CN107063270A - A kind of universal optical autonomous navigation system - Google Patents
A kind of universal optical autonomous navigation system Download PDFInfo
- Publication number
- CN107063270A CN107063270A CN201611115949.1A CN201611115949A CN107063270A CN 107063270 A CN107063270 A CN 107063270A CN 201611115949 A CN201611115949 A CN 201611115949A CN 107063270 A CN107063270 A CN 107063270A
- Authority
- CN
- China
- Prior art keywords
- module
- design
- algorithm
- navigation system
- information
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/24—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for cosmonautical navigation
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B17/00—Systems involving the use of models or simulators of said systems
- G05B17/02—Systems involving the use of models or simulators of said systems electric
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Astronomy & Astrophysics (AREA)
- Processing Or Creating Images (AREA)
Abstract
The invention discloses a kind of universal optical autonomous navigation system, including：Track desigh module (1), algorithm design module (2), image generation module (3), IMAQ and processing module (4) and design effect Real-time Feedback module (5).Track desigh module (1) provides target track information；Algorithm design module (2) completes algorithm design work；Image generation module (3) shows correspondence image；IMAQ and processing module (4) obtain observed quantity and pass to algorithm design module (2), realize the closed loop of system.Design effect Real-time Feedback module (5) Real-time Feedback.The present invention, which has, simplifies design, shortens the design cycle, improves the advantage of fault-tolerance.
Description
Technical field
The present invention relates to a kind of navigation system, particularly a kind of universal optical autonomous navigation system.
Background technology
In space exploration task, optical detection system is the system that many detectors are all carried, and what is had is used for independent navigation,
Have as scientific exploration instrument, also have the two situation about having concurrently.Optical system for independent navigation needs to complete on ground
Corresponding algorithm design, and need to carry out reliable, complete semi-physical simulation come to the stability of whole system and
Reliability is verified.
The optical navigation system of Successful utilization can typically coordinate other navigation to set in Chinese Space engineering sounding task
It is standby, including laser altitude gage, radar etc. use.Usually optical camera is connected with other measuring apparatus, including：Laser, radar
Be connected to processor or special navigation processing module in, use cooperatively, it is common to complete navigation or detection mission.
The content of the invention
Present invention aims at a kind of universal optical autonomous navigation system is provided, traditional optical Navigation System Design mistake is solved
Design in journey is cumbersome, design cycle length, poor fault tolerance the problem of.
A kind of universal optical autonomous navigation system, including：Track desigh module, algorithm design module, image generation module,
IMAQ and processing module and design effect Real-time Feedback module.
The function of Track desigh module is：There is provided and carry the detector and target celestial body of independent navigation equipment, other have
Close the orbit information of celestial body.
Algorithm design module function be：Utilize navigational guidance design module, gesture stability module and navigational guidance design
Module, realizes the algorithm design of Optical autonomous navigation system, the spy that navigational guidance design module is provided according to Track desigh module
The information of device orbit information and target celestial body is surveyed, realizes that the algorithm for navigating and guiding to detector is designed；Gesture stability module is
On the basis of Guidance Strategy Design, the Attitude Algorithm design of detector or optical sensor is completed.
The function of image generation module is：On the basis of guidance, Attitude Algorithm design, with reference to the orbit information of detector
And the information of target celestial body, the image by optical sensor relative to the target celestial body to be shot shows over the display.
The function of IMAQ and processing module is：Light is obtained to message handler by optical sensor and information transmission
Measurement amount is learned, and measurement amount pass-algorithm is designed into module, algorithm design module completes the navigational guidance algorithm in a new cycle and set
Meter, realizes the closed-loop control of whole Optical autonomous navigation system.
The function of design effect Real-time Feedback module is：By result of the test in the form of animation, data and curves it is anti-in real time
Feed each participant, and relevant design personnel verify the design effect of whole Optical autonomous navigation system, to whole from leading
Boat system carries out recruitment evaluation, and directly related algorithm is carried out to improve design.
Track desigh module generates the track letter of related celestial body and detector in detection process according to basic detection requirement
Breath, and it is conveyed to image generation module；Image generation module generates optics according to orbit information and the parameter of optical navigation system
The image that can observe in sensor, is shown on corresponding display；Optical sensor in IMAQ and processing module
The optical imagery on display is directly shot, and by image transmitting to message handler, obtains observed quantity, and observed quantity is transmitted
Module is designed to algorithm；Algorithm designs module according to these information, determines navigational guidance and control system parameter, and return to rail
Road designs module, completes the renewal work of orbital data.Whole process and so on, until complete set objective.Design effect
Related design information, Test Information are directly fed back to designer by Real-time Feedback module so that designer can be to whole mistake
Cheng Jinhang is comprehensively grasped in real time.
The design of whole ground development system can be merged by the present invention, on the basis of algorithm design is realized,
Semi-physical simulation is very easily realized, while by effect of the algorithm of design in semi physical experiment with animation directly perceived, knot
The form of fruit data feeds back to designer, enables a designer to very easily verify the design of oneself, and timely carry out it
Improve perfect.In addition, can very easily realize that Monte-Carlo method is tested by the system, it can sufficiently verify and set
Reliability, the stability of the reasonability, algorithm design and testing equipment of parameter are counted, design efficiency is improved.
Brief description of the drawings
A kind of universal optical autonomous navigation system composition schematic diagram of accompanying drawing 1.
1. the IMAQ of 3. image generation module of the algorithm of Track desigh module 2. design module 4. and processing module 5.
Design effect Real-time Feedback module
Embodiment
A kind of universal optical autonomous navigation system, including：Track desigh module 1, algorithm design module 2, image generation mould
Block 3, IMAQ and processing module 4 and design effect Real-time Feedback module 5.
The function of Track desigh module 1 is：There is provided and carry the detector and target celestial body of independent navigation equipment, other have
Close the orbit information of celestial body.
Algorithm design module 2 function be：Utilize navigational guidance design module, gesture stability module and navigational guidance design
Module, realizes the algorithm design of Optical autonomous navigation system, the spy that navigational guidance design module is provided according to Track desigh module
The information of device orbit information and target celestial body is surveyed, realizes that the algorithm for navigating and guiding to detector is designed；Gesture stability module is
On the basis of Guidance Strategy Design, the Attitude Algorithm design of detector or optical sensor is completed.
The function of image generation module 3 is：On the basis of guidance, Attitude Algorithm design, believe with reference to the track of detector
The information of breath and target celestial body, the image by optical sensor relative to the target celestial body to be shot is shown over the display.
The function of IMAQ and processing module 4 is：Obtained by optical sensor and information transmission to message handler
Optical measurement amount, and measurement amount pass-algorithm is designed into module 2, the navigational guidance that algorithm design module 2 completes a new cycle is calculated
Method is designed, and realizes the closed-loop control of whole Optical autonomous navigation system.
The function of design effect Real-time Feedback module 5 is：By result of the test in the form of animation, data and curves it is anti-in real time
Feed each participant, and relevant design personnel verify the design effect of whole Optical autonomous navigation system, to whole from leading
Boat system carries out recruitment evaluation, and directly related algorithm is carried out to improve design.
Track desigh module 1 generates the track of related celestial body and detector in detection process according to basic detection requirement
Information, and it is conveyed to image generation module 3；Image generation module 3 is according to orbit information and the parameter of optical navigation system, generation
The image that can observe in optical sensor, is shown on corresponding display；Optics in IMAQ and processing module 4 is quick
Sensor directly shoots the optical imagery on display, and by image transmitting to message handler, obtains observed quantity, and by observed quantity
Pass to algorithm design module 2；Algorithm designs module 2 according to these information, determines navigational guidance and control system parameter, and return
Track desigh module 1 is transmitted to, the renewal work of orbital data is completed.Whole process and so on, until complete set objective.If
Related design information, Test Information are directly fed back to designer by meter effect Real-time Feedback module 5 so that designer can be right
Whole process comprehensively grasp in real time.
Claims (1)
1. a kind of universal optical autonomous navigation system, it is characterised in that including：Track desigh module (1), algorithm design module
(2), image generation module (3), IMAQ and processing module (4) and design effect Real-time Feedback module (5)；
The function of Track desigh module (1) is：There is provided and carry the detector and target celestial body of independent navigation equipment, other are relevant
The orbit information of celestial body；
Algorithm design module (2) function be：Utilize navigational guidance design module, gesture stability module and navigational guidance design mould
Block, realizes the algorithm design of Optical autonomous navigation system, the detection that navigational guidance design module is provided according to Track desigh module
The information of device orbit information and target celestial body, realizes that the algorithm for navigating and guiding to detector is designed；Gesture stability module be
On the basis of Guidance Strategy Design, the Attitude Algorithm design of detector or optical sensor is completed；
The function of image generation module (3) is：On the basis of guidance, Attitude Algorithm design, with reference to the orbit information of detector
And the information of target celestial body, the image by optical sensor relative to the target celestial body to be shot shows over the display；
The function of IMAQ and processing module (4) is：Light is obtained to message handler by optical sensor and information transmission
Measurement amount is learned, and measurement amount pass-algorithm is designed into module (2), algorithm design module (2) completes the navigational guidance in a new cycle
Algorithm is designed, and realizes the closed-loop control of whole Optical autonomous navigation system；
The function of design effect Real-time Feedback module (5) is：Result of the test is fed back in real time in the form of animation, data and curves
Each participant is given, relevant design personnel verify the design effect of whole Optical autonomous navigation system, to whole independent navigation
System carries out recruitment evaluation, and directly related algorithm is carried out to improve design；
Track desigh module (1) generates the track letter of related celestial body and detector in detection process according to basic detection requirement
Breath, and it is conveyed to image generation module (3)；Image generation module (3) is raw according to orbit information and the parameter of optical navigation system
The image that can observe into optical sensor, is shown on corresponding display；Light in IMAQ and processing module (4)
Sensor directly shoots the optical imagery on display, and by image transmitting to message handler, obtains observed quantity, and will see
Measurement passes to algorithm design module (2)；Algorithm design module (2) determines navigational guidance and control system according to these information
Parameter, and Track desigh module (1) is returned to, complete the renewal work of orbital data；Whole process and so on, until complete
Set objective；Related design information, Test Information are directly fed back to designer by design effect Real-time Feedback module (5), are made
Obtaining designer can carry out comprehensively grasping in real time to whole process.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611115949.1A CN107063270A (en) | 2016-12-07 | 2016-12-07 | A kind of universal optical autonomous navigation system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611115949.1A CN107063270A (en) | 2016-12-07 | 2016-12-07 | A kind of universal optical autonomous navigation system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107063270A true CN107063270A (en) | 2017-08-18 |
Family
ID=59619588
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611115949.1A Pending CN107063270A (en) | 2016-12-07 | 2016-12-07 | A kind of universal optical autonomous navigation system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107063270A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107621788A (en) * | 2017-09-11 | 2018-01-23 | 北京电子工程总体研究所 | A kind of collaborative simulation system and server |
| CN108279576A (en) * | 2017-12-26 | 2018-07-13 | 湖北航天技术研究院总体设计所 | A kind of composite shaft target following emulation test system |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20090222153A1 (en) * | 2006-06-20 | 2009-09-03 | Kara Whitney Johnson | Method of determining and controlling the inertial attitude of a spinning, artificial satellite and systems therefor |
| CN102116641B (en) * | 2009-12-31 | 2012-08-08 | 北京控制工程研究所 | Semi-physical simulation testing system and method for deep space autonomous navigation star sensor |
| CN103017788A (en) * | 2012-11-30 | 2013-04-03 | 北京控制工程研究所 | Interplanetary autonomous navigation ground test verification system based on information fusion |
| CN104251711A (en) * | 2014-09-11 | 2014-12-31 | 上海卫星工程研究所 | Deep space exploration combined autonomous navigation ground verification system and methods thereof |
| CN104423273A (en) * | 2013-08-27 | 2015-03-18 | 上海新跃仪表厂 | Mars acquisition phase optical autonomous navigation semi-physical simulation method and system |
-
2016
- 2016-12-07 CN CN201611115949.1A patent/CN107063270A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20090222153A1 (en) * | 2006-06-20 | 2009-09-03 | Kara Whitney Johnson | Method of determining and controlling the inertial attitude of a spinning, artificial satellite and systems therefor |
| CN102116641B (en) * | 2009-12-31 | 2012-08-08 | 北京控制工程研究所 | Semi-physical simulation testing system and method for deep space autonomous navigation star sensor |
| CN103017788A (en) * | 2012-11-30 | 2013-04-03 | 北京控制工程研究所 | Interplanetary autonomous navigation ground test verification system based on information fusion |
| CN104423273A (en) * | 2013-08-27 | 2015-03-18 | 上海新跃仪表厂 | Mars acquisition phase optical autonomous navigation semi-physical simulation method and system |
| CN104251711A (en) * | 2014-09-11 | 2014-12-31 | 上海卫星工程研究所 | Deep space exploration combined autonomous navigation ground verification system and methods thereof |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107621788A (en) * | 2017-09-11 | 2018-01-23 | 北京电子工程总体研究所 | A kind of collaborative simulation system and server |
| CN107621788B (en) * | 2017-09-11 | 2021-04-02 | 北京电子工程总体研究所 | Collaborative simulation system and server |
| CN108279576A (en) * | 2017-12-26 | 2018-07-13 | 湖北航天技术研究院总体设计所 | A kind of composite shaft target following emulation test system |
| CN108279576B (en) * | 2017-12-26 | 2021-09-28 | 湖北航天技术研究院总体设计所 | Compound axle target tracking simulation test system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP2021524014A (en) | Computerized inspection system and method | |
| KR102399227B1 (en) | Managing system of underground facilities using gpr detector | |
| CN105144249B (en) | Part installation exercise supports system and part mounting method | |
| CN103759670B (en) | A kind of object dimensional information getting method based on numeral up short | |
| CN1847789B (en) | Method and apparatus for measuring position and orientation | |
| US10026227B2 (en) | Portable augmented reality | |
| CN102288199B (en) | Ground testing method of star sensor | |
| CN103344256B (en) | Laboratory testing method for multi-field-of-view star sensor | |
| CN104251711B (en) | Independent navigation ground validation system and method are combined in survey of deep space | |
| CN105091744A (en) | Pose detection apparatus and method based on visual sensor and laser range finder | |
| CN106251325A (en) | For the augmented reality method and system measured and/or manufacture | |
| CN103363987B (en) | The method for recognising star map of a kind of many visual fields star sensor | |
| CN107478195A (en) | One kind is based on optical space object status measurement apparatus and its measuring method | |
| CN111024127B (en) | Method and system for detecting inter-satellite angular position error of high-resolution dynamic star simulator | |
| CN105004353A (en) | Dynamic star map simulation method for star sensor | |
| CN110515110B (en) | Method, device, equipment and computer readable storage medium for data evaluation | |
| CN104932535A (en) | Method for carrying out closed-loop test on airborne forward-looking infrared search equipment by using simulation system | |
| Martinez et al. | Free flight measurement technique in shock tunnel | |
| Sobel et al. | Camera calibration for tracked vehicles augmented reality applications | |
| Topolšek et al. | The accuracy analysis of measurement tools for traffic accident investigation | |
| CN103737433A (en) | Composite type precision measurement method for large components | |
| CN107063270A (en) | A kind of universal optical autonomous navigation system | |
| CN105628053B (en) | A kind of determination method of spaceborne laser altimeter system instrument pin point geometry location error | |
| CN103968835B (en) | Simulating method of refraction star | |
| CN104260908A (en) | Cross-platform earth observation satellite joint demonstration verification system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170818 |