CN106949907B - 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 test method, this method testing procedures are as follows: (1) carries out band side of a ship window star sensor static accuracy using single star simulator and test；(2) comparing porthole by star sensor bat figure under practical Celestial Background influences star sensor magnitude detectivity；(3) for a period of time by star sensor band porthole alignment area's some day continuous work, statistical static measurement accuracy；(4) star sensor is placed on turntable with fixed angular speed rotation, test porthole influences star sensor performance of dynamic tracking；(5) star sensor stray light shielding angle is influenced with solar simulator test porthole.Present invention firstly provides the system detection methods with side of a ship window star sensor working performance, can test influence of the porthole to star sensor function and performance indicator by this method, verify whether the design meets system task demand；Be conducive to carry out the side of a ship window star sensor targeted design improvement, and provide guidance 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 fields, and in particular to a kind of side of a ship window star sensor system test side
Method.
Background technique
General star sensor attitude measure is often in such a way that directly shooting star chart determine appearance；Due to task application
Demand, star sensor are installed on aircraft interior, carry out determining appearance through porthole.In order to guarantee star sensor energy normal photographing star
Figure, porthole select the glass of high transparency.It, may be sensitive to star since 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 shooting star chart when appearance, and starlight passes through
It falls on the quick detector of star, may be influenced whether up to angular distance between the asterism energy and star of detector, in turn after air port glass refraction
Influence the attitude measurement accuracy of star sensor.When with the presence of ambient (such as sunlight, moonlight), glass may change light
Road generates new stray light, improves the background gray threshold of captured star chart, be unfavorable for star sensor extract asterism information into
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 that the country applies for the first time, for reference without corresponding use experience.If not to side of a ship window star sensor
Systematic testing is carried out, finds out porthole on star sensor detectivity, measurement accuracy and the issuable influence of stray light, 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.
Summary of the invention
The technical solution that the present invention solves is: overcoming the deficiencies of the prior art and provide a kind of quick system testing of side of a ship window star
Method solves the system level testing that porthole influences star sensor function and performance, be side of a ship window star sensor design and
It is in-orbit to provide guidance and verifying using strategy.
The technical scheme is that a kind of side of a ship window star sensor system test method, steps are as follows:
1) it is tested using single star simulator to band porthole and without side of a ship window star sensor, verifying 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 practical Celestial Background
It rings；
3) area's continuous work some day will be directed at for a period of time with the star sensor without porthole with porthole, test porthole pair
The influence of star sensor static measurement precision；
4) will be placed on turntable and rotate with the star sensor without porthole with porthole, test porthole to star sensor dynamic with
Track performance influences；
5) influence using solar simulator test porthole to star sensor stray light shielding angle.
The specific test method of the step 2) are as follows: star sensor is directed at true starry sky bat figure, obtain without porthole with
The respective pixel gray value of the magnitude of fixed star and captured image in visual field when with porthole；If when without porthole with porthole
Magnitude is all satisfied not less than 5.5 equal stars, and the respective pixel gray-value variation of shooting image less than 10%, then porthole does not influence star
Sensor magnitude detectivity and importance in star map recognition function；If probe satellite etc. waits stars or respective pixel lower than 5.5 when with porthole
Gray-value variation exceeds 10%, then porthole influences star sensor magnitude detectivity and importance in star map recognition function.
The specific test method of the step 3) are as follows: under true Celestial Background, star sensor alignment area's some day is connected
Continuous work is converted to attitude angle, and statistical static measurement essence for a period of time, by the quaternary number that star sensor in this time exports
Degree；Contrastive test after band porthole, if with porthole with the static measurement precision difference without porthole 1 " within, porthole is to star
Sensor measurement accuracy is without influence；If static measurement precision difference exceeds 1 when with porthole with without porthole ", porthole is to star
Sensor measurement accuracy has an impact.
The specific test method of the step 4) are as follows: star sensor is placed on turntable with default under true Celestial Background
Angular speed rotation, guarantee test star sensor tenacious tracking in the case where this presets angular speed, export quaternary number continuous updating and effectively；
Add 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 update, then porthole is to star sensor dynamically track
Can have an impact.
The detailed process of influence of step 5) the test porthole to star sensor stray light shielding angle are as follows: in dark room conditions
Under, star sensor is placed on turntable without porthole, solar simulator and star sensor optical axis are set into 40 ° of angles, make the sun
The light intensity of simulator reaches 0.5 solar constant, carries out bat figure with star sensor, if shot image gray value less than 180,
The angle meets star sensor stray light shielding angle；Porthole is fixed in front of star sensor and claps figure, if the equal angular following figure
Picture gray value illustrates porthole on star sensor stray light shielding angle without influence less than 180；If gray value of image is greater than 180, say
Bright porthole has an impact to star sensor stray light shielding angle.
The step 1) method particularly includes:
11) star sensor is placed on turntable, is directed at single star simulator 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、βiRespectively indicate pitch angle, the yaw angle of turntable；In (αi, βi) at acquire asterism center-of-mass coordinate (xij,
yij), j=1,2 ... ..., M；N and M is positive integer；
12) star sensor static accuracy is sought
A asterism center coordination precision) is sought
Asterism is in turntable corner (αi, βi) at along star sensor x, the center coordination precision (η in the direction yxi, 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, the direction y pixel；(σxi,σyi) it is (xij,yij), the standard deviation of j=1,2 ... ..., M；
Then center coordination precision of the star sensor in N number of revolving table positionAre as follows:
B space random error) is sought
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, the i.e. distance at 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 mass center (xij,yij) mean value angle error
(δxi,δyi) indicate are as follows:
It calculates and obtains (δxi,δyi) in the mean value of N number of revolving table positionWith standard deviation (τδx,τδy):
(τδx,τδy) be quiescent conditions under the direction star sensor x, y space random error；
C) the static accuracy of star sensor are as follows:
Wherein NstarFor the fixed star number for participating in Attitude Calculation in star sensor visual field.
13) porthole is fixed in front of star sensor, tests side of a ship window star sensor static accuracy in aforementioned manners.If
With porthole with the static accuracy difference without porthole 1 " within, then porthole is 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.
The advantages of the present invention over the prior art are that:
1. the present invention, which can sufficiently verify porthole, to influence the function and performance that star sensor generates, and be side of a ship window star
The parameter designing of sensor provides reference frame, and whether verifying side of a ship window star sensor meets design objective requirement；
It, can further progress correlation reason 2. test result shows that porthole can determine star sensor to influence in terms of appearance generates certain
It works by simulation analysis, localized reason proposes design recommendation on improvement to side of a ship window star sensor；
3. in-orbit for side of a ship window star sensor is offered guidance and suggestion using strategy.It is sensitive to side of a ship window star by this method
The performance of device and known the real situation using characteristic, it, can be with if certain design objectives do not reach requirement, and can not improve from design
It is in-orbit using strategy design when carry out note that using when to influence side of a ship window star sensor performance environmental factor evaded,
Ensure the in-orbit normal use of side of a ship window star sensor.
Detailed description of the invention
Fig. 1 is the quick single star simulator test schematic of side of a ship window star.
Fig. 2 is the quick stray light shielding angle test schematic of side of a ship window star.
Fig. 3 is that star sensor coordinate system defines schematic diagram.
Fig. 4 is flow chart of the present invention.
Specific embodiment
It is illustrated in figure 4 flow chart of the present invention, further illustrates specific embodiments of the present invention.
(1) Dan Xingmo accuracy test
A) it installs and is aligned: as shown in Figure 1, single star simulator optical axis is tuned into level, and being directed toward the centre of gyration of turntable.
Single star simulator optical axis is orthogonal with the plane that turntable inside casing shaft and outline border shaft determine；Star sensor is mounted on turntable inside casing
On mounting surface, the directional light that single star simulator issues is incident in principal point along optical axis, guarantees single star simulation by photoelectric auto-collimator
The initial alignment precision of device and star sensor, star sensor and turntable.Porthole optical axis and the quick optical axis of star are placed in parallel.
B) number of test points is according to acquisition: in field range, generating equally distributed N number of revolving table position sequence (α at random1,
β1),(α2,β2),……,(αN,βN), wherein αi,βi(i=1,2 ..., N) respectively indicates pitch angle, the yaw angle of turntable.Turn
Platform is recorded inside and outside turntable after turntable is stablized according to preset angle command curve motion, for i-th of test point
Actual measurement angle value (the α of framei,βi), in (αi,βi) at acquire asterism center-of-mass coordinate (xij,yij), repeated acquisition M times, j=1,
2,……,M；N and M is positive integer；The definition of star sensor coordinate system is 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 and space random error.It seeks first
Asterism center coordination precision:
Asterism is in (αi,βi) at center coordination precisionAre as follows:
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, the direction y pixel；If star sensor field angle is 20 °, detector pixel
Number is 2048 × 2048, then
Then space random error is sought:
Each test point both corresponds to one group of actual measurement asterism coordinate and one group of turntable corner, i.e., collects from star sensor
Asterism coordinate value (xij,yij) (M group) and turntable interior outline border actual rotation angle value (αi,βi).Fixed star under primary condition
Coordinate of the vector under star sensor coordinate system is v=[001], is pitch angle α for outline border, and inside casing is the turntable of yaw angle β,
Component ν of the fixed star vector under star sensor coordinate systemmAre as follows:
Starlight vector is incident 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 systemmAre as follows:
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.
It is (α that turntable corner, which can be found out, 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) may be expressed as:
Calculate (δxi,δyi) (i=1,2 ..., N) mean value and standard deviation:
(τδx,τδy) be quiescent conditions under the direction star sensor x, y space random error precision,
Then static accuracy (the ζ of star sensorx,ζy) are as follows:
Wherein NstarFor the fixed star number for participating in Attitude Calculation in star sensor visual field.
D) porthole is fixed in front of star sensor, tests side of a ship window star sensor static accuracy in aforementioned manners.If
With porthole with the static accuracy difference without porthole 1 " within, then porthole is 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 respective pixel gray value of the apparent magnitude of interior fixed star and captured image；Bat figure is repeated after adding porthole, if without porthole and band
Magnitude is all satisfied not less than 5.5 equal stars when porthole, and shoots the respective pixel gray-value variation of image 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 lower than 5.5 etc. when with porthole
Star or respective pixel gray-value variation exceed 10%, illustrate that porthole influences star sensor magnitude detectivity and importance in star map recognition
Function.Design can be improved to porthole, improve the transmitance of porthole；It simultaneously can also be by adjusting the corresponding threshold of star sensor
Value parameter identify star sensor can also sensitive to weaker starlight.
(3) star accuracy test is seen in outfield
The specific test method is as follows:
A) star sensor band porthole is placed on platform, optical axis is directed toward any to day, remaining two axis；
B) with the quaternary number of acquisition software acquisition star sensor output, one hour of continuous acquisition；
C) the three-axis attitude measurement accuracy of star sensor is sought according to the collected data:
One section of continuous quaternary number is chosen, finds out triaxial attitude angle (γ, θ, ψ) by 312 rotational orders:
γ=arcsin (2q0q1+2q2q3)
Wherein (q0,q1,q2,q3) it is the quaternary number that star sensor exports, γ is the attitude angle rotated around star sensor X-axis,
θ is the attitude angle rotated around star sensor Y-axis, ψ is the attitude angle rotated around star sensor Z axis.
It is influenced to deduct ground velocity, it is desirable that be fitted into triaxial attitude angle by luminance curve
It is made the difference by the match value in attitude angle and matched curve and acquires 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) plus porthole after contrastive test, if with porthole with without porthole static measurement precision difference 1 " within,
Porthole is on star sensor measurement accuracy without influence；If static measurement precision difference exceeds 1 when 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 turntable along certain reference axis (other two axis in addition to optical axis) of star sensor with the angle 3 °/s
Speed rotation, guarantee test star sensor tenacious tracking, export quaternary number continuous updating and effectively；Add contrastive test after porthole,
If star sensor still is 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 update, then porthole has shadow to star sensor performance of dynamic tracking
It rings.
(5) stray light shielding angle is tested
A) as shown in Fig. 2, under dedicated 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；Sunlight and star sensor optical axis are adjusted 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 illustrates that the angle meets star sensor stray light shielding angle less than 180；
B) at a certain distance from porthole being 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 stray light shielding angle without influence；If background gray levels are greater than 180, illustrate the side of a ship
Window has an impact to star sensor stray light shielding angle.
If c) porthole has an impact to star sensor stray light shielding angle, in order to test the miscellaneous of side of a ship window star sensor at this time
Astigmatism shielding angle, adjustable solar simulator and star sensor optical axis angle, when background gray threshold is less than 180, at this time
Angle be side of a ship window star sensor stray light shielding angle.
D) when porthole has larger impact to star sensor stray light shielding angle, on the one hand stray light source can further be imitated
True verifying, confirms stray light source, improves design to side of a ship window star sensor；Give when in use note that miscellaneous simultaneously
Astigmatism is evaded possibly into the case where visual field.
Claims (6)
1. a kind of side of a ship window star sensor system test method, it is characterised in that steps are as follows:
1) it is tested using single star simulator to band porthole and without side of a ship window star sensor, verifying porthole is fixed to star sensor
The influence of appearance precision；
2) clapping figure test porthole by star sensor under practical Celestial Background influences star sensor magnitude detectivity；
3) area's continuous work some day will be directed at for a period of time with the star sensor without porthole with porthole, test porthole is quick to star
The influence of sensor static measurement precision；
4) it will be placed on turntable and rotate with the star sensor without porthole with porthole, test porthole to star sensor dynamically track
It can influence；
5) influence using solar simulator test porthole to star sensor stray light shielding angle.
2. a kind of side of a ship window star sensor system test method according to claim 1, it is characterised in that: the step 2)
Specific test method are as follows: 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 all satisfied not less than 5.5 when without porthole with porthole
Equal stars, and the respective pixel gray-value variation of shooting image less than 10%, then porthole does not influence star sensor magnitude detectivity
And importance in star map recognition function；If probe satellite etc. waits stars or respective pixel gray-value variation to exceed lower than 5.5 when with porthole
10%, then porthole influences star sensor magnitude detectivity and importance in star map recognition function.
3. a kind of side of a ship window star sensor system test method according to claim 1, it is characterised in that: the step 3)
Specific test method are as follows: under true Celestial Background, by star sensor alignment area's some day continuous work for a period of time, by this
The quaternary number of star sensor output is converted to attitude angle, and statistical static measurement accuracy in the section time；Contrastive test after band porthole,
If with porthole with the static measurement precision difference without porthole 1 " within, porthole is to star sensor measurement accuracy without shadow
It rings；If static measurement precision difference exceeds 1 when with porthole with without porthole ", porthole has shadow to star sensor measurement accuracy
It rings.
4. a kind of side of a ship window star sensor system test method according to claim 1, it is characterised in that: the step 4)
Specific test method are as follows: star sensor is placed on turntable with default angular speed rotation under true Celestial Background, guarantees to survey
Try star sensor tenacious tracking in the case where this presets angular speed, export quaternary number continuous updating and effectively；Add porthole contrastive test, such as
Fruit star sensor remains to tenacious tracking, then porthole is on star sensor performance of dynamic tracking without influence；If star sensor cannot be steady
Fixed tracking, output quaternary count the existing short time and do not update, then porthole has an impact to star sensor performance of dynamic tracking.
5. a kind of side of a ship window star sensor system test method according to claim 1, it is characterised in that: the step 5)
Test the detailed process of influence of the porthole to star sensor stray light shielding angle are as follows: under dark room conditions, by star sensor without
Porthole is placed on turntable, and solar simulator and star sensor optical axis is arranged into 40 ° of angles, reaches the light intensity of solar simulator
0.5 solar constant carries out bat figure with star sensor, if shot image gray value, less than 180, which meets star sensitivity
Device stray light shielding angle；Porthole is fixed in front of star sensor and claps figure, if gray value of image is less than 180 under equal angular,
Illustrate porthole on star sensor stray light shielding angle without influence；If gray value of image is greater than 180, illustrate porthole to star sensor
Stray light shielding angle has an impact.
6. a kind of side of a ship window star sensor system test method according to claim 1, it is characterised in that: the step 1)
Method particularly includes:
11) star sensor is placed on turntable, is directed at single star simulator 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、βiRespectively indicate pitch angle, the yaw angle of turntable；In (αi,βi) at acquire asterism center-of-mass coordinate (xij,
yij), j=1,2 ... ..., M；N and M is positive integer；
12) star sensor static accuracy is sought
A asterism center coordination precision) is sought
Asterism is in turntable corner (αi,βi) at along star sensor x, the center coordination precision (η in the direction yxi,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, the side y
To the corresponding angle of a pixel；(σxi,σyi) it is (xij,yij), the standard deviation of j=1,2 ... ..., M；
Then center coordination precision of the star sensor in N number of revolving table positionAre as follows:
B space random error) is sought
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, the i.e. distance at 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 ruler
It is very little；
Star sensor is in each test point (αi,βi) with measurement M asterism mass center (xij,yij) mean value angle error (δxi,
δyi) indicate are as follows:
It calculates and obtains (δxi,δyi) in the mean value of N number of revolving table positionWith standard deviation (τδx,τδy):
(τδx,τδy) be quiescent conditions under the direction star sensor x, y space random error；
C) the static accuracy of star sensor are as follows:
Wherein NstarFor the fixed star number for participating in Attitude Calculation in star sensor visual field；
13) porthole is fixed in front of star sensor, tests side of a ship window star sensor static accuracy in aforementioned manners；If with the side of a ship
Window is with the static accuracy difference without porthole 1 " within, then porthole is on star sensor measurement accuracy without influence；If with porthole
Static accuracy difference exceeds 1 when with without porthole ", then porthole has an impact to star sensor measurement accuracy.
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| CN109459062B (en) * | 2018-12-11 | 2022-05-20 | 哈尔滨工业大学 | Star sensor outfield star viewing system |
| CN109596146B (en) * | 2018-12-25 | 2022-07-05 | 哈尔滨工业大学 | Star sensor performance external field test system |
| CN110702097B (en) * | 2019-10-14 | 2023-01-03 | 中国科学院新疆理化技术研究所 | Star sensor radiation damage assessment method based on extreme detection star isosensitivity |
| CN110702098B (en) * | 2019-10-14 | 2022-12-09 | 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 |
| CN112629523B (en) * | 2020-12-12 | 2023-10-13 | 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 measurement reference fixing device and preparation method thereof |
| CN114001756B (en) * | 2021-11-03 | 2023-09-19 | 中国科学院光电技术研究所 | Small-field-of-view star sensor outfield ground star finding method |
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