scene system 30 again, next frame synchronization exposure signal is waited to drive the asterism field of next frame again
Scape.
The present invention can be realized real-time semi-physical emulation whole day area Star navigation system simulation, can be used for the survey of Star navigation system system
Examination and HWIL simulation, outstanding feature is high-resolution, real-time is stringent, output is stablized, whole day area is shown.
Obviously, the above embodiment of the present invention be only to clearly illustrate example of the present invention, and not be pair
The restriction of embodiments of the present invention may be used also on the basis of the above description for those of ordinary skill in the art
To make other variations or changes in different ways, all embodiments can not be exhaustive here, it is all to belong to this hair
The obvious changes or variations that bright technical solution is extended out are still in the scope of protection of the present invention.
Claims (4)
1. a kind of real-time semi-physical emulates whole day area Star navigation system simulator, it is characterised in that: including colimated light system, be located at institute
The LCD panel for stating colimated light system focal point, the reflector for providing the LCD panel backlight are located at the reflector coke
Light source at point, the star sensor positioned at the colimated light system exit pupil position, spacecraft flight control analogue system and star chart
Scene generates system, and the spacecraft flight control analogue system calculates flying power, flight control by flying power module
Module controls flight course, and is connect by the star chart real time communication that real-time control communication interface generates system with the star chart scene
Spacecraft flight parameter is transferred to star chart scene and generates system by mouth connection, and the spacecraft flight controls the same of analogue system
Walking exposure signal control module, exposure signal receiving module synchronous with the star sensor and the star chart scene generate respectively
The synchronous exposure signal receiving module connection of the star chart of system, is respectively transmitted to star sensor and star chart scene for synchronous exposure signal
Generation system, the star sensor are logical by the real-time control that Real-Time Communication Interface and the spacecraft flight control analogue system
Navigation information is transferred to spacecraft flight control analogue system by the connection for believing interface, and the star chart scene generates system and receives
To spacecraft flight parameter with after synchronous exposure signal, drives LCD panel to show by the star chart Real-Time Communication Interface and work as
Star chart scene under preceding spacecraft state；It further comprises asterism coordinate calculation module and asterism that the star chart scene, which generates system,
Generation module, the asterism coordinate calculation module the star chart scene generate system receive spacecraft flight parameter with it is synchronous
After exposure signal, asterism coordinate is calculated, asterism coordinate is transferred to by the asterism generation module by star chart Real-Time Communication Interface
LCD panel, the LCD panel refresh corresponding point according to asterism coordinate.
2. real-time semi-physical according to claim 1 emulates whole day area Star navigation system simulator, it is characterised in that: the dress
Set the equal light microscopic of the Fresnel for further comprising to be arranged between the LCD panel and light source and narrow band filter, the phenanthrene alunite
By the light progress shimming processing of directive LCD panel, the narrow band filter makes corresponding with star sensor spectrum light microscopic for you
Light transmission to LCD panel on.
3. real-time semi-physical according to claim 1 emulates whole day area Star navigation system simulator, it is characterised in that: the dress
Set further comprises guaranteeing the light source in low light situations to stablize the light source feedback control system of output.
4. real-time semi-physical according to claim 1 emulates whole day area Star navigation system simulator, it is characterised in that: the dress
Setting further comprises the pupil butt junction location device for guaranteeing the entrance pupil of the star sensor and being overlapped with the emergent pupil of colimated light system.
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| CN107145081B (en) * | 2017-06-27 | 2020-08-14 | 北京仿真中心 | Air-fed low-frequency searching semi-physical simulation test method and system |
| CN108234885B (en) * | 2018-02-26 | 2020-08-14 | 北京仿真中心 | Synchronous control image generation system |
| 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 |
| 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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