CN106871929A - A kind of method for measuring star sensor measurement coordinate system and prism coordinate system relation - Google Patents
A kind of method for measuring star sensor measurement coordinate system and prism coordinate system relation Download PDFInfo
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- CN106871929A CN106871929A CN201710053828.7A CN201710053828A CN106871929A CN 106871929 A CN106871929 A CN 106871929A CN 201710053828 A CN201710053828 A CN 201710053828A CN 106871929 A CN106871929 A CN 106871929A
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- coordinate system
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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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- 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
A kind of method for measuring star sensor measurement coordinate system and prism coordinate system relation, star sensor is installed on high accuracy three-axle table, star sensor polishing is irradiated using light star simulator, use a deviation of the prism coordinate system Z axis relative to measurement coordinate system Z axis for transit survey star sensor, the deviation of the prism coordinate system Y-axis relative to measurement coordinate system Y-axis of the deviations of the prism coordinate system X-axis relative to measurement coordinate system X-axis of two transit survey star sensors of use, and star sensor simultaneously.The present invention is by way of light is measured, the measurement coordinate system of detector cover glass is associated with prism coordinate system, the measurement of coordinate system relation is completed on ground, measure the deviation between coordinate system whole star dress star can be directly provided and use, and it is supplied to the Attitude and orbit control system directly to carry out inflight measurement coordinate system amendment, reliability is high, with a high credibility, exploitativeness is high can effectively reduce the problems such as in-orbit data deviation is big, in-orbit amendment is complicated.
Description
Technical field
The invention belongs to technical field of photo-electro-mechanical integration, and in particular to one kind measurement star sensor measurement coordinate system and rib
The method of mirror coordinate system relation.
Background technology
During the use of star sensor, because indefinite the leading of its prism coordinate system and prism coordinate system offset relation
Caused the certainty of measurement deviation relative to spacecraft three-axis attitude, it is necessary to by it is in-orbit re-scale amendment could eliminate deviation,
A series of problems, such as having triggered big in-orbit data deviation, in-orbit amendment complexity.So that user is difficult confirmation using in product process
Error source is derived from star sensor error in itself, or the error for filling star braid.
The content of the invention
Present invention solves the technical problem that being：Overcome the deficiencies in the prior art, there is provided one kind measurement star sensor measurement is sat
Mark system and the method for its prism coordinate system relation, are capable of the pass of accurate measurement star sensor measurement coordinate system and its prism coordinate system
System, overcomes because of prism coordinate system and the indefinite survey relative to spacecraft three-axis attitude for bringing of its prism coordinate system offset relation
Accuracy of measurement deviation, can cause that star sensor carries out high-acruracy survey by being mounted directly.
The technical scheme is that：A kind of method for measuring star sensor measurement coordinate system and prism coordinate system relation,
The equipment being related to includes light star simulator, three-axle table, theodolite；Wherein star sensor measurement coordinate system and prism coordinate system three
Axle points in the same direction；Step is as follows：
1) simulation star sensor dress star mode, star sensor is installed on three-axle table, makes turntable mounting surface and photostar
Simulator optical axis is vertical；
2) asterism ray vectors are simulated using light star simulator and irradiates star sensor, adjust three-axle table so that photostar mould
Intend the whole visual field of the inswept star sensor of device ray vectors, the origin of coordinates and measurement for finding the measurement coordinate system of star sensor are sat
Mark the X-axis and Y-axis of system；
3) the prism coordinate system Z axis of star sensor are obtained relative to measurement coordinate system Z axis using a transit survey
Deviation；
4) while obtaining the prism coordinate system X-axis of star sensor relative to measurement coordinate system X using two transit surveys
The deviation of axle, and star sensor deviation of the prism coordinate system Y-axis relative to measurement coordinate system Y-axis so that it is sensitive to complete star
The measurement of relation between device measurement coordinate system and prism coordinate system relation.
Described step 3) specifically comprise the steps of：
3.1) make light star simulator optical axis in the same direction with the Z axis of the measurement coordinate system of star sensor, find star sensor
On the basis of measurement coordinate system X-axis, the auto-collimation light of theodolite is got on the prism of star sensor so that the survey of theodolite
The X-axis of amount crosshair and prism, Z axis are orthogonal；
3.2) three-axle table is adjusted so that star sensor exports hot spot gray scale barycenter of the asterism vector in measurement coordinate system
Coordinate is into a horizontal linear；
3.3) the measurement crosshair of theodolite is got on the prism of star sensor again, read measured deviation data,
That is deviation of the star sensor prism coordinate system Z prisms relative to star sensor measurement coordinate system Z detectors.
Described step 4) specifically comprise the steps of：
4.1) theodolite is arranged, makes the auto-collimation light of theodolite A vertical with the detector optical filter on star sensor, made
The auto-collimation light of theodolite B can be got on the prism of star sensor；
4.2) deviation data is obtained by theodolite A and theodolite B measurements.
Described step 4.2) in measurement obtain the detailed process of deviation data and be：It is right that theodolite A and theodolite B are carried out
Take aim at, on the basis of the number of degrees of theodolite A, the number of degrees of theodolite B are set, then read measured deviation data, i.e. star by theodolite B
Sensor prism coordinate system X prisms relative to star sensor measurement coordinate system X detectors deviation, and star sensor lens seat
Deviation of the mark system Y prisms relative to star sensor measurement coordinate system Y detectors.
Deviation of the measurement star sensor prism coordinate system X prisms relative to star sensor measurement coordinate system X detectors
Process specifically comprise the steps of：
4.2.1.1) on the basis of the measurement coordinate system X-axis for finding star sensor, by the measurement crosshair of theodolite A
X-axis and Y-axis with measurement coordinate system is orthogonal；
4.2.1.2) by theodolite A and theodolite B to taking aim at, on the basis of the number of degrees of theodolite A, by the number of degrees of theodolite B
It is set to the number of degrees of theodolite A；
4.2.1.3 the measurement crosshair of theodolite B is got on the prism of star sensor, read measured deviation data,
That is deviation of the star sensor prism coordinate system X prisms relative to star sensor measurement coordinate system X detectors.
Deviation of the measurement star sensor prism coordinate system Y prisms relative to star sensor measurement coordinate system Y detectors
Process specifically comprise the steps of：
4.2.2.1) on the basis of the measurement coordinate system Y-axis for finding star sensor, by the measurement crosshair of theodolite A
X-axis and Y-axis with measurement coordinate system is orthogonal；
4.2.2.2) by theodolite A and theodolite B to taking aim at, on the basis of the number of degrees of theodolite A, by the number of degrees of theodolite B
It is set to the number of degrees of theodolite A；
4.2.2.3 the measurement crosshair of theodolite B is got on the prism of star sensor, read measured deviation data,
That is deviation of the star sensor prism coordinate system Y prisms relative to star sensor measurement coordinate system Y detectors.
Present invention advantage compared with prior art is：
The present invention plays the measurement coordinate system of detector optical filter and prism coordinate system correlations by way of light is measured
Come, the measurement of coordinate system relation is completed on ground, measure the deviation between coordinate system whole star dress star can be directly provided and use, and
Being supplied to Attitude and orbit control system directly carries out inflight measurement coordinate system amendment, and reliability is high, with a high credibility, exploitativeness is high.
Brief description of the drawings
Fig. 1 is measurement object star sensor schematic diagram of the present invention；
Fig. 2 is present invention measurement ZDetectorZPrismRelation schematic diagram；
Fig. 3 is measurement object star sensor imaging schematic diagram of the present invention；
Fig. 4 is present invention measurement XDetectorXPrismRelation schematic diagram；
Fig. 5 is present invention measurement YDetectorYPrismRelation schematic diagram；
Fig. 6 is the relation schematic diagram of the prism coordinate system with measurement coordinate system of star sensor.
Specific embodiment
As shown in figure 1, being test object schematic diagram of the present invention, star sensor includes：Prism, detector and housing.ODetector
It is the origin of measurement coordinate system, XDetectorIt is the X-axis of measurement coordinate system, YDetectorIt is the Y-axis of measurement coordinate system, ZDetectorIt is measurement coordinate
The Z axis of system, OPrismIt is the origin of prism coordinate system, XPrismIt is the X-axis of prism coordinate system, YPrismIt is the Y-axis of prism coordinate system, ZPrismFor
3 axles of the Z axis of prism coordinate system, measurement coordinate system and prism coordinate system point to consistent, ZDetectorIt is the detector of star sensor
Optical axis, the measurement coordinate system and prism coordinate system of star sensor are satisfied by right-hand rule.Star sensor is installed on spacecraft or turns
The face of platform is parallel to XDetectorODetectorYDetectorThe bottom surface in face.As shown in Fig. 2 star sensor is arranged on into three axles of high accuracy during test
On the turntable mounting surface of turntable, comprise the following steps that shown：
Step one, installation star sensor cause that turntable mounting surface is vertical with light star simulator optical axis.Adjustment theodolite A, makes
Obtain the direction of principal axis of transit survey crosshair two orthogonal with the direction of principal axis of prism two.
Step 2, under the irradiation of light star simulator, star sensor output facula gray scale center-of-mass coordinate.By adjusting turntable
The axis of rolling, rotating table yaw direction (turntable housing) adjusts the turntable axis of rolling so that star sensor output coordinate is into a level
Line, untill coordinate beating scope is in 0.1 pixel.As shown in figure 3, star sensor certainty of measurement is higher, 0.1 pixel is characterized
About 0.00125 degree of deviation, this deviation has met use requirement, in error tolerance interval.
Step 3, reuse transit survey crosshair and get on star sensor prism, read data, i.e. star sensitive
Device prism coordinate system ZPrismRelative to star sensor measurement coordinate system ZDetectorDeviation；Specially：
3.1) make light star simulator optical axis in the same direction with the Z axis of the measurement coordinate system of star sensor, find star sensor
On the basis of measurement coordinate system X-axis, the auto-collimation light of theodolite is got on the prism of star sensor so that the survey of theodolite
The X-axis of amount crosshair and prism, Z axis are orthogonal；
3.2) high accuracy three-axle table is adjusted so that star sensor exports hot spot ash of the asterism vector in measurement coordinate system
Spend center-of-mass coordinate an into horizontal linear；
3.3) the measurement crosshair of theodolite is got on the prism of star sensor again, read measured deviation data,
That is deviation of the star sensor prism coordinate system Z prisms relative to star sensor measurement coordinate system Z detectors.
Step 4, as shown in figure 4, finding star sensor XDetectorOn the basis of axle, i.e., star sensor exports Y-coordinate into
Horizontal line.Along 90 degree of turntable yaw direction rotating table, tested using two theodolites.First by theodolite A adjustment with
The axle of star sensor optical filter two (X, Y-axis) is orthogonal.Adjustment theodolite B so that its measurement crosshair gets to star sensor prism
On.Second, theodolite A, theodolite B are carried out to taking aim at so that two transit survey crosshairs are respectively by taking aim at longitude and latitude
It is completely superposed on instrument eyepiece.On the basis of the number of degrees of theodolite A, the value of theodolite B is set.Finally, by theodolite two rotate to
Initial position, now the crosshair of theodolite B will get to again on star sensor prism, read the measurement number of theodolite B
According to this data is star sensor prism coordinate system XPrismRelative to star sensor measurement coordinate system XDetectorDeviation.
Step 5, as shown in figure 5, finding star sensor YDetectorOn the basis of axle, i.e., star sensor exports X-coordinate into
Horizontal line.Along 90 degree of turntable yaw direction rotating table, equally tested using two theodolites.Theodolite A is adjusted first
It is whole orthogonal with the axle of star sensor optical filter two (X, Y-axis).Adjustment theodolite B so that its measurement crosshair gets to star sensor
On prism.Second, theodolite A, theodolite B are carried out to taking aim at so that two transit survey crosshairs are respectively by taking aim at
It is completely superposed on theodolite eyepiece.On the basis of the number of degrees of theodolite A, the value of theodolite B is set.Finally, theodolite two is revolved
Initial position is gone to, now the crosshair of theodolite B will be got on star sensor prism again, read the survey of theodolite B
Amount data, this data are star sensor prism coordinate system YPrismRelative to star sensor measurement coordinate system YDetectorDeviation.
The following is star sensor test case：
1st, Z-direction rotational variations situation of the test star sensor prism relative to star sensor detector：
1) by star sensor Y-axis down, theodolite is just to star sensor +X direction, star sensor put coordinate system direction with
Light star simulator is as shown in Figure 2：
2) theodolite is directed at star sensor prism, then star sensor is rotated into 180 degree around Y-axis, make light star simulator light
Line forms the equal straight line of Y-coordinate in detector surface, so ensures that the X-axis of detector is levelling with theodolite, now uses again
Theodolite measures star sensor prism and has rotated clockwise 4 jiaos points 33 about the z axis relative to star sensor detector to prism polishing
Rad.That is ψ=- 4'33 ".
2nd, test prism (is surveyed) to rotational variations situation relative to the X of detector with two theodolites：
1) two theodolites place as shown in Figure 4 in 90 ° of angles；
2) then theodolite A is mutually taken aim at and is aligned, by theodolite by theodolite A to detector cover glass with theodolite B instrument
B measures star sensor prism relative to detector 10 rads around X-axis rotate counterclockwise to prism polishing.I.e.
3rd, Y-direction rotational variations situation (with two theodolites surveyed) of the test prism relative to detector：
1) star sensor is rotated clockwise 90 ° along Z-direction；
2) then theodolite A is mutually taken aim at and is aligned by theodolite A to detector cover glass with theodolite B, then by second
Theodolite measures prism and has been turned clockwise 27 rads around Y-axis relative to detector to prism polishing.I.e. knot " is tested in θ=- 27
Really, it is X to define prism coordinate systemPrismYPrismZPrism, it is known that prism coordinate system is as shown in Figure 6 with the relation of detector coordinates system：
Wherein X ' Y ' Z ' are postrotational coordinate sensing for the first time；
Wherein X " Y " Z " is pointed to for second postrotational coordinate.
The transition matrix for then going to star sensor prism by star sensor detector coordinates system is：
The content not being described in detail in description of the invention belongs to the known technology of those skilled in the art.
Claims (6)
1. a kind of method for measuring star sensor measurement coordinate system and prism coordinate system relation, it is characterised in that step is as follows：
1) simulation star sensor dress star mode, star sensor is installed on three-axle table, turntable mounting surface is simulated with photostar
Device optical axis is vertical；
2) asterism ray vectors are simulated using light star simulator and irradiates star sensor, find the seat of the measurement coordinate system of star sensor
The X-axis and Y-axis of mark origin and measurement coordinate system；
3) measurement obtains the deviation of the prism coordinate system Z axis relative to measurement coordinate system Z axis of star sensor；
4) measurement obtains the deviation of the prism coordinate system X-axis relative to measurement coordinate system X-axis of deviation data, i.e. star sensor, with
And the deviation of the prism coordinate system Y-axis relative to measurement coordinate system Y-axis of star sensor, complete star sensor measurement coordinate system and rib
The measurement of relation between mirror coordinate system relation.
2. a kind of star sensor measurement coordinate system as claimed in claim 1 and prism coordinate system bias measurement method, its feature
It is：Described step 3) specifically comprise the steps of：
3.1) make light star simulator optical axis in the same direction with the Z axis of the measurement coordinate system of star sensor, find the measurement of star sensor
On the basis of coordinate system X-axis, the auto-collimation light of theodolite is got on the prism of star sensor so that the measurement ten of theodolite
The X-axis of word cross hair and prism, Z axis are orthogonal；
3.2) three-axle table is adjusted so that star sensor exports hot spot gray scale center-of-mass coordinate of the asterism vector in measurement coordinate system
Into a horizontal linear；
3.3) the measurement crosshair of theodolite is got on the prism of star sensor again, read measured deviation data, i.e. star
Deviation of the sensor prism coordinate system Z prisms relative to star sensor measurement coordinate system Z detectors.
3. a kind of star sensor measurement coordinate system as claimed in claim 1 or 2 and prism coordinate system bias measurement method, it is special
Levy and be：Described step 4) specifically comprise the steps of：
4.1) theodolite is arranged, makes the auto-collimation light of theodolite A vertical with the detector optical filter on star sensor, make longitude and latitude
The auto-collimation light of instrument B can be got on the prism of star sensor；
4.2) deviation data is obtained by theodolite A and theodolite B measurements.
4. a kind of star sensor measurement coordinate system as claimed in claim 1 and prism coordinate system bias measurement method, its feature
It is：Described step 4.2) in measurement obtain the detailed process of deviation data and be：Theodolite A and theodolite B are carried out to taking aim at,
On the basis of the number of degrees of theodolite A, the number of degrees of theodolite B are set, then it is quick by theodolite B reading measured deviation data, i.e. star
Sensor prism coordinate system X prisms relative to star sensor measurement coordinate system X detectors deviation, and star sensor prism coordinate
It is deviation of the Y prisms relative to star sensor measurement coordinate system Y detectors.
5. a kind of star sensor measurement coordinate system as claimed in claim 4 and prism coordinate system bias measurement method, its feature
It is：The mistake of the measurement deviation of the star sensor prism coordinate system X prisms relative to star sensor measurement coordinate system X detectors
Journey is specifically comprised the steps of：
4.2.1.1) on the basis of the measurement coordinate system X-axis for finding star sensor, by the measurement crosshair of theodolite A and survey
The X-axis and Y-axis for measuring coordinate system are orthogonal；
4.2.1.2) by theodolite A and theodolite B to taking aim at, on the basis of the number of degrees of theodolite A, the number of degrees of theodolite B are set
It is the number of degrees of theodolite A；
4.2.1.3 the measurement crosshair of theodolite B is got on the prism of star sensor, read measured deviation data, i.e. star
Deviation of the sensor prism coordinate system X prisms relative to star sensor measurement coordinate system X detectors.
6. a kind of star sensor measurement coordinate system as claimed in claim 4 and prism coordinate system bias measurement method, its feature
It is：The mistake of the measurement deviation of the star sensor prism coordinate system Y prisms relative to star sensor measurement coordinate system Y detectors
Journey is specifically comprised the steps of：
4.2.2.1) on the basis of the measurement coordinate system Y-axis for finding star sensor, by the measurement crosshair of theodolite A and survey
The X-axis and Y-axis for measuring coordinate system are orthogonal；
4.2.2.2) by theodolite A and theodolite B to taking aim at, on the basis of the number of degrees of theodolite A, the number of degrees of theodolite B are set
It is the number of degrees of theodolite A；
4.2.2.3 the measurement crosshair of theodolite B is got on the prism of star sensor, read measured deviation data, i.e. star
Deviation of the sensor prism coordinate system Y prisms relative to star sensor measurement coordinate system Y detectors.
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108344427A (en) * | 2018-02-02 | 2018-07-31 | 江苏北方湖光光电有限公司 | A kind of calibration method and calibration mechanism of the pitching speculum of star sensor |
| CN108956099A (en) * | 2018-07-21 | 2018-12-07 | 胡林亭 | The method of two transits measurement multiband system optical axis consistency |
| CN109186588A (en) * | 2018-10-10 | 2019-01-11 | 上海航天控制技术研究所 | A kind of miniature multimode star sensor |
| CN109631828A (en) * | 2019-01-23 | 2019-04-16 | 中国科学院长春光学精密机械与物理研究所 | The detection method of the reference axis angle of adjacent space coordinate system based on block prism |
| CN109655079A (en) * | 2018-12-12 | 2019-04-19 | 上海航天控制技术研究所 | Star sensor measures coordinate system to prism coordinate system measurement method and system |
| CN110345970A (en) * | 2019-08-06 | 2019-10-18 | 西安中科微星光电科技有限公司 | A kind of optical navigation sensor scaling method and its equipment |
| CN110595506A (en) * | 2019-09-19 | 2019-12-20 | 中国科学院长春光学精密机械与物理研究所 | Instrument autonomous alignment device and alignment method in starlight simulation test |
| CN111006689A (en) * | 2019-11-11 | 2020-04-14 | 上海航天控制技术研究所 | Star observation test device and error measurement method |
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| CN105953803A (en) * | 2016-04-25 | 2016-09-21 | 上海航天控制技术研究所 | Method for measuring deviation between digital sun sensor measuring coordinate system and prism coordinate system |
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Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105953803A (en) * | 2016-04-25 | 2016-09-21 | 上海航天控制技术研究所 | Method for measuring deviation between digital sun sensor measuring coordinate system and prism coordinate system |
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| CN108344427A (en) * | 2018-02-02 | 2018-07-31 | 江苏北方湖光光电有限公司 | A kind of calibration method and calibration mechanism of the pitching speculum of star sensor |
| CN108344427B (en) * | 2018-02-02 | 2021-07-02 | 江苏北方湖光光电有限公司 | Calibration method and calibration mechanism for pitching reflector of star sensor |
| CN108956099A (en) * | 2018-07-21 | 2018-12-07 | 胡林亭 | The method of two transits measurement multiband system optical axis consistency |
| CN109186588A (en) * | 2018-10-10 | 2019-01-11 | 上海航天控制技术研究所 | A kind of miniature multimode star sensor |
| CN109655079A (en) * | 2018-12-12 | 2019-04-19 | 上海航天控制技术研究所 | Star sensor measures coordinate system to prism coordinate system measurement method and system |
| CN109655079B (en) * | 2018-12-12 | 2021-08-06 | 上海航天控制技术研究所 | Method for measuring coordinate system from star sensor to prism coordinate system |
| CN109631828A (en) * | 2019-01-23 | 2019-04-16 | 中国科学院长春光学精密机械与物理研究所 | The detection method of the reference axis angle of adjacent space coordinate system based on block prism |
| CN109631828B (en) * | 2019-01-23 | 2020-11-13 | 中国科学院长春光学精密机械与物理研究所 | Method for detecting coordinate axis included angle of adjacent space coordinate systems based on cubic prism |
| CN110345970A (en) * | 2019-08-06 | 2019-10-18 | 西安中科微星光电科技有限公司 | A kind of optical navigation sensor scaling method and its equipment |
| CN110345970B (en) * | 2019-08-06 | 2024-03-19 | 西安中科微星光电科技有限公司 | Optical navigation sensor calibration method and device thereof |
| CN110595506A (en) * | 2019-09-19 | 2019-12-20 | 中国科学院长春光学精密机械与物理研究所 | Instrument autonomous alignment device and alignment method in starlight simulation test |
| CN111006689A (en) * | 2019-11-11 | 2020-04-14 | 上海航天控制技术研究所 | Star observation test device and error measurement method |
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