CN106468544B - Satellite high-precision angle-measuring method based on photoelectric auto-collimator - Google Patents
Satellite high-precision angle-measuring method based on photoelectric auto-collimator Download PDFInfo
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- CN106468544B CN106468544B CN201610786327.5A CN201610786327A CN106468544B CN 106468544 B CN106468544 B CN 106468544B CN 201610786327 A CN201610786327 A CN 201610786327A CN 106468544 B CN106468544 B CN 106468544B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C1/00—Measuring angles
Abstract
The present invention provides a kind of satellite high-precision angle-measuring method based on photoelectric auto-collimator, comprising the following steps: step 1 is placed in satellite is clamped on turntable, which is denoted as " state one "；Step 2 aims at the prism square on two single machines using two autocollimators respectively, and adjusts the position of autocollimator, so that autocollimator optical path is vertical with corresponding tested cube mirror surface；Turntable is rotated a minute angle around rotary shaft by step 3；Step 4 obtains prism square on two single machines and is tested the angular deflection amount of mirror surface, and picpointed coordinate of two autocollimators on sensor screen is calculated.The present invention obtains the space minute angle variation of tested mirror surface by more auto-collimation instruments automatically, under the premise of using autocollimator superhigh precision measurement capability, it can be avoided measurement error caused by manual operation, satellite angle measurement accuracy is further increased, has many advantages, such as that compatible repeatedly measurement, calculating is quick, measurement accuracy is high.
Description
Technical field
The present invention relates to a kind of angle-measuring methods, and in particular, to a kind of satellite high-precision survey based on photoelectric auto-collimator
Angle method.
Background technique
It when satellite ground general assembly, needs to obtain the optical axis points relationship that each precision single machine is mutual on star, directly measures
There are many difficulties in the actual operation process in the optical axis of tested instrument, thus generally pass through during satellite assembly accurate measurement by
The mirror surface normal direction optical axis for the prism square installed on measurement equipment, which is directed toward, replaces the optical axis to be directed toward implementation measurement.Theodolite is widely used at present
Measuring system measures, that is, utilizes the collimation and the mutual angle letter taken aim between the tested mirror surface of acquisition of more regular distribution theodolites
Breath, and then resolve tested mirror surface normal vector space angle relationship.Human eye is relied primarily in measurement process to carry out collimation and mutually take aim at
Deng operation, measurement process is time-consuming and laborious, and in view of the difference of the line width of tested target and human eye vision, and often result in compared with
Big error.The high rail of a new generation, the High Resolution Remote Sensing Satellites optical axis mutual to spaceborne instrument can not have been fully met to refer to
The installation and measurement request proposed to precision.
Summary of the invention
For the defects in the prior art, the object of the present invention is to provide a kind of satellite based on photoelectric auto-collimator is high-precision
Angle-measuring method is spent, the space minute angle variation of tested mirror surface is obtained automatically by more auto-collimation instruments, is closed in conjunction with backstage
The mathematics of reason resolves, and obtains the space angle relationship of tested mirror surface normal direction, is utilizing autocollimator superhigh precision measurement capability
Under the premise of, it can be avoided measurement error caused by manual operation (collimation is mutually taken aim at and read), further increase satellite angle measurement essence
Degree has many advantages, such as that compatible repeatedly measurement, calculating is quick, measurement accuracy is high.
According to an aspect of the present invention, a kind of satellite high-precision angle-measuring method based on photoelectric auto-collimator is provided,
It is characterized in that, comprising the following steps:
Step 1 is placed in satellite is clamped on turntable, which is denoted as " state one "；
Step 2 aims at the prism square on two single machines using two autocollimators respectively, and adjusts autocollimator
Position, so that autocollimator optical path is vertical with corresponding tested cube mirror surface；
Turntable is rotated a minute angle around rotary shaft by step 3；
Step 4 obtains prism square on two single machines and is tested the angular deflection amount of mirror surface, and two auto-collimations are calculated
Picpointed coordinate of the instrument on sensor screen；
Step 5 again rotates turntable around rotary shaft；
Step 6, prism square is tested the angular deflection amount of mirror surface on two single machines obtained again, and converts and obtain two
Picpointed coordinate of the autocollimator on sensor screen；
Step 7 is resolved by mathematics, obtains the unitization vector that rotary shaft is connected under coordinate system in two autocollimators
It indicates, is denoted as
Step 8 is adjusted the attitude of satellite, so that angle offset occurs for the rotary shaft of satellite, which is denoted as " shape
State two "；
Step 9 repeats step 3 to six；
Step 10 is resolved by mathematics, obtains the unitization vector that rotary shaft is connected under coordinate system in two autocollimators
It indicates, is denoted as
Step 11, final basisIt resolves and obtains the space vector angle of tested mirror surface.
Preferably, the step 4 remembers that obtaining prism square to be tested the angular deflection amount of mirror surface by autocollimator is α, and note is certainly
Picpointed coordinate variable quantity of the collimator picture point on sensor screen is d, according to the focal length f of object lens built in autocollimator, in conjunction with
Formula d=2 α × f obtains the numerical value of picpointed coordinate of the autocollimator on sensor screen after the rotation of this turntable.
Preferably, the step 8 is by the way of padding cushion block between two-axle rotating table and satellite, so that the attitude of satellite is real
It now adjusts, later there is still a need for the clamped connection of fastener is used, to ensure that measurement process Satellite does not move integrally.
Compared with prior art, the present invention has following the utility model has the advantages that one, and the present invention is using high-acruracy survey of new generation
Equipment photoelectric auto-collimator, relative to traditional theodolite satellite angle-measuring method, measurement process may be implemented to obtain data automatically,
Without manually collimating and reading the abilities such as data, the personnel in conventional method that avoid operate the error generated, and angle resolved
Cheng Junwei algebraic manipulation, most complicated solution procedure are the feature vector for finding a three rank real symmetric matrixes, have compatibility
The advantages that repeatedly measurement, calculating are fast, measurement accuracy is high, and systematic survey essence can be further increased by increasing pendulous frequency
Degree has more significant engineering application value.Two, the present invention is different from traditional satellite angle-measuring method using theodolite,
Measuring device uses high precision photoelectric autocollimator, and angle measurement accuracy improves a magnitude compared with theodolite.Three, when the present invention measures
Automatic data, satellite and the measuring device of obtaining is horizontal without adjusting, and without manually collimating and mutually taking aim at, avoids in theodolite method
Personnel's operating error and measure tooling device manufacture deviation influence.Four, it is based on photoelectric auto-collimator angle measuring principle, the present invention
A kind of backstage computation of angle is proposed, it is symmetrical matrix that the most complicated solution procedure of the algorithm, which only finds three ranks,
Feature vector, calculation accuracy is high.
Detailed description of the invention
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other feature of the invention,
Objects and advantages will become more apparent upon:
Fig. 1 is that the present invention is based on the flow charts of the satellite high-precision angle-measuring method of photoelectric auto-collimator.
Specific embodiment
The present invention is described in detail combined with specific embodiments below.Following embodiment will be helpful to the technology of this field
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill of this field
For personnel, without departing from the inventive concept of the premise, various modifications and improvements can be made.These belong to the present invention
Protection scope.
As shown in Figure 1, the present invention is based on the satellite high-precision angle-measuring method of photoelectric auto-collimator the following steps are included:
Step 1 is placed in satellite is clamped on turntable, which is denoted as " state one "；Specifically, satellite can be placed
In on two-axle rotating table, when placement, can arbitrarily be placed, and be not necessarily to any adjustment, and use the clamped connection of fastener, it should be ensured that measuring
Process Satellite is in stable state, does not move integrally.
Step 2 aims at two single machines (being denoted as single machine a, b) using two autocollimators (being denoted as autocollimator A, B) respectively
On prism square, and adjust the position of autocollimator so that autocollimator optical path is vertical with corresponding tested cube mirror surface,
Picture point i.e. on autocollimator sensor screen is overlapped with screen center；It specifically, can also be by guaranteeing that autocollimator measures
Angle be zero (incident light of autocollimator is overlapped with reflected light) so that guarantee autocollimator it is vertical with tested mirror surface.
Turntable is rotated a set angle around rotary shaft (being denoted as L) by step 3；Specifically, it is contemplated that autocollimator
Measurable angle range is generally 0 "~2000 ", and this measurement method needs at least to rotate can obtain complete measurement data twice, because
Set angle when this rotation should ensure that no more than 1000 ".
Step 4 obtains the angular deflection amount that two upper prism squares of single machine a, b are tested mirror surface, and two autocollimatics is calculated
The straight picpointed coordinate of instrument A, B on sensor screen；Specifically, remember and the angle that prism square is tested mirror surface is obtained by autocollimator
Amount of deflection is α, remembers that the variable quantity of picpointed coordinate of the autocollimator picture point on sensor screen is d, according to built in autocollimator
The focal length f of object lens, in conjunction with formula d=2 α × f, after available this turntable rotation on autocollimator A, B sensor screen
The numerical value of picpointed coordinate remembers that single machine a is tested picpointed coordinate of the mirror surface normal direction on autocollimator A sensor screen and is respectivelySingle machine b is tested picpointed coordinate of the mirror surface normal direction on autocollimator B sensor screen
Turntable is rotated a set angle around rotary shaft L again by step 5；The particular content of step 5 is the same as step 3
Content.
Step 6, the two upper prism squares of single machine a, b obtained again are tested the angular deflection amount of mirror surface, and convert and obtain two
Picpointed coordinate on platform autocollimator A, B sensor screen；Specifically, the calculation for obtaining autocollimator picpointed coordinate is synchronous
Rapid four, remember that single machine a is tested picpointed coordinate of the mirror surface normal direction on autocollimator A sensor screen and is at this timeSingle machine
B is tested picpointed coordinate of the mirror surface normal direction on autocollimator B sensor screen
Step 7 is resolved by mathematics, and it is unitization under the connected coordinate system of two autocollimators A, B to obtain rotary shaft L
Vector indicates, is denoted asSpecifically, note autocollimator A is connected coordinate system as OAXAYAZA, autocollimator B is connected coordinate
System is OBXBYBZB.Consideration is carved at the beginning, and autocollimator is vertical with tested mirror surface, then single machine a is tested mirror surface normal direction certainly at this time
The vector representation that collimator A is connected under coordinate system (is denoted as) it is (1 0 0)T, then single machine b is tested mirror surface normal direction in autocollimatic at this time
The vector representation that straight instrument B is connected under coordinate system (is denoted as) it is (1 0 0)T.After implementation steps (4) operation, by single machine a measured lens
Picpointed coordinate of the face normal direction on autocollimator A sensor screenSingle machine b is tested mirror surface normal direction in autocollimator B
Picpointed coordinate on sensor screenA at this time can be calculated and be tested mirror surface normal direction in the connected coordinate system of autocollimator A
Under vector representation (be denoted as) become
Single machine b is tested mirror surface normal direction and (is denoted as in the vector representation that autocollimator B is connected under coordinate system) becomeIt similarly, can after implementation steps (6) operation
It (is denoted as with calculating the tested mirror surface normal direction of a at this time in the vector representation that autocollimator A is connected under coordinate system) becomeSingle machine b is tested mirror surface normal direction in autocollimatic
The vector representation that straight instrument B is connected under coordinate system (is denoted as) becomeCalculation formula can be passed through at this timeWithObtain rotary shaft L auto-collimation with A, B be connected coordinate system under it is unitization to
Amount mark, is denoted as
Step 8 is adjusted the attitude of satellite, so that angle offset occurs for the rotary shaft of satellite, which is denoted as " shape
State two ", this stylish rotary shaft are denoted as L '；Specifically, can be made by the way of padding cushion block between two-axle rotating table and satellite
It obtains the attitude of satellite and realizes adjustment, later there is still a need for the clamped connection of fastener is used, to ensure that measurement process Satellite does not occur
It moves integrally.
Step 9 repeats step 3 to six；
Step 10 is resolved by mathematics, and it is unitization under the connected coordinate system of two autocollimators A, B to obtain rotary shaft L '
Vector indicates, is denoted asThe same step 7 of circular.
Step 11, final basisIt resolves and obtains the space vector angle of tested mirror surface.Tool
Body, intermediate transition vector is defined firstWithIt is not difficult to utilize It representsWithIt is denoted as
α in formula1, β1, γ1, α2, β2, γ2For constant coefficient.And then the space vector folder of two single machine collimation axis can be obtained
Angle
The present invention is different from traditional satellite angle-measuring method using theodolite, autocollimator of the invention (measuring device)
For high precision photoelectric autocollimator, angle measurement accuracy improves a magnitude compared with theodolite.
Automatically it is horizontal without adjusting that data, satellite and measuring device are obtained when measurement, without manually collimating and mutually taking aim at, are avoided
Personnel's operating error and the influence for measuring tooling device manufacture deviation.
Based on photoelectric auto-collimator angle measuring principle, a kind of backstage computation of angle is proposed, the algorithm is most complicated
Solution procedure is to find the feature vector that three ranks are symmetrical matrixes, and calculation accuracy is high.
Specific embodiments of the present invention are described above.It is to be appreciated that the invention is not limited to above-mentioned
Particular implementation, those skilled in the art can make various deformations or amendments within the scope of the claims, this not shadow
Ring substantive content of the invention.
Claims (3)
1. a kind of satellite high-precision angle-measuring method based on photoelectric auto-collimator, which comprises the following steps:
Step 1 is placed in satellite is clamped on turntable, which is denoted as " state one "；
Step 2 aims at the prism square on two single machines using two autocollimators respectively, and adjusts the position of autocollimator,
So that autocollimator optical path is vertical with corresponding tested cube mirror surface；
Turntable is rotated a minute angle around rotary shaft by step 3, and set angle when rotation should ensure that no more than 1000 "；
Step 4 obtains prism square on two single machines and is tested the angular deflection amount of mirror surface, and two autocollimators are calculated and exist
Picpointed coordinate on sensor screen；
Step 5 again rotates turntable around rotary shaft, the content of the particular content of step 5 with step 3；
Step 6, prism square is tested the angular deflection amount of mirror surface on two single machines obtained again, and converts and obtain two autocollimatics
Straight picpointed coordinate of the instrument on sensor screen；
Step 7 is resolved by mathematics, and obtain rotary shaft indicates in the unitization vector that two autocollimators are connected under coordinate system,
It is denoted as
Step 8 is adjusted the attitude of satellite, so that angle offset occurs for the rotary shaft of satellite, which is denoted as " state
Two "；
Step 9 repeats step 3 to six；
Step 10 is resolved by mathematics, and obtain rotary shaft indicates in the unitization vector that two autocollimators are connected under coordinate system,
It is denoted as
Step 11, final basisIt resolves and obtains the space vector angle of tested mirror surface.
2. the satellite high-precision angle-measuring method according to claim 1 based on photoelectric auto-collimator, which is characterized in that described
It is α that step 4 note obtains prism square to be tested the angular deflection amount of mirror surface by autocollimator, remembers autocollimator picture point in sensor
The variable quantity of picpointed coordinate on screen is d, is obtained according to the focal length f of object lens built in autocollimator in conjunction with formula d=2 α × f
The numerical value of picpointed coordinate of the autocollimator on sensor screen after the rotation of this turntable.
3. the satellite high-precision angle-measuring method according to claim 1 based on photoelectric auto-collimator, which is characterized in that described
Step 8, so that the attitude of satellite realizes adjustment, is still needed later by the way of padding cushion block between two-axle rotating table and satellite
Using the clamped connection of fastener, to ensure that measurement process Satellite does not move integrally.
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107356226B (en) * | 2017-07-06 | 2019-11-26 | 中国科学院上海技术物理研究所 | A method of measuring shaft built in spaceborne sweep mechanism and mirror surface angle |
| CN108759798B (en) * | 2018-06-20 | 2021-04-06 | 上海卫星工程研究所 | Method for realizing precision measurement of high-precision spacecraft |
| CN109493388B (en) * | 2018-09-30 | 2020-11-17 | 先临三维科技股份有限公司 | Rotating shaft calibration method and device, computer equipment and storage medium |
| CN111102918B (en) * | 2018-10-29 | 2021-07-27 | 中国人民解放军战略支援部队信息工程大学 | Automatic measuring system of cubic mirror coordinate system |
| CN110617794B (en) * | 2019-08-16 | 2021-06-22 | 上海卫星装备研究所 | Spacecraft assembly precision measurement data online acquisition system and method |
| CN114326831B (en) * | 2021-12-24 | 2024-03-29 | 上海卫星装备研究所 | Method and system for realizing automatic collimation cube of optical auto-collimation measurement system |
| CN115060227B (en) * | 2022-06-15 | 2023-05-12 | 北京信息科技大学 | Combined included angle measurement method for high-precision measurement of satellite in-orbit visual axis pointing change |
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| US6237876B1 (en) * | 2000-07-28 | 2001-05-29 | Space Systems/Loral, Inc. | Methods for using satellite state vector prediction to provide three-axis satellite attitude control |
| CN101339011A (en) * | 2008-08-07 | 2009-01-07 | 北京空间机电研究所 | High precision angle-measuring method |
| CN102032918A (en) * | 2010-10-20 | 2011-04-27 | 郑州辰维科技股份有限公司 | Method for calibrating direction of three-probe start sensor |
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| US3899928A (en) * | 1973-03-29 | 1975-08-19 | Org Europeene De Rech | Attitude measurement system for satellite |
| US6237876B1 (en) * | 2000-07-28 | 2001-05-29 | Space Systems/Loral, Inc. | Methods for using satellite state vector prediction to provide three-axis satellite attitude control |
| CN101339011A (en) * | 2008-08-07 | 2009-01-07 | 北京空间机电研究所 | High precision angle-measuring method |
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