CN106949907A - A kind of quick system detection method of side of a ship window star - Google Patents
A kind of quick system detection method of side of a ship window star Download PDFInfo
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Abstract
The invention discloses a kind of side of a ship window star sensor system method of testing, this method testing procedure is：(1) band side of a ship window star sensor static accuracy is carried out using single star simulator to test；(2) compare porthole by star sensor bat figure under actual Celestial Background influences on star sensor magnitude detectivity；(3) star sensor band porthole is directed at into area's some day continuously to work a period of time, statistical static measurement accuracy；(4) star sensor is placed on turntable and rotated with a fixed angular speed, test porthole influences on star sensor performance of dynamic tracking；(5) test porthole with solar simulator influences on star sensor veiling glare shielding angle.Present invention firstly provides the system detection method with side of a ship window star sensor service behaviour, influence of the porthole to star sensor function and performance indications can be tested by this method, verify whether the design meets system task demand；Be conducive to carrying out the side of a ship window star sensor targeted design improvement, and guidance is provided using strategy for side of a ship window star sensor is in-orbit.
Description
Technical field
The present invention relates to satellite single machine test technical field, and in particular to a kind of side of a ship window star sensor system test side
Method.
Background technology
General star sensor attitude measure is often by the way of appearance is determined in directly shooting star chart progress；Due to task application
Demand, star sensor is installed on aircraft interior, carries out determining appearance through porthole.In order to ensure star sensor energy normal photographing star
Figure, porthole selects the glass of high transmission rate., may be sensitive to star because glass has the optical characteristics such as reflection, refraction, scattering
Device function and performance bring certain influence.Star sensor is determined to need to extract asterism information from star chart is shot during appearance, and starlight passes through
Fall on the quick detector of star, may be influenced whether up to angular distance between the asterism energy and star of detector after air port glass refraction, and then
Influence the attitude measurement accuracy of star sensor.When with the presence of ambient (such as sunshine, moonlight), glass may change light
Road, produces new veiling glare, improves the background gray threshold of captured star chart, is unfavorable for star sensor extraction asterism information and enters
Row determines appearance.Existing star sensor measuring technology is tested just for star sensor, does not consider that porthole determines appearance to star sensor
The influence of ability；And this method is domestic first Application, and experience is used for reference without corresponding.If not to side of a ship window star sensor
Systematic testing is carried out, porthole is found out on the issuable influence of star sensor detectivity, measurement accuracy and veiling glare, just
It can not verify whether side of a ship window star sensor meets mission requirements, and use the item that should be noted on strategy.
The content of the invention
The technical scheme that the present invention is solved is：Overcoming the deficiencies in the prior art, there is provided a kind of quick system testing of side of a ship window star
Method, solves system level testing of the porthole to star sensor function and performance impact, be side of a ship window star sensor design and
In-orbit provided using strategy is instructed and verified.
The technical scheme is that：A kind of side of a ship window star sensor system method of testing, step is as follows：
1) tested using single star simulator to band porthole and without side of a ship window star sensor, checking porthole is sensitive to star
The influence of device accuracy of attitude determination；
2) figure test porthole is clapped to star sensor magnitude detectivity shadow by star sensor under actual Celestial Background
Ring；
3) area's some day will be directed at the star sensor without porthole with porthole continuously to work a period of time, test porthole pair
The influence of star sensor static measurement precision；
4) will with porthole with without porthole star sensor be placed on turntable rotate, test porthole to star sensor dynamic with
Track performance impact；
5) influence of the porthole to star sensor veiling glare shielding angle is tested using solar simulator.
The step 2) specific method of testing be：Star sensor is directed at true starry sky bat figure, obtain without porthole with
During with porthole in visual field fixed star magnitude, and captured image respective pixel gray value；If during without porthole with porthole
Magnitude is satisfied by being not less than 5.5 grade stars, and the respective pixel gray-value variation of shooting image is less than 10%, then porthole does not influence star
Sensor magnitude detectivity and importance in star map recognition function；If magnitude is detected during with porthole is less than 5.5 grade stars, or respective pixel
Gray-value variation exceeds 10%, then porthole influence star sensor magnitude detectivity and importance in star map recognition function.
The step 3) specific method of testing be：Under true Celestial Background, star sensor is directed at area's some day and connected
For a period of time, the quaternary number that star sensor in this time is exported is converted to attitude angle, and statistical static measurement essence for continuous work
Degree；Within contrastive test after band porthole, if with porthole with the static measurement precision difference without porthole 1 ", porthole is to star
Sensor measurement accuracy is without influence；If static measurement precision difference exceeds 1 during with porthole with without porthole ", porthole is to star
Sensor measurement accuracy has an impact.
The step 4) specific method of testing be：Star sensor is placed on turntable with default under true Celestial Background
Angular speed rotates, it is ensured that test star sensor tenacious tracking under the default angular speed, exports quaternary number continuous updating and effective；
Plus porthole contrastive test, if star sensor remains to tenacious tracking, porthole is on star sensor performance of dynamic tracking without influence；Such as
Fruit star sensor is unable to tenacious tracking, and output quaternary counts the existing short time and do not updated, then porthole is to the dynamic tracing property of star sensor
Can have an impact.
The step 5) detailed process of influence of the test porthole to star sensor veiling glare shielding angle is：In dark room conditions
Under, star sensor is placed on turntable without porthole, sets solar simulator, into 40 ° of angles, to make the sun with star sensor optical axis
The light intensity of simulator reaches 0.5 solar constant, and bat figure is carried out with star sensor, if shot image gray value is less than 180,
The angle meets star sensor veiling glare shielding angle；Porthole is fixed in front of star sensor and claps figure, if equal angular figure below
As gray value is less than 180, illustrate porthole on star sensor veiling glare shielding angle without influence；If image intensity value is more than 180, say
Bright porthole has an impact to star sensor veiling glare shielding angle.
The step 1) specific method be：
11) star sensor is placed on turntable, single star simulator is aligned with the initial position of star sensor；In visual field model
In enclosing, equally distributed N number of revolving table position sequence (α is generated at random1,β1),(α2,β2),…(αi,βi)…,(αN,βN), i=1,
2 ... ..., N, wherein αi、βiThe angle of pitch, the yaw angle of turntable are represented respectively；In (αi, βi) place collection asterism center-of-mass coordinate (xij,
yij), j=1,2 ... ..., M；N and M is positive integer；
12) star sensor static accuracy is asked for
A asterism center coordination precision) is asked for
Asterism is in turntable corner (αi, βi) place is along star sensor x, the center coordination precision (η in y directionsxi, ηyi)：
ηxi=σxi·θx,σxi=std (xi1,xi2,...,xiM)
ηyi=σyi·θy,σyi=std (yi1,yi2,...,yiM)
Wherein x, y are the line direction and column direction along star sensor imaging sensor；θ x, θ y be respectively imaging sensor x,
The corresponding angle of one, y directions pixel；(σxi,σyi) it is (xij,yij), j=1,2 ... ..., M standard deviation；
Then center coordination precision of the star sensor in N number of revolving table positionFor：
B space random error) is asked for
According to turntable corner (αi,βi) obtain theoretical coordinate value (p of the direction star vector on star sensor detectori,
qi)：
F in formulacFor lens of star sensor focal length, i.e. distance of the lens optical center to image sensor plane；(a, b) is
Star sensor optics principal point, i.e. coordinate of the star sensor optical axis in imaging sensor imaging surface；(Dx, Dy) is star sensor pixel
Size；
Star sensor is in each test point (αi,βi) with measurement M asterism barycenter (xij,yij) average angle error
(δxi,δyi) be expressed as：
Calculate and obtain (δxi,δyi) in the average of N number of revolving table positionWith standard deviation (τδx,τδy)：
(τδx,τδy) be quiescent conditions under star sensor x, y directions space random error；
C) static accuracy of star sensor is：
Wherein NstarTo participate in the fixed star number of Attitude Calculation in star sensor visual field.
13) porthole is fixed in front of star sensor, side of a ship window star sensor static accuracy is tested in aforementioned manners.If
With porthole with without porthole static accuracy difference 1 " within, then porthole on star sensor measurement accuracy without influence；If band
Static accuracy difference exceeds 1 when porthole is with without porthole ", then porthole has an impact to star sensor measurement accuracy.
Present invention advantage compared with prior art is：
It is side of a ship window star 1. the present invention can fully verify the function and performance impact that porthole may be produced to star sensor
The parameter designing of sensor provides reference frame, and whether checking side of a ship window star sensor meets design objective requirement；
2. test result shows that porthole can be determined star sensor to influence in terms of appearance produces certain, related reason can be further carried out
Worked by simulation analysis, localized reason proposes design recommendation on improvement to side of a ship window star sensor；
3. offered guidance and suggestion for the in-orbit use strategy of side of a ship window star sensor.It is sensitive to side of a ship window star by this method
The performance of device and known the real situation using characteristic, if some design objectives do not reach requirement, and can not be improved from design, can be with
Noted during the in-orbit design using strategy, the environmental factor for influenceing side of a ship window star sensor performance evaded when using,
Ensure the in-orbit normal use of side of a ship window star sensor.
Brief description of the drawings
Fig. 1 is the quick single star simulator test philosophy figure of side of a ship window star.
Fig. 2 is the quick veiling glare shielding angle test philosophy figure of side of a ship window star.
Fig. 3 defines schematic diagram for star sensor coordinate system.
Fig. 4 is flow chart of the present invention.
Embodiment
Flow chart of the present invention is illustrated in figure 4, the specific embodiment of the present invention is further illustrated.
(1) single star mould accuracy test
A) install with being aligned：As shown in figure 1, single star simulator optical axis is tuned into level, and point to the centre of gyration of turntable.
Single star simulator optical axis is orthogonal with the plane that the rotating shaft of turntable inside casing and housing rotating shaft are determined；Star sensor is arranged on turntable inside casing
On mounting surface, the directional light that single star simulator is sent is incident in principal point along optical axis, ensures that single star is simulated by photoelectric auto-collimator
The initial alignment precision of device and star sensor, star sensor and turntable.The quick optical axis of porthole optical axis and star is placed in parallel.
B) test point data acquisition：In field range, equally distributed N number of revolving table position sequence (α is generated at random1,
β1),(α2,β2),……,(αN,βN), wherein αi,βi(i=1,2 ..., N) represents the angle of pitch, the yaw angle of turntable respectively.Turn
Platform, for i-th of test point, after turntable is stable, is recorded inside and outside turntable according to angle command curve motion set in advance
Actual measurement angle value (the α of framei,βi), in (αi,βi) place collection asterism center-of-mass coordinate (xij,yij), repeated acquisition M times, j=1,
2,……,M；N and M is positive integer；Star sensor coordinate system is defined as shown in figure 3, o is optical centre, x and image sensor line
Direction is parallel, and y is parallel with imaging sensor column direction, and z is determined along lens of star sensor optical axis direction by the right-hand rule.
C) star sensor static accuracy is classified by asterism center coordination precision with space random error.Ask for first
Asterism center coordination precision：
Asterism is in (αi,βi) place center coordination precisionFor：
σxi=std (xi1,xi2,...,xiM),ηxi=σxi·θx
σyi=std (yi1,yi2,...,yiM),ηyi=σyi·θy
Wherein θ x, θ y are x, the corresponding angle of one, y directions pixel；If the star sensor angle of visual field is 20 °, detector pixel
Number is 2048 × 2048, then
Then space random error is asked for：
Each test point both corresponds to one group of actual measurement asterism coordinate and one group of turntable corner, i.e., collected from star sensor
Asterism coordinate value (xij,yij) (M groups) and turntable interior housing actual rotation angle value (αi,βi).Fixed star under primary condition
Coordinate of the vector under star sensor coordinate system is v=[001], is angle of pitch α for housing, and inside casing is yaw angle β turntable,
Component ν of the fixed star vector under star sensor coordinate systemmFor：
Starlight vector is incided in star sensor, and the incidence point coordinate value on imaging sensor imaging surface is (p, q), then
Direction vector w of the starlight vector under star sensor coordinate systemmFor：
F in formulacFor lens of star sensor focal length, (a, b) is star sensor optics principal point, and (Dx, Dy) is star sensor picture
Elemental size.
Turntable corner can be obtained for (α according to formula (2) (3)i,βi) when, theory of the star vector on star sensor detector
Coordinate value (pi,qi)：
Star sensor is in each test point (αi,βi) angle error (δxi,δyi) be represented by：
Calculate (δxi,δyi) (i=1,2 ..., N) average and standard deviation：
(τδx,τδy) be quiescent conditions under star sensor x, y directions space random error precision,
Then static accuracy (the ζ of star sensorx,ζy) be：
Wherein NstarTo participate in the fixed star number of Attitude Calculation in star sensor visual field.
D) porthole is fixed in front of star sensor, side of a ship window star sensor static accuracy is tested in aforementioned manners.If
With porthole with without porthole static accuracy difference 1 " within, then porthole on star sensor measurement accuracy without influence；If band
Static accuracy difference exceeds 1 when porthole is with without porthole ", then porthole has an impact to star sensor measurement accuracy.
(2) magnitude detectivity is tested
Under true Celestial Background, star sensor is placed in turntable photographs star chart, is compared with standard star chart, determines visual field
The apparent magnitude of interior fixed star, and captured image respective pixel gray value；Plus repeat to clap figure after porthole, if without porthole and band
Magnitude is satisfied by being not less than 5.5 grade stars during porthole, and the respective pixel gray-value variation of shooting image is less than 10%, then porthole is not
Influence star sensor magnitude detectivity and importance in star map recognition function；If star sensor probe satellite etc. is less than 5.5 etc. during with porthole
Star, or respective pixel gray-value variation exceed 10%, illustrate porthole influence star sensor magnitude detectivity and importance in star map recognition
Function.Design can be improved to porthole, the transmitance of porthole is improved；Simultaneously also can be by adjusting the corresponding threshold of star sensor
Value parameter, makes star sensor sensitive can also recognize weaker starlight.
(3) star accuracy test is seen in outfield
Specific method of testing is as follows：
A) star sensor band porthole is positioned on platform, optical axis points to any to day, remaining two axle；
B) the quaternary number that star sensor is exported, one hour of continuous acquisition are gathered with acquisition software；
C) the three-axis attitude measurement accuracy of star sensor is asked for according to the data of collection：
One section of continuous quaternary number is chosen, three-axis attitude angle (γ, θ, ψ) is obtained by 312 rotational orders：
γ=arcsin (2q0q1+2q2q3)
Wherein (q0,q1,q2,q3) it is the quaternary number that star sensor is exported, γ is the attitude angle rotated around star sensor X-axis,
θ be around star sensor Y-axis rotate attitude angle, ψ be around star sensor Z axis rotate attitude angle.
In order to deduct ground velocity influence, it is desirable to which three-axis attitude angle is fitted into by luminance curve
Made the difference by the match value in attitude angle and matched curve and try to achieve attitude error (Δ γ, Δ θ, Δ ψ)：
Seek the standard deviation of attitude error：
(Sγ,Sθ,Sψ) it is star sensor attitude measure precision.
D) contrastive test after porthole is added, if with porthole with the static measurement precision difference without porthole 1 " within,
Porthole is on star sensor measurement accuracy without influence；If static measurement precision difference exceeds 1 during with porthole with without porthole ",
Porthole has an impact to star sensor measurement accuracy.
(4) performance of dynamic tracking is tested
Outfield is seen under starlike state, makes certain reference axis (other two axles in addition to optical axis) of turntable along star sensor with 3 °/s angles
Speed rotates, it is ensured that test star sensor tenacious tracking, exports quaternary number continuous updating and effective；Plus contrastive test after porthole,
If star sensor remains able to tenacious tracking, illustrate porthole on the performance of dynamic tracking of star sensor without influence；If star is quick
Sensor is unable to tenacious tracking, and output quaternary counts the existing short time and do not updated, then porthole has shadow to star sensor performance of dynamic tracking
Ring.
(5) veiling glare shielding angle is tested
A) as shown in Fig. 2 under special optics dark room conditions, star sensor is placed on turntable without porthole, initial strip
Under part, star sensor optical axis and solar simulator optical axis coincidence；Sunshine is adjusted with star sensor optical axis into 40 ° of angles, is made too
The light intensity of positive simulator reaches 0.5 solar constant, carries out bat figure with star sensor in the case, if shot image background
Gray threshold is less than 180, illustrates that the angle meets star sensor veiling glare shielding angle；
B) at a certain distance from porthole is placed in front of star sensor, bat figure is carried out with star sensor, if background gray levels
Still less than 180, illustrate porthole on star sensor veiling glare shielding angle without influence；If background gray levels are more than 180, illustrate the side of a ship
Window has an impact to star sensor veiling glare shielding angle.
If c) porthole has an impact to star sensor veiling glare shielding angle, in order to test the miscellaneous of now side of a ship window star sensor
Astigmatism shielding angle, can adjust solar simulator and star sensor optical axis angle, when background gray threshold is less than 180, now
Angle be side of a ship window star sensor veiling glare shielding angle.
D) when porthole has considerable influence to star sensor veiling glare shielding angle, on the one hand veiling glare source can further be imitated
True checking, confirms veiling glare source, design is improved to side of a ship window star sensor；Noted when in use simultaneously, to miscellaneous
Astigmatism is evaded possibly into the situation of visual field.
Claims (6)
1. a kind of side of a ship window star sensor system method of testing, it is characterised in that step is as follows：
1) tested using single star simulator to band porthole and without side of a ship window star sensor, checking porthole is fixed to star sensor
The influence of appearance precision；
2) clap figure test porthole by star sensor under actual Celestial Background influences on star sensor magnitude detectivity；
3) area's some day will be directed at the star sensor without porthole with porthole continuously to work a period of time, test porthole is quick to star
The influence of sensor static measurement precision；
4) it will be placed on turntable and rotate with porthole and the star sensor without porthole, test porthole is to the dynamic tracing property of star sensor
Can influence；
5) influence of the porthole to star sensor veiling glare shielding angle is tested using solar simulator.
2. a kind of side of a ship window star sensor system method of testing according to claim 1, it is characterised in that：The step 2)
Specific method of testing be：Star sensor is directed at true starry sky bat figure, obtain without porthole with porthole when visual field in fixed star
Magnitude, and captured image respective pixel gray value；If magnitude is satisfied by being not less than 5.5 during without porthole with porthole
Respective pixel gray-value variation Deng star, and shooting image is less than 10%, then porthole does not influence star sensor magnitude detectivity
And importance in star map recognition function；If magnitude is detected during with porthole is less than 5.5 grade stars, or respective pixel gray-value variation exceeds
10%, then porthole influence star sensor magnitude detectivity and importance in star map recognition function.
3. a kind of side of a ship window star sensor system level method of testing according to claim 1, it is characterised in that：The step
3) specific method of testing is：Under true Celestial Background, star sensor is directed at area's some day and continuously worked a period of time, will
The quaternary number that star sensor is exported in this time is converted to attitude angle, and statistical static measurement accuracy；Compare and survey after band porthole
Examination, if with porthole with without porthole static measurement precision difference 1 " within, porthole to star sensor measurement accuracy without
Influence；If static measurement precision difference exceeds 1 during with porthole with without porthole ", porthole has to star sensor measurement accuracy
Influence.
4. a kind of side of a ship window star sensor system method of testing according to claim 1, it is characterised in that：The step 4)
Specific method of testing be：Star sensor is placed on turntable under true Celestial Background and rotated with default angular speed, it is ensured that is surveyed
Star sensor tenacious tracking under the default angular speed is tried, quaternary number continuous updating is exported and effective；Plus porthole contrastive test, such as
Fruit star sensor remains to tenacious tracking, then porthole on star sensor performance of dynamic tracking without influence；If star sensor can not be steady
Fixed tracking, output quaternary counts the existing short time and not updated, then porthole has an impact to star sensor performance of dynamic tracking.
5. a kind of side of a ship window star sensor system level method of testing according to claim 1, it is characterised in that：The step
5) detailed process of influence of the test porthole to star sensor veiling glare shielding angle is：Under dark room conditions, by star sensor not
Band porthole is placed on turntable, sets solar simulator, into 40 ° of angles, to reach the light intensity of solar simulator with star sensor optical axis
0.5 solar constant, bat figure is carried out with star sensor, if shot image gray value is less than 180, it is sensitive that the angle meets star
Device veiling glare shielding angle；Porthole is fixed in front of star sensor and claps figure, if equal angular hypograph gray value is less than 180,
Illustrate porthole on star sensor veiling glare shielding angle without influence；If image intensity value is more than 180, illustrate porthole to star sensor
Veiling glare shielding angle has an impact.
6. a kind of side of a ship window star sensor system method of testing according to claim 1, it is characterised in that：The step 1)
Specific method be：
11) star sensor is placed on turntable, single star simulator is aligned with the initial position of star sensor；In field range
It is interior, equally distributed N number of revolving table position sequence (α is generated at random1,β1),(α2,β2),…(αi,βi)…,(αN,βN), i=1,
2 ... ..., N, wherein αi、βiThe angle of pitch, the yaw angle of turntable are represented respectively；In (αi,βi) place collection asterism center-of-mass coordinate (xij,
yij), j=1,2 ... ..., M；N and M is positive integer；
12) star sensor static accuracy is asked for
A asterism center coordination precision) is asked for
Asterism is in turntable corner (αi,βi) place is along star sensor x, the center coordination precision (η in y directionsxi,ηyi)：
ηxi=σxi·θx,σxi=std (xi1,xi2,...,xiM)
ηyi=σyi·θy,σyi=std (yi1,yi2,...,yiM)
Wherein x, y are the line direction and column direction along star sensor imaging sensor；θ x, θ y are respectively imaging sensor x, y side
To the corresponding angle of a pixel；(σxi,σyi) it is (xij,yij), j=1,2 ... ..., M standard deviation；
Then center coordination precision of the star sensor in N number of revolving table positionFor：
B space random error) is asked for
According to turntable corner (αi,βi) obtain theoretical coordinate value (p of the direction star vector on star sensor detectori,qi)：
F in formulacFor lens of star sensor focal length, i.e. distance of the lens optical center to image sensor plane；(a, b) is that star is quick
Sensor optics principal point, i.e. coordinate of the star sensor optical axis in imaging sensor imaging surface；(Dx, Dy) is star sensor pixel chi
It is very little；
Star sensor is in each test point (αi,βi) with measurement M asterism barycenter (xij,yij) average angle error (δxi,
δyi) be expressed as：
Calculate and obtain (δxi,δyi) in the average of N number of revolving table positionWith standard deviation (τδx,τδy)：
(τδx,τδy) be quiescent conditions under star sensor x, y directions space random error；
C) static accuracy of star sensor is：
Wherein NstarTo participate in the fixed star number of Attitude Calculation in star sensor visual field.
13) porthole is fixed in front of star sensor, side of a ship window star sensor static accuracy is tested in aforementioned manners.If with the side of a ship
Window with without porthole static accuracy difference 1 " within, then porthole on star sensor measurement accuracy without influence；If with porthole
Static accuracy difference exceeds 1 during with without porthole ", then porthole has an impact to star sensor measurement accuracy.
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| CN109459062A (en) * | 2018-12-11 | 2019-03-12 | 哈尔滨工业大学 | See star system in star sensor outfield |
| CN109596146A (en) * | 2018-12-25 | 2019-04-09 | 哈尔滨工业大学 | A kind of star sensor performance field testing system |
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| CN112629523A (en) * | 2020-12-12 | 2021-04-09 | 华中光电技术研究所（中国船舶重工集团公司第七一七研究所） | Star sensor measuring reference fixing device and preparation method thereof |
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| CN110702098A (en) * | 2019-10-14 | 2020-01-17 | 中国科学院新疆理化技术研究所 | Star sensor radiation damage laboratory evaluation method based on star diagonal distance measurement precision |
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