CN106767769B - A kind of star sensor high-speed target extracting method - Google Patents
A kind of star sensor high-speed target extracting method Download PDFInfo
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- CN106767769B CN106767769B CN201710035380.6A CN201710035380A CN106767769B CN 106767769 B CN106767769 B CN 106767769B CN 201710035380 A CN201710035380 A CN 201710035380A CN 106767769 B CN106767769 B CN 106767769B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/02—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by astronomical means
- G01C21/025—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by astronomical means with the use of startrackers
Abstract
The present invention relates to a kind of star sensor high-speed target extracting methods, include: S1, CCD drive module drive detector to obtain star map image data, and star map image data are transmitted to asterism mass center extraction module by the two-way Dump image way of output；S2, asterism mass center extraction module obtain asterism center-of-mass coordinate using wave door Image Acquisition mode from received star map image；S3, using FPGA and dsp processor collaborative work mode, chosen according to asterism center-of-mass coordinate include asterism significant wave door image, and the image data of significant wave door image is stored into SRAM；S4, the image data of the significant wave door image stored in SRAM is exported by high speed data transfer module and LVDS protocol chip to host computer.The present invention can effectively shorten large area array detector pixel output the time, improve star sensor data processing rate and turnover rate, improve the dynamic property of star sensor, and ensure host computer receive star chart real-time.
Description
Technical field
The present invention relates to a kind of star sensor high-speed target extracting method, to improve the data updating rate of star sensor with
Dynamic property belongs to the technical field of star sensor research.
Background technique
Star sensor is the critical component of the GNC system (guidance, navigation and control system) of spacecraft, is mainly used for
Determine three-axis attitude of the spacecraft relative to inertial coodinate system, have that precision is high, stability is good and error not at any time
The advantages that accumulative, thus be widely used on the aircraft such as satellite, airship.The core list determined as spacecraft Attitude
Machine, star sensor are divided according to structure, by optics and precision structure system, photodetector and signal processing circuit and software etc.
Composition.Based on target extraction method, the optical signal stable using fixed star is inputted as signal, the essence of the available fixed star of star sensor
True position, then compared with the star place information in internal star catalogue, available star sensor is with respect to earth centered inertial coordinate
The three-axis attitude information of system, to obtain three-axis attitude information of the spacecraft ontology relative to Earth central inertial system.
Currently, domestic star sensor is fast-developing, Rotating Platform for High Precision Star Sensor is developed to from medium accuracy star sensor, is sent out again
Very Rotating Platform for High Precision Star Sensor is opened up, product measurement accuracy is gradually increased, and other performance indicators are also gradually promoted.But also therewith
There is urgent problem to be solved, the contradiction between star sensor measurement accuracy and star sensor data turnover rate, dynamic property
It is exactly one of them.
In order to improve measurement accuracy, star sensor need to obtain more asterism information, need to use the detector of more large area array
Shoot bigger star chart.The face battle array of star sensor detector from 512 × 512 to 1024 × 1024 again to 2048 × 2048, pixel
Number is in exponential increase, and the data volume of star chart Objective extraction processing increases, and the data updating rate of star sensor also declines therewith, thus
Influence the dynamic property of star sensor.
Based on above-mentioned, need to propose a kind of new star sensor high-speed target extracting method at present, be visited using large area array
While surveying device, data updating rate and dynamic property are improved.
Summary of the invention
The object of the present invention is to provide a kind of star sensor high-speed target extracting method, large area array detector is effectively shortened
Pixel exports the time, improves the rate and turnover rate of star sensor data processing, improves star sensor dynamic property, and ensure
Position machine receives the real-time of star chart.
To achieve the above object, the present invention provides a kind of star sensor high-speed target extracting method, using star sensor height
Fast Objective extraction system is realized comprising the steps of:
S1, CCD drive module send CCD driver' s timing signal to detector and driving circuit, the work of driving detector with
Star map image data are obtained, and star map image data are transmitted to by asterism mass center by the two-way Dump image way of output and extract mould
Block；
S2, asterism mass center extraction module obtain asterism matter using wave door Image Acquisition mode from the star map image received
Heart coordinate；
S3, using FPGA and dsp processor collaborative work mode, include having for asterism according to the selection of asterism center-of-mass coordinate
Wave door image is imitated, and the image data of significant wave door image is stored into SRAM；
S4, the image data of the significant wave door image stored in SRAM is passed through into high speed data transfer module and LVDS agreement
Chip is exported to host computer.
The star sensor high-speed target extraction system include FPGA and connect respectively with FPGA dsp processor,
SRAM, LVDS protocol chip, detector and driving circuit, and SRAM is connect with dsp processor；Wherein, the FPGA includes:
CCD drive module, connect with detector and driving circuit；Asterism mass center extraction module, it is electric with SRAM, detector and driving respectively
Road connection；High speed data transfer module is connect with LVDS protocol chip, detector and driving circuit respectively；Dsp interface module,
It is connect respectively with high speed data transfer module, dsp processor.
In the S1, the two-way Dump image way of output includes: using two-way while exporting star map image data；Using
Detector image Dump function, the prediction by star sensor to asterism position retain the row data that star map image includes asterism,
Remove remaining and do not include the row data of asterism.
In the S2, the method that the asterism center-of-mass coordinate in star map image is obtained using wave door Image Acquisition mode, tool
Body comprises the steps of:
SB1, the asterism position prediction signal provided according to star sensor, completion of the asterism mass center extraction module to receiving
The star map image of row data Dump processing carries out column data Dump processing, retains the column data comprising asterism, removes remaining and do not wrap
Column data containing asterism；
The star map image for completing column data Dump processing is divided into limited Bo Mentu by SB2, asterism mass center extraction module
Picture；
SB3, asterism mass center extraction module are to the significant wave door image zooming-out asterism center-of-mass coordinate for wherein including asterism.
In the S3, the method that significant wave door image is chosen using FPGA and dsp processor collaborative work mode, specifically
It comprises the steps of:
SC1, FPGA and dsp processor are initialized respectively；
SC2, when detecting the interrupt signal of dsp processor, the asterism mass center extraction module of FPGA sits asterism mass center
Mark is transmitted to dsp processor by SRAM；
SC3, dsp processor are predicted to obtain the wave door image coordinate comprising the asterism according to asterism center-of-mass coordinate, complete wave
The selection of door image；
SC4, when detecting next interrupt signal of dsp processor, dsp processor is by the seat of the wave door image of selection
Mark is transmitted to FPGA, and the image data of the wave door image of selection is exported in order and is stored in sram.
In the S4, the image data of the significant wave door image of selection is passed through dsp processor, dsp interface mould by SRAM
Block, high speed data transfer module transfer to LVDS protocol chip, and host computer is transmitted to by LVDS high speed data bus.
In conclusion star sensor high-speed target extracting method provided by the invention, large area array detector is effectively shortened
Pixel exports the time, improves the rate and turnover rate of star sensor data processing, improves star sensor dynamic property, and ensure
Position machine receives the real-time of star chart.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of star sensor high-speed target extraction system in the present invention；
Fig. 2 is the flow chart for transmitting star map image data in the present invention using the two-way Dump image way of output；
Fig. 3 is the schematic diagram of medium wave door Image Acquisition mode of the present invention；
Fig. 4 is the flow chart for choosing significant wave door image in the present invention using FPGA and dsp processor collaborative work mode；
Fig. 5 is the image for exporting significant wave door image in the present invention by high speed data transfer module and LVDS protocol chip
The flow chart of data.
Specific embodiment
Below in conjunction with FIG. 1 to FIG. 5, the preferred embodiment that the present invention will be described in detail.
Star sensor high-speed target extracting method provided by the invention, using star sensor high-speed target as shown in Figure 1
Extraction system is realized；The system is by FPGA(Field Programmable Gate Array, field programmable gate array) and
The DSP(Digital Signal Processing being connect respectively with FPGA, Digital Signal Processing) processor, SRAM(Static
Random Access Memory, static random access memory), LVDS(Low Voltage Differential
Signaling, low-voltage differential signal) protocol chip, detector and driving circuit composition, and SRAM is connect with dsp processor.
Wherein, the FPGA includes: CCD drive module is connect with detector and driving circuit；Asterism mass center extraction module, respectively
It is connect with SRAM, detector and driving circuit；High speed data transfer module, respectively with LVDS protocol chip, detector and driving
Circuit connection；Dsp interface module is connect with high speed data transfer module, dsp processor respectively.
Star sensor high-speed target extracting method provided by the invention comprising the steps of:
S1, CCD drive module send CCD driver' s timing signal to detector and driving circuit, the work of driving detector with
Star map image data are obtained, and are abandoned by two-way Dump() star map image data are transmitted to asterism mass center by the image way of output
Extraction module；
S2, asterism mass center extraction module obtain asterism matter using wave door Image Acquisition mode from the star map image received
Heart coordinate, to realize the Objective extraction of star sensor；
S3, using FPGA and dsp processor collaborative work mode, include having for asterism according to the selection of asterism center-of-mass coordinate
Wave door image is imitated, and the image data of significant wave door image is stored into SRAM；
S4, the image data of the significant wave door image stored in SRAM is passed through into high speed data transfer module and LVDS agreement
Chip is exported to host computer.
In the S1, the CCD for 2048 × 2048 faces battle array that detector is generally selected using very Rotating Platform for High Precision Star Sensor is visited
Survey device.
In the S1, the two-way Dump image way of output can be under the premise of clock frequency be constant, by star map image number
According to the output time foreshorten to 100ms/ frame from original 280ms/ frame, i.e., the output time of entire star map image data is shortened
60%, specifically include: using the two-way image way of output, i.e., it is (original using single to export star map image data simultaneously using two-way
Road output) so that output speed promotes one times；Using detector image Dump function, i.e., star chart figure is exported using Dump mode
As (original using output line by line), the prediction by star sensor to asterism position, only retaining star map image includes asterism part
Data information, remaining useless row data is subjected to Dump processing.
As shown in Fig. 2, in the S1, the method that star map image data are transmitted using the two-way Dump image way of output,
Comprising the following steps:
SA1, detector carry out frame transfer to present frame, and generate frame useful signal, for subsequent star map image data
It calculates；
SA2, detector carry out capable transfer to current line i, and generate row useful signal, and carry out adding a meter to linage-counter
Number i=i+1；
SA3, detector export the row pixel j of current line one by one, and generate pixel effective marker, and every output one
Pixel counter is carried out after a pixel plus one counts j=j+1, until all pixels of current line export；
SA4, the asterism position prediction signal provided according to star sensor, judge whether the next line of star map image carries out
Dump processing；If so, row useful signal is then set height, linage-counter is carried out plus one counts, and the pixel without the row is defeated
It operates out, and returns and continue to execute SA4；SA2 is continued to execute if not, returning；Until detector is completed when linage-counter meter is full
The output of star map image.
In the S2, the method that the asterism center-of-mass coordinate in star map image is obtained using wave door Image Acquisition mode, tool
Body comprises the steps of:
SB1, the asterism position prediction signal provided according to star sensor, completion of the asterism mass center extraction module to receiving
The star map image of row data Dump processing carries out similar column data Dump processing, only retains the column data comprising asterism, removal
Remaining useless column data；
The star map image for completing column data Dump processing is divided into limited Bo Mentu by SB2, asterism mass center extraction module
Picture；
SB3, asterism mass center extraction module are to the significant wave door image zooming-out asterism center-of-mass coordinate for wherein including asterism, most
The shortening data processing cycle of limits improves the turnover rate and dynamic property of star sensor data.
In the present embodiment, as shown in figure 3, star map image data are made of 2048 × 2048 pixels, star chart is divided into left and right
Two parts carry out the transmission of wave door respectively.Since the minimum unit of row data Dump processing is n row, and column data Dump processing
Minimum unit is also n column, therefore star map image is divided into 2048 × 2048/n × n wave door image, i.e., each wave door it is big
Small is n × n.
As shown in figure 4, choosing significant wave door image using FPGA and dsp processor collaborative work mode in the S3
Method, comprising the following steps:
SC1, FPGA and dsp processor are initialized respectively；
SC2, when detecting the interrupt signal of dsp processor, the asterism mass center extraction module of FPGA sits asterism mass center
Mark is transmitted to dsp processor by SRAM；
SC3, dsp processor are predicted to obtain the wave door image coordinate comprising the asterism according to asterism center-of-mass coordinate, complete wave
The selection of door image；
SC4, when detecting next interrupt signal of dsp processor, dsp processor is by the seat of the wave door image of selection
Mark is transmitted to FPGA, and the image data of the wave door image of selection is exported in order and is stored (original using complete in sram
The output of frame image influences data processing rate comprising most of invalid data), the data processing rate of star map image is improved
To 50% or more, while improving the dynamic property of star sensor.
As shown in figure 5, exporting significant wave door figure by high speed data transfer module and LVDS protocol chip in the S4
The method of the image data of picture, comprising the following steps:
SD1, the switch for opening LVDS protocol chip, and SRAM is initialized；
SD2, the lvds_flag signal that LVDS protocol chip is arranged are effective, i.e. lvds_flag=1；
SD3, the reading enable signal for opening SRAM；
SD4, LVDS protocol chip generate corresponding lvds_dat signal and lvds_clk signal, and SRAM is handled by DSP
Device, dsp interface module, high speed data transfer module transmit the image data of significant wave door image to LVDS protocol chip, until
Transmission is completed after data counts；
SD5, be transmitted to LVDS protocol chip significant wave door image image data, passed by LVDS high speed data bus
Host computer is transported to, completes the transmission of significant wave door image in the shortest time, guarantees the real-time of star chart information, data is improved and mentions
Take efficiency.
In the present embodiment, LVDS is a kind of difference signal technique of low amplitude of oscillation, and core is using extremely low voltage swing high speed
Differential transmission data have the characteristics that low-power consumption, low error rate, low crosstalk and Low emissivity.The data volume of star sensor acquisition is big
And be multiplied, therefore it is required that the speed of data transmission is also getting faster.The present embodiment does not use common single-channel data
Transmission, and by the way of the transmission of LVDS multi-channel parallel, meet the requirement of star sensor high speed data transfer.
Star sensor high-speed target extracting method provided by the invention is different from the prior art by obtaining whole picture star chart
Asterism center-of-mass coordinate calculate the posture information of star sensor, cause image output frame there was only 3 ~ 5Hz；But use wave door
Image-pickup method, the accurate significant wave door image comprising asterism for choosing limited quantity carry out the extraction of asterism mass center, so that
Image output frame is promoted to 10Hz, effectively improves star sensor data turnover rate and dynamic property.
Star sensor high-speed target extracting method provided by the invention has the following advantages that and has compared with prior art
Beneficial effect:
1) detector transmits star map image data using the two-way Dump image way of output, effectively shortens large area array detector
Pixel export the time；
2) the asterism center-of-mass coordinate in star map image is obtained using wave door Image Acquisition mode, improved at star sensor data
The rate of reason improves star sensor data turnover rate；
3) using FPGA and dsp processor collaborative work mode to choose includes the significant wave door image of asterism, improves star
Sensor dynamic property；
4) image data of LVDS high-speed transfer bus transfer significant wave door image is used, improve data transfer rate is protected
Card star sensor star chart is exported in real time to host computer.
It is discussed in detail although the contents of the present invention have passed through above preferred embodiment, but it should be appreciated that above-mentioned
Description is not considered as limitation of the present invention.After those skilled in the art have read above content, for of the invention
A variety of modifications and substitutions all will be apparent.Therefore, protection scope of the present invention should be limited to the appended claims.
Claims (5)
1. a kind of star sensor high-speed target extracting method, is realized using star sensor high-speed target extraction system, feature exists
In comprising the steps of:
S1, CCD drive module send CCD driver' s timing signal to detector and driving circuit, and driving detector work is to obtain
Star map image data, and star map image data are transmitted to by asterism mass center extraction module by the two-way Dump image way of output；
Wherein, the two-way Dump image way of output includes:
Star map image data are exported using two-way simultaneously；
Using detector image Dump function, prediction by star sensor to asterism position, retaining star map image includes asterism
Row data, remove remaining and do not include the row data of asterism；
S2, asterism mass center extraction module obtain asterism mass center seat using wave door Image Acquisition mode from the star map image received
Mark；
S3, using FPGA and dsp processor collaborative work mode, chosen according to asterism center-of-mass coordinate include asterism significant wave
Door image, and the image data of significant wave door image is stored into SRAM；
S4, the image data of the significant wave door image stored in SRAM is passed through into high speed data transfer module and LVDS protocol chip
It exports to host computer.
2. star sensor high-speed target extracting method as described in claim 1, which is characterized in that the star sensor high speed
Objective extraction system include FPGA and connect respectively with FPGA dsp processor, SRAM, LVDS protocol chip, detector and
Driving circuit, and SRAM is connect with dsp processor；
The FPGA includes: CCD drive module is connect with detector and driving circuit；Asterism mass center extraction module, respectively with
SRAM, detector and driving circuit connection；High speed data transfer module, it is electric with LVDS protocol chip, detector and driving respectively
Road connection；Dsp interface module is connect with high speed data transfer module, dsp processor respectively.
3. star sensor high-speed target extracting method as claimed in claim 2, which is characterized in that in the S2, using wave
The method that door Image Acquisition mode obtains the asterism center-of-mass coordinate in star map image, comprising the following steps:
SB1, the asterism position prediction signal provided according to star sensor, asterism mass center extraction module is to the completion line number received
Column data Dump processing is carried out according to the star map image that Dump is handled, retains the column data comprising asterism, removing remaining does not include star
The column data of point；
The star map image for completing column data Dump processing is divided into limited wave door image by SB2, asterism mass center extraction module；
SB3, asterism mass center extraction module are to the significant wave door image zooming-out asterism center-of-mass coordinate for wherein including asterism.
4. star sensor high-speed target extracting method as claimed in claim 3, which is characterized in that in the S3, use
The method that FPGA and dsp processor collaborative work mode choose significant wave door image, comprising the following steps:
SC1, FPGA and dsp processor are initialized respectively；
SC2, when detecting the interrupt signal of dsp processor, the asterism mass center extraction module of FPGA leads to asterism center-of-mass coordinate
It crosses SRAM and is transmitted to dsp processor；
SC3, dsp processor are predicted to obtain the wave door image coordinate comprising the asterism according to asterism center-of-mass coordinate, complete Bo Mentu
The selection of picture；
SC4, when detecting next interrupt signal of dsp processor, dsp processor passes the coordinate of the wave door image of selection
FPGA is transported to, and the image data of the wave door image of selection is exported in order and is stored in sram.
5. star sensor high-speed target extracting method as claimed in claim 4, which is characterized in that in the S4, SRAM will
The image data of the significant wave door image of selection passes through dsp processor, dsp interface module, high speed data transfer module transfer extremely
LVDS protocol chip, and host computer is transmitted to by LVDS high speed data bus.
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| CN108716916B (en) * | 2018-05-31 | 2021-05-25 | 北京航空航天大学 | Distributed parallel star point centroid extraction method based on superblock and FPGA implementation device |
| CN109141403B (en) * | 2018-08-01 | 2021-02-02 | 上海航天控制技术研究所 | Image processing system and method for small window access of star sensor |
| CN109029426A (en) * | 2018-08-22 | 2018-12-18 | 郑州云海信息技术有限公司 | A kind of star sensor |
| CN111156992A (en) * | 2019-12-31 | 2020-05-15 | 中国船舶重工集团公司第七一七研究所 | Miniature satellite-borne star sensor and working process time sequence thereof |
| CN111504329B (en) * | 2020-06-12 | 2022-07-29 | 上海航天控制技术研究所 | High-speed hardware platform of navigation sensor based on FPGA and DSP |
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