CN106643743B - A kind of measurement method of birefringent sun sensor and its carrier three-axis attitude - Google Patents
A kind of measurement method of birefringent sun sensor and its carrier three-axis attitude Download PDFInfo
- Publication number
- CN106643743B CN106643743B CN201611247688.9A CN201611247688A CN106643743B CN 106643743 B CN106643743 B CN 106643743B CN 201611247688 A CN201611247688 A CN 201611247688A CN 106643743 B CN106643743 B CN 106643743B
- Authority
- CN
- China
- Prior art keywords
- light
- camera lens
- uniaxial crystal
- angle
- birefringent
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- 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
- G01C21/24—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for cosmonautical navigation
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Astronomy & Astrophysics (AREA)
- Automation & Control Theory (AREA)
- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a kind of birefringent sun sensors, comprising: light filtering module, uniaxial crystal camera lens, imaging sensor and data processing module；It is characterized in that, light is carried out boundling by the light filtering module, thinner incident ray is formed；The uniaxial crystal camera lens carries out incident ray birefringent, forms two refracted lights；Two beam refracted lights are imaged in described image sensor；Thus the data processing module calculates the three-axis attitude information of carrier for extracting picture point center, and according to the Vector Message of two refracted lights calculating incident rays.When installing above-mentioned birefringent sun sensor on carrier, the invention also discloses a kind of measurement methods of carrier three-axis attitude, and spacecraft/unmanned plane can be made, which to rely solely on sun measurement, can realize that three-axis attitude measures.Birefringent sun sensor of the invention can accomplish biggish visual field, and can guarantee not lose attitude measurement accuracy.
Description
Technical field
The invention belongs to attitude measurement and determine field, and in particular to a kind of birefringent sun sensor and its three axis of carrier
The measurement method of posture.
Background technique
Sun sensor is the important measuring part in space attitude control system, is most widely used in space industry
A kind of photoelectric sensor, it is possible to provide the angle feed-back on solar vector and spacecraft between particular axis.Almost all of spacecraft
Installation sun sensor is required, so that the status feedback information provided according to sun sensor completes spacecraft each stage
Gesture stability task.
Conventional sun sensor is the measurement realized using the principle of pinhole imaging system to solar vector, only a light
Line can only measure the posture information of two vertical sensor optical axis directions, not be capable of measuring the posture information around sensor optical axis；This
Outside, the good and bad main indicator of measurement sun sensor is visual field and measurement accuracy, and it is former that conventional sun sensor is limited by design
Reason, it is desirable to improve measurement accuracy, must just reduce visual field, and to expand visual field it is necessary to reduce measurement accuracy.
Summary of the invention
It is an object of the invention to overcome be not capable of measuring existing for current sun sensor carrier around sensor optical axis
This defect of the posture information in direction, proposes a kind of birefringent sun sensor, which utilizes uniaxial crystal
Birefringent principle is made, and the three-axis attitude measurement of carrier may be implemented in the individually observation sun, and in the item for guaranteeing big visual field
Under part, accomplish that high-precision attitude measures, three-axis attitude can be realized by so that spacecraft/unmanned plane is relied solely on sun measurement
Measurement.
To achieve the goals above, the present invention provides a kind of birefringent sun sensors, comprising: light filtering module,
Uniaxial crystal camera lens, imaging sensor and data processing module；Light is carried out boundling by the light filtering module, is formed thinner
Incident ray；The uniaxial crystal camera lens carries out incident ray birefringent, forms two refracted lights；Described image sensing
Two beam refracted lights are imaged in device；The data processing module is used to extract picture point center, and according to two refracted lights
The Vector Message for calculating incident ray, thus calculates the three-axis attitude information of carrier.
In above-mentioned technical proposal, the material of the uniaxial crystal camera lens is calcite.
In above-mentioned technical proposal, the light filtering module is that loophole is arranged on the surface of uniaxial crystal camera lens；It is described
Loophole is placed in the center of uniaxial crystal camera lens outer surface, and the diameter of the loophole is not more than 0.1mm.
In above-mentioned technical proposal, the light filtering module is that black origin is arranged on uniaxial crystal camera lens；It is described black
Chromogen point is placed in the center of uniaxial camera lens outer surface, and the diameter of the black origin is not more than 0.1mm.
In above-mentioned technical proposal, the light filtering module is that convex lens sheet is arranged before uniaxial crystal camera lens；It is described convex
Lens is arranged before uniaxial crystal camera lens, and center is the convex lens sheet at a distance from uniaxial crystal camera lens front surface
Focal length.
Above-mentioned birefringent sun sensor is installed on carrier, the present invention also provides a kind of surveys of carrier three-axis attitude
Amount method, which comprises
Step 1) the light filtering module is filtered sunray；
The filtered incident ray of step 2) becomes birefringent light: o light and e light by uniaxial crystal camera lens；
Step 3) is formed by hot spot to o light and e light using imaging sensor and is imaged；
The facula mass center of step 4) extraction o light and e light；
Step 5) calculates the Vector Message of incident ray using two beam refracted lights；
Step 6) calculates the 3 d pose information of carrier according to incident ray and two refracted lights.
In above-mentioned technical proposal, the specific implementation process of the step 5) are as follows:
Plane wave meets n in refraction1R=n2R, r are any vector of interface, n1And n2For before and after light refraction
Medium refraction index, wave vector is still in plane of incidence；
For o light, wave vector direction is overlapped with refracted light, i.e.,
θo=θ2=arcsin (n1sinθ1/no) (1)
In formula, θ1For incident ray incidence angle, θoAnd θ2For reflect light o light and uniaxial crystal camera lens surface normal angle,
noFor refractive index of the o light in uniaxial crystal camera lens；
For e light, n2It indicates are as follows:
θkpFor the angle of light wave vector and optical axis, so having:
In above formula, neFor refractive index of the e light in uniaxial crystal camera lens；θkFor e light wave vector ekWith uniaxial crystal camera lens table
The angle of face normal, e light wave vector ekStill it in plane of incidence, indicates are as follows:
ek=cos θkez+sinθkex (4)
Wherein, ez、exFor three axis component unit vectors；Therefore it obtains:
cosθkp=ek·ep=cos θkcosθp+sinθksinθpcosφp (5)
θpFor the angle of uniaxial crystal camera lens optical axis and z-axis, φpProjection line and x-axis for optical axis on uniaxial crystal surface press from both sides
Angle, epFor optical axis unit vector, after e light wave vector determines, e light unit vector erWith the angle theta of optical axisrpIt is determined by following formula:
Since e light light, e light wave vector and optical axis three are coplanar, if three meets:
er=α ek+βep (7)
The undetermined coefficient of α and β is obtained by the constraint relationship between each vector:
And then it obtains:
In this way by selecting uniaxial crystal camera lens, the incident light θ of o light is determined using formula (1)1With refraction light relationship,
E light unit vector e is determined using formula (10)rWith θp、θkRelationship, then θ is determined by formula (3)kWith θ1Between relationship, this
Sample combinatorial formula (1), (3) and (10) has determined the relationship between incident light and two beams refraction light, obtains two beams folding by measurement
Light is penetrated, then incident ray vector also just uniquely determines.
In above-mentioned technical proposal, the specific implementation process of the step 6) are as follows:
The posture information of carrier includes pitch angle, yaw angle and roll angle；Directly two beams of measurement refraction light is in image sensing
Two-dimensional coordinate (x, y) on device, by the pitching angle theta of two beams refraction light and the information of yaw angle ψ is calculated, specifically:
In formula, f is the focal length of convex lens；
The pitching angle theta of incident light is determined by directly measuring two beams refraction light facula mass centermAnd yaw angle ψm, two beams are rolled over
It penetrates light facula mass center and carries out line, determine the rotation angle of incident light, i.e. roll angleThree attitude angles determined at this time
It is the value under sun sensor coordinate system, is denoted asPass through the transition matrix T of sensorbm, posture is turned
It turns under aircraft body coordinate system, i.e.,
For the posture information under carrier body coordinate system.
Since birefringent sun sensor takes full advantage of the refraction principle of light, it is possible to accomplish biggish visual field,
Compared with conventional sun sensor, birefringent sun sensor of the invention has following advantage:
1, three-axis attitude can be measured
Since incident ray becomes two-beam line after reflecting, two-beam line is imaged, can calculate carrier around
The posture information of sensor optical axis；In this way, birefringent sun sensor can three-axis attitude information to carrier carry out simultaneously
Measurement.
2, attitude measurement accuracy is high
Birefringent sun sensor simultaneously aligns two beam refracted lights, and two beam refracted lights determine one simultaneously
Incident ray, so the measurement accuracy of birefringent sun sensor compares conventional sun sensor and a magnitude can be improved.
3, under conditions of guaranteeing precision, birefringent sun sensor of the invention can accomplish biggish visual field, and
It can guarantee not lose attitude measurement accuracy.
Detailed description of the invention
Fig. 1 is the schematic diagram of birefringent sun sensor of the invention；
Fig. 2 is the flow chart of the measurement method of carrier three-axis attitude；
Fig. 3 is that incident ray filters schematic diagram；
Fig. 4 is lens light gathering schematic diagram；
Fig. 5 is the birefringent schematic illustration of uniaxial crystal；
Fig. 6 is the schematic diagram of the rotation angle information of determination incident ray of the invention.
Specific embodiment
The present invention will be further described in detail in the following with reference to the drawings and specific embodiments.
Birefringent sun sensor of the invention is that incident sun light direction is determined using uniaxial crystal birefringent characteristic
The optical measurement sensor of vector, principle are as follows: using uniaxial crystal by sun refracting light incident be o light (ordinary light) and e light
(extraordinary ray) can calculate the relationship of birefringent light and incident ray by the Fresnel theorem in optics, that is, pass through
The Vector Message of two beams refraction light is acquired accurately to determine the Vector Message of incident ray.
After entering birefringent sun sensor due to sunray, it is refracted as two-beam line, so can not only guarantee
The Vector Message of incident ray is more precisely computed in the case of big visual field, and incident ray can also be determined along sun sensor
The rotational angle of optical axis, this is that conventional sun sensor can not be accomplished.It is sensitive that birefringent sun sensor compares the conventional sun
Device can measure carrier three-axis attitude simultaneously, be provided simultaneously with the feature that measurement accuracy is high, visual field is big.
It is birefringent in order to carry out incident light, and the hot spot of two refracted lights is formed, the hot spot of incident ray cannot be too
Greatly, so needing to be filtered solar incident ray.There are three ways to light filters method: it a) is stayed on uniaxial crystal surface
A light transmission aperture；B) black origin is set among calcite, as shown in Figure 1；C) incident parallel light is subjected to optically focused using convex lens,
Arrow beam of light is formed, as shown in Figure 2.
As shown in figure 3, a kind of birefringent sun sensor, comprising: light filtering module, uniaxial crystal camera lens, image pass
Sensor and data processing module；The material of the uniaxial crystal camera lens is calcite,
The approach realized according to light filtering is different, and there are three types of forms for the light filtering module:
1, loophole is set on the surface of uniaxial crystal camera lens；The loophole is placed in uniaxial crystal camera lens outer surface
Heart position, in order to improve diffraction of the imaging sensor to the measurement accuracy of hot spot without incident light does not occur, the diameter of loophole
No more than 0.1mm.
2, black origin is set on uniaxial crystal camera lens；The black origin is placed in uniaxial crystal camera lens outer surface
Heart position, in order to improve diffraction of the imaging sensor to the accuracy of identification of blackening without light, the diameter of black origin is little
In 0.1mm.
3, convex lens sheet is set before uniaxial crystal camera lens；The effect of convex lens sheet is to converge incident light, convex lens
Eyeglass is arranged before uniaxial crystal camera lens, and center is the focal length of convex lens at a distance from uniaxial crystal camera lens front surface.
Light is carried out boundling by the light filtering module, forms thinner incident ray；The uniaxial crystal camera lens will
Incident ray progress is birefringent, forms two refracted lights；Two beam refracted lights are imaged in described image sensor；It is described
Thus data processing module is counted for extracting picture point center, and according to the Vector Message of two refracted lights calculating incident rays
Calculate the three-axis attitude information of carrier.
As shown in figure 4, the present invention also provides a kind of carrier three-axis attitudes when installing above-mentioned birefringence sensitive device on carrier
Measurement method, which comprises
Step 1) the light filtering module is filtered sunray；
The filtered incident ray of step 2) becomes birefringent light: o light and e light by uniaxial crystal camera lens；
In nonlinear optics, the light wave of different components must overlap, and interaction is just able to achieve non-linear turn
It changes.In device for non-linear optical, the optical axis of uniaxial crystal camera lens is usually angled with surface, and incident light is also and not always
Normal incidence also has the case where oblique incidence.When surface incidence of the Ray Of Light from uniaxial crystal camera lens, after refraction, it may appear that two
Shu Guang, light beam are normal refraction, meet the law of refraction, referred to as ordinary light (o light), and in addition light beam is improper refraction,
The law of refraction, referred to as extraordinary ray (e light) are not met.As shown in Figure 5.The optical axis of uniaxial crystal camera lens and the angle of coordinate z
For θp, optical axis is φ in the projection of x-y plane and the angle of x-axisp, the incidence angle of incident light is θ1。
From fig. 5, it can be seen that light and light wave vector are reflected in one direction for ordinary light o light, and for extraordinary
Light e light reflects light and light wave vector not in one direction.
Light is exactly to be refracted as two-beam line by uniaxial crystal camera lens in this way: ordinary light (o light) and extraordinary ray (e
Light).
Step 3) is formed by hot spot to o light and e light using imaging sensor and is imaged；
The step can reduce the power consumption of sensor, be ready for the extraction of facula mass center.
The facula mass center of step 4) extraction o light and e light；
After extraction obtains all pixels position of each hot spot, the matter of each hot spot is calculated using centroid localization algorithm
The heart, the calculated facula mass center position precision of the algorithm can achieve sub-pix rank.
Step 5) calculates the Vector Message of incident ray using two beam refracted lights；
Plane wave meets n in refraction1R=n2R, r are any vector of interface, n1And n2For before and after light refraction
Medium refraction index, wave vector is still in plane of incidence, and n1sinθ1=n2sinθ2, angle here is wave vector and crystalline substance
The angle of body surface normal is not refraction angle (angle of light and plane of crystal normal).
For o light, wave vector direction is overlapped with refracted light, i.e.,
θo=θ2=arcsin (n1sinθ1/no) (1)
In formula, θ1For incident ray incidence angle, θoAnd θ2For reflect light o light and uniaxial crystal camera lens surface normal angle,
noFor refractive index of the o light in uniaxial crystal camera lens；
For e light, n2It indicates are as follows:
In above formula, neFor refractive index of the e light in uniaxial crystal camera lens；θkpFor e light light wave vector ekWith the angle of optical axis,
So having:
θkFor e light wave vector ekWith the angle of uniaxial crystal camera lens surface normal, e light wave vector ekStill in plane of incidence
It is interior, it indicates are as follows:
ek=cos θkez+sinθkex (4)
ez、exFor three axis component unit vectors (as shown in Figure 5)；Therefore it is available
cosθkp=ek·ep=cos θkcosθp+sinθksinθpcosφp (5)
θpFor the angle of uniaxial crystal camera lens optical axis and z-axis, φpIt is optical axis in x-y plane (uniaxial crystal camera lens surface)
Projection line and x-axis angle (as shown in Figure 5), epFor optical axis unit vector, after e light wave vector determines, e light unit vector erWith
The angle theta of optical axisrpIt can be determined by following formula:
Since e light light, e light wave vector and optical axis three are coplanar, if three meets:
er=α ek+βep (7)
The undetermined coefficient of α and β, available by the constraint relationship between each vector:
In turn, available
In this way by selecting uniaxial crystal camera lens, the incident light of o light and the relationship of refraction light can be determined using formula (1)
(θ1For incident ray incidence angle), e light unit vector e can be determined using formula (10)rWith θp(uniaxial crystal optical axis and z-axis
Angle, be elected to order axialite somascope head after, this angle determine), θkThe relationship of (angle of e light wave vector and crystal normal), then
θ is determined by formula (3)kWith θ1Between relationship, such combinatorial formula (1), (3) and (10) arranged incident light and two beams and reflected
Relationship between light obtains two beam refracted lights by measurement, then incident ray vector also just uniquely determines.
Step 6) calculates the 3 d pose information of carrier according to incident ray and two refracted lights；
From fig. 5, it is seen that the mass center of two beams refraction light is carried out since refracted light is two beams, i.e. o light and e light
Line can uniquely determine rotation posture of the incident light around sensor optical axis.The measurement result of joint above in this way is achieved that
The trivector information of incident ray.In conjunction with birefringence sensitive device and spacecraft/unmanned plane installation matrix, load can be measured
The 3 d pose information of body.
The posture information of carrier includes pitch angle, yaw angle and roll angle.Directly two beams of measurement refraction light is in image sensing
Two-dimensional coordinate (x, y) on device, by calculating the pitching angle theta of available two beams refraction light and the information of yaw angle ψ, specifically
Are as follows:
In formula, f is the focal length of convex lens.
According to the pitch angle of the available incident light of formula in step 5) and yaw angle information, two beams are directly measured in this way
Refraction light facula mass center can determine the bidimensional posture information of incident light.And because arranging a branch of refraction by two beams refraction light
Light, so compared to conventional sun sensor, the determination precision of incident light can be improved 50% or more.
(it is equal to sun sensor and rotates around incident light) two beams refraction light (o light and e light) when incident light rotation also can
It rotates, as shown in fig. 6, the mass center of the mass center of o light hot spot and e light hot spot is carried out line, can determine on the image sensor
The angle of incident light rotation out, it can determine the rotation angle information of incident ray.In this way by directly two beams of measurement folding
The pitch angle and yaw angle of incident light can be determined by penetrating light facula mass center, carry out line to two beams refraction light facula mass center, can be with
Determine the rotation angle of incident light, i.e. roll angle.Three attitude angles determined at this time are under sun sensor coordinate system
Value, is denoted asPass through the transition matrix T of sensorbm(3 × 3) can convert aircraft body for posture
Under coordinate system, i.e.,
It is just real using birefringent sun sensor in this way for the posture information under carrier body coordinate system
Attitude for aerocraft measurement is showed.
The Vector Message for determining incident ray using two beam refracted lights is the core and key of sun sensor, is utilized
Nonlinear optical theory derives the constraint relationship of two beam refracted lights and incident ray, the vector of such two beams refracted light in detail
Information can uniquely determine the two-dimensional vector information of incident ray.Incident light is calculated around quick using the positional relationship of two beams refraction light
The posture rotational angle of sensor optical axis combines the two-dimensional vector information of incident ray determined above in this way, obtains incident ray
Trivector information.
Innovative point of the invention are as follows: for the first time using have birefringent characteristic uniaxial crystal as the optical frames of sun sensor
Head makes sun sensor have three-axis attitude measurement capability to research and develop birefringent sun sensor, has high-precision and wide visual field
Feature.
Claims (8)
1. a kind of birefringent sun sensor, comprising: at light filtering module, uniaxial crystal camera lens, imaging sensor and data
Manage module；It is characterized in that, light is carried out boundling by the light filtering module, thinner incident ray is formed；The single shaft
Crystal camera lens carries out incident ray birefringent, forms two refracted lights；Described image sensor to two beam refracted lights into
Row imaging；The data processing module is used to extract picture point center, and the vector of incident ray is calculated according to two refracted lights
Thus information calculates the three-axis attitude information of carrier, specifically: it is determined by directly two beam refracted light facula mass centers of measurement
The pitch angle and yaw angle of incident light carry out line to two beams refraction light facula mass center, determine the rotation angle of incident light, i.e.,
Roll angle.
2. birefringent sun sensor according to claim 1, which is characterized in that the material of the uniaxial crystal camera lens is
Calcite.
3. birefringent sun sensor according to claim 1 or 2, which is characterized in that the light filtering module be
Loophole is arranged in the surface of uniaxial crystal camera lens；The loophole is placed in the center of uniaxial crystal camera lens outer surface, described
The diameter of loophole is not more than 0.1mm.
4. birefringent sun sensor according to claim 1 or 2, which is characterized in that the light filtering module be
Black origin is set on uniaxial crystal camera lens；The black origin is placed in the center of uniaxial crystal camera lens outer surface, described
The diameter of black origin is not more than 0.1mm.
5. birefringent sun sensor according to claim 1 or 2, which is characterized in that the light filtering module be
Convex lens sheet is set before uniaxial crystal camera lens；The convex lens sheet is arranged before uniaxial crystal camera lens, and center and single shaft are brilliant
The distance of somascope head front surface is the focal length of the convex lens sheet.
6. a kind of measurement method of carrier three-axis attitude, birefringent described in one of claim 1-5 by installing on carrier
Sun sensor is realized, which comprises
Step 1) the light filtering module is filtered sunray；
The filtered incident ray of step 2) becomes birefringent light: o light and e light by uniaxial crystal camera lens；
Step 3) is formed by hot spot to o light and e light using imaging sensor and is imaged；
The facula mass center of step 4) extraction o light and e light；
Step 5) calculates the Vector Message of incident ray using two beam refracted lights；
Step 6) calculates the 3 d pose information of carrier according to incident ray and two refracted lights.
7. the measurement method of carrier three-axis attitude according to claim 6, which is characterized in that the specific reality of the step 5)
Existing process are as follows:
Plane wave meets n in refraction1R=n2R, r are any vector of interface, n1And n2For the medium before and after light refraction
Refractive index, wave vector is still in plane of incidence；
For o light, wave vector direction is overlapped with refracted light, i.e.,
θo=θ2=arcsin (n1sinθ1/no) (1)
In formula, θ1For incident ray incidence angle, θoAnd θ2For the angle for reflecting light o light and uniaxial crystal camera lens surface normal；noFor o
Refractive index of the light in uniaxial crystal camera lens；
For e light, n2It indicates are as follows:
neFor refractive index of the e light in uniaxial crystal camera lens, θkpFor the angle of light wave vector and optical axis, so having:
θkFor e light wave vector ekWith the angle of uniaxial crystal camera lens surface normal, e light wave vector ekStill in plane of incidence, table
It is shown as:
ek=cos θkez+sinθkex (4)
Wherein, ez、exFor three axis component unit vectors；Therefore it obtains:
cosθkp=ek·ep=cos θkcosθp+sinθksinθpcosφp (5)
θpFor the angle of uniaxial crystal camera lens optical axis and z-axis, φpProjection line and x-axis angle for optical axis on uniaxial crystal surface,
epFor optical axis unit vector, after e light wave vector determines, e light unit vector erWith the angle theta of optical axisrpIt is determined by following formula:
Since e light light, e light wave vector and optical axis three are coplanar, if three meets:
er=α ek+βep (7)
α and β is undetermined coefficient, is obtained by the constraint relationship between each vector:
And then it obtains:
By selecting uniaxial crystal camera lens, the incident light θ of o light is determined using formula (1)1With the relationship of refraction light, formula is utilized
(10) e light unit vector e is determinedrWith θp、θkRelationship, then θ is determined by formula (3)kWith θ1Between relationship, joint in this way is public
Formula (1), (3) and (10) has determined the relationship between incident light and two beams refraction light, obtains two beam refracted lights by measurement, then
Incident ray vector also just uniquely determines.
8. the measurement method of carrier three-axis attitude according to claim 7, which is characterized in that the specific reality of the step 6)
Existing process are as follows:
The posture information of carrier includes pitch angle, yaw angle and roll angle；Directly two beams of measurement reflect light on the image sensor
Two-dimensional coordinate (x, y), through being calculated two beams refraction light pitching angle theta and yaw angle ψ information, specifically:
In formula, f is the focal length of convex lens；
The pitching angle theta of incident light is determined by directly measuring two beams refraction light facula mass centermAnd yaw angle ψm, light is reflected to two beams
Facula mass center carries out line, determines the rotation angle of incident light, i.e. roll angleThree attitude angles determined at this time are too
Value under positive sensor coordinate system, is denoted asPass through the transition matrix T of sensorbm, convert posture to winged
Under row device body coordinate system, i.e.,
For the posture information under carrier body coordinate system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611247688.9A CN106643743B (en) | 2016-12-29 | 2016-12-29 | A kind of measurement method of birefringent sun sensor and its carrier three-axis attitude |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611247688.9A CN106643743B (en) | 2016-12-29 | 2016-12-29 | A kind of measurement method of birefringent sun sensor and its carrier three-axis attitude |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106643743A CN106643743A (en) | 2017-05-10 |
| CN106643743B true CN106643743B (en) | 2019-08-20 |
Family
ID=58835872
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611247688.9A Active CN106643743B (en) | 2016-12-29 | 2016-12-29 | A kind of measurement method of birefringent sun sensor and its carrier three-axis attitude |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106643743B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111380501B (en) * | 2020-03-25 | 2021-03-26 | 华中科技大学 | Real-time attitude angle measuring method and device based on birefringent crystal field effect |
| CN113551665B (en) * | 2021-06-25 | 2023-08-11 | 中国科学院国家空间科学中心 | High-dynamic motion state sensing system and sensing method for motion carrier |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4874937A (en) * | 1986-03-12 | 1989-10-17 | Kabushiki Kaisha Toshiba | Digital sun sensor |
| CN102135435A (en) * | 2010-12-20 | 2011-07-27 | 清华大学 | Error correction method and device for digital sun sensor |
| CN102435204A (en) * | 2011-09-05 | 2012-05-02 | 清华大学 | Precision compensation method for area APS (active pixel sensor) digital sun sensor |
-
2016
- 2016-12-29 CN CN201611247688.9A patent/CN106643743B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4874937A (en) * | 1986-03-12 | 1989-10-17 | Kabushiki Kaisha Toshiba | Digital sun sensor |
| CN102135435A (en) * | 2010-12-20 | 2011-07-27 | 清华大学 | Error correction method and device for digital sun sensor |
| CN102435204A (en) * | 2011-09-05 | 2012-05-02 | 清华大学 | Precision compensation method for area APS (active pixel sensor) digital sun sensor |
Non-Patent Citations (2)
| Title |
|---|
| A Miniaturized Two Axis Sun Sensor for Attitude Control of Nano-Satellites;Pablo Ortega etc.;《IEEE SENSORS JOURNAL》;20101031;第10卷(第10期);第1623-1632页 * |
| 典型太阳敏感器介绍;无;《控制工程》;20041031;第16-38页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106643743A (en) | 2017-05-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107680156B (en) | Three-dimensional reconstruction method based on polarization information | |
| CN105678742B (en) | A kind of underwater camera scaling method | |
| US9464938B2 (en) | Systems and methods for measuring polarization of light in images | |
| CN106949836B (en) | Device and method for calibrating same-side target position of stereoscopic camera | |
| CN107063170B (en) | Course angle estimation method based on atmospheric polarization angle mould formula under complex environment | |
| CN102183214B (en) | Light detection method for large-aperture aspherical mirror structure | |
| CN102445323B (en) | Image processing-based heliostat fault diagnosis method and system | |
| CN110132226A (en) | The distance and azimuth angle measurement system and method for a kind of unmanned plane line walking | |
| CN109059898B (en) | Polarized light navigation sensor and sky polarized light navigation method | |
| CN107339935B (en) | Target space intersection measuring method for full-view scanning measuring system | |
| CN205484796U (en) | Multiple spot range unit based on pencil laser instrument and ordinary camera chip | |
| CN106643743B (en) | A kind of measurement method of birefringent sun sensor and its carrier three-axis attitude | |
| CN107478195A (en) | One kind is based on optical space object status measurement apparatus and its measuring method | |
| Chen et al. | Self-calibrating depth from refraction | |
| CN109191527A (en) | A kind of alignment method and device based on minimum range deviation | |
| CN108288065A (en) | A kind of four-wheel position finder detection method based on image analysis | |
| Carey et al. | An insect-inspired omnidirectional vision system including UV-sensitivity and polarisation | |
| CN109813429B (en) | Point-by-point calibration method for polarization imaging system | |
| CN106483075B (en) | A kind of active polarization imageable target discriminating conduct based on polarization Fresnel reflection ratio | |
| Morel et al. | Calibration of catadioptric sensors by polarization imaging | |
| CN104697472B (en) | Three-dimensional corner measuring method and device | |
| Yuan et al. | Polarimetric imaging system based on double-layer prisms pair with polarizer coating and one camera | |
| CN118464202B (en) | Ultra-large view field-based long-wave infrared multichannel simultaneous polarization imaging system and method | |
| CN102213581B (en) | object measuring method and system | |
| Xing et al. | A method to verify internal parameters of camera calibration in world coordinate system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |