CN107084715B - A kind of asynchronous multiframe star chart fusion method of star sensor - Google Patents
A kind of asynchronous multiframe star chart fusion method of star sensor Download PDFInfo
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- CN107084715B CN107084715B CN201710231219.6A CN201710231219A CN107084715B CN 107084715 B CN107084715 B CN 107084715B CN 201710231219 A CN201710231219 A CN 201710231219A CN 107084715 B CN107084715 B CN 107084715B
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- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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- G01C21/02—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by astronomical means
Abstract
A kind of asynchronous multiframe star chart fusion method of star sensor, comprises the following steps that (1) cycle dynamics adjust the time for exposure of the imaging sensor of star sensor, continuously records the star chart data that star sensor acquires whithin a period of time；(2) the asterism information in star chart collected is extracted, determines the positioning accuracy of all asterisms, rejects the too low asterism of positioning accuracy；(3) the interasteric relative displacement of different moments star chart is determined；(4) positioning accuracy of the higher asterism of positioning accuracy extracted according to step 2, and the relative displacement obtained according to step 3, the star chart point coordinates system for converting it to latest frame takes the average value using positioning accuracy as weight for the same asterism data on different star charts；(5) under the star chart point coordinates system of latest frame, algorithm is determined using posture, completes the high-precision attitude merged based on asynchronous multiframe star chart measurement.The present invention can be improved the measurement accuracy of single probe star sensor.
Description
Technical field
The present invention relates to a kind of star chart fusion methods of star sensor, belong to celestial navigation technical field.
Background technique
Star sensor is a kind of imaging type sensor for high-precision attitude measurement.It carries out sampling bat to star background
According to then imaging results are extracted and are identified, to measure posture of its optical axis under inertial coodinate system.With the hair of technology
The measurement accuracy of exhibition, star sensor is continuously improved, and Foreign Advanced Lerel has reached sub- rad rank.Currently, it is sensitive to improve star
The method of device measurement accuracy is mainly to consider from hardware point of view: a) improving the indexs such as visual field, the focal length of optical system；B) it improves
Resolution ratio, photoperceptivity, reduction noise level of imager chip etc.；C) thermal stability of structure is improved.In software and algorithm side
The development in face, star sensor is relatively slow, and basic process never has big variation, it may be assumed that a) single frames is imaged, b) asterism mentions
Take, c) star catalogue search matching, d) relative attitude calculating.Because the promotion of hardware aspect has been limited to optical system, imaging core
The technological level of piece and mechanical structure, so becoming important direction from the performance indicator that software respective promotes star sensor.
Several directions that the optimization method of star sensor software is mainly mentioned from upper section are carried out, such as improve asterism extraction side
Method filters out noise；Improve star catalogue search and matched speed, accuracy；Improve Attitude Calculation algorithm speed and precision (including
Reduce the systematic error of star sensor measuring system, such as calibration residual error, coordinate system transformed error, ephemeris error).It is quick for star
The improvement of sensor single frames imaging mode, cooperated measuring method namely Multi probe, the star of more visual fields of multiple star sensors are sensitive
Device is an important development direction.Such as Sodern, BALL, Mitsubishi's corporate facility have been unfolded correlative study and have achieved one
Determine achievement.Multiple sensors that spatial distribution is utilized in Multi probe star sensor synchronize multiframe sampling, then merge multiframe
The information of image generates the attitude measurement result of higher precision.However, the hardware costs of Multi probe star sensor is also very bright
Aobvious, it is not only the increase of bulking value, there are also the losses of operating rate and power consumption.
Summary of the invention
Technical problem solved by the present invention is overcome the deficiencies in the prior art, the present invention provides a kind of the different of star sensor
Walk multiframe star chart fusion method, on the basis of the star sensor prior art, for single star sensor of popping one's head in, periodically-varied its
The exposure of imaging sensor is arranged, and the star of latest frame image is supplemented, corrected using the multiple image of continuous acquisition in time
Point, the influence including increasing asterism number in visual field, the image quality for promoting asterism and reduction ambient noise etc., to improve list
The measurement accuracy of probe star sensor.
The technical solution of the invention is as follows: a kind of asynchronous multiframe star chart fusion method of star sensor, including step is such as
Under:
Step 1: it is spaced the time for exposure of identical period change star sensor in the exposure time range of setting,
Obtain t1Moment is to tnThe star chart at moment；N is positive integer；
Step 2: the shape point of position of each asterism in the n frame star chart according to obtained in step 1 in visual field, asterism
The gray scale energy of cloth and asterism determines the positioning accurate angle value of each asterism；According to the positioning accurate angle value of each asterism to each moment star chart
In asterism data be ranked up, reject positioning accuracy be unsatisfactory for setting required precision asterism；
T is obtained Step 3: calculating separately1~tn-1Asterism and t in moment star chartnIn moment star chart the relative attitude of asterism and
Transition matrix A1~An-1；
Step 4: the t obtained according to step 31~tn-1Asterism and t in moment star chartnThe opposite appearance of asterism in moment star chart
The asterism that the positioning accuracy extracted in step 2 meets required precision is transformed into t by state and transition matrixnThe finger of moment star chart
Into coordinate system, t is obtained1~tn-1Each asterism is in t in moment star chartnPosition coordinates in moment star chart point coordinates system；
Step 5: in tnMoment star chart corresponds under the star sensor coordinate system at moment, all stars obtained based on step 4
The position coordinates of point and all asterisms are obtained using QUEST algorithm and general star catalogue in tnIt is quick that moment star chart corresponds to moment star
Posture of the sensor under inertial coodinate system.
In the step 4, for the same asterism on different moments star chart, the asterism is in tnMoment star chart, which is directed toward, to be sat
Mark system in position coordinates are as follows: the asterism using the asterism obtained in step 2 in each moment star chart positioning accurate angle value as weight
Position coordinates average value.
It is measured in the step 3 by gyroscope and obtains t1~tn-1Asterism and t in moment star chartnAsterism in moment star chart
Relative attitude and transition matrix A1~An-1。
T is obtained in the step 31~tn-1Asterism and t in moment star chartnIn moment star chart the relative attitude of asterism and turn
Change matrix A1~An-1Method it is as follows: pass through triangle map method and search for identical asterism in adjacent two moment star chart, use
QUEST algorithm calculates the relative attitude of adjacent two moment star chart, obtains t1~tn-1Moment star chart and tnThe opposite appearance of moment star chart
State and transition matrix A1~An-1。
The advantages of the present invention over the prior art are that:
(1) present invention is single-frame images information processing relative to the traditional working mode of existing single probe star sensor, is surveyed
Available asterism number is influenced by field range when amount, and asterism quality is limited by sampling condition, and the present invention is from time domain
The field range of the single probe star sensor of extension, the asterism number that can be used for attitude measurement increase as the sampling time increases,
The image quality of asterism namely single star positioning accuracy are promoted as sampling condition range increases, therefore single probe star sensor
Attitude measurement accuracy is improved.
(2) for the present invention compared with more visual field Data fusion techniques of Multi probe star sensor, the present invention utilizes single probe star
The sensor result that continuous several times sample in the time domain carries out information fusion, equipment and lower production costs.This method can also be with
It is used in combination with the Data fusion technique of Multi probe star sensor, and reaches better measurement effect.
Detailed description of the invention
Fig. 1 is a kind of asynchronous multiframe star chart fusion method flow chart of star sensor of the present invention.
Specific embodiment
Here is specific embodiments of the present invention, but method of the invention is not limited to the embodiment.
As shown in Figure 1, method proposed by the present invention passes through system sequence and work on a high-precision APS star sensor
The design of process realizes, the system sequence of traditional star sensor using fixed setting or adaptive single frame exposure mode and
Single frames identification method, system sequence of the invention are designed as a) periodically-varied setting, adaptive single frame exposure mode, and
B) accumulation multiframe go forward side by side row information fusion identification method.
A kind of asynchronous multiframe star chart fusion method of star sensor, includes the following steps:
Step 1: the time for exposure of periodically-varied star sensor, the range of change is according to the star extracted from star chart
Point number determines that the range should make the asterism number that can be extracted most.It should be noted that because the difference of asterism extraction algorithm
It is different, for same Celestial Background, the time for exposure of sampling and the star number of extraction and there is no dull linear relationships.Thus expose
It is according to extraction star number adaptive change between light time.Exposure time range is [T-T in the present embodiment0,T+T0], T is adaptive
The time for exposure of adjustment, T0It is experience range, the interval delta T of variation is determined by the data updating rate and angular speed of star sensor,
That is time for exposure circulation change { T-T in sequence0, T-T0+ Δ T, T-T0+ 2 Δ T, T-T0+ 3 Δ T ..., T+T0, continuously adopt
Collection image simultaneously stores its asterism information.Angular speed is smaller, and data updating rate is higher, and the interval of variation can be smaller.
Step 2: obtain the asterism data of multiframe star chart according to step 1, according to position of the asterism in visual field, asterism
The gray scale energy of distribution of shapes and asterism determines the positioning accurate angle value C=f (d, N) of each asterism: getting over from field of view center distance d
Small, star position locating accuracy value is smaller, and precision is higher；The number of pixels N of asterism is bigger, gray value is higher and unsaturated, and asterism is fixed
Position accuracy value is smaller, and positioning accuracy is higher.It is ranked up according to asterism data of the positioning accurate angle value to multiframe star chart, rejects those
Positioning accuracy is unsatisfactory for the asterism of required precision.
Step 3: all asterisms of step 2 are from the star chart of different frame namely different timeslices, in order to which information is melted
It closes, it is thus necessary to determine that the relative attitude of different frame star chart.Present invention proposition two ways: first, it is high-precision by gyroscope etc.
Motion measuring tool measures the relative attitude of every frame star chart；Second, identical asterism in two continuous frames star chart is matched, is calculated every
The relative attitude of frame star chart.The present embodiment uses the second way, searches for phase in adjacent two frames star chart by triangle map method
Same asterism (need to guarantee at least three or more), the relative attitude of two frame star charts is calculated using QUEST algorithm, to obtain every
The relative attitude of frame star chart and latest frame star chart.
Step 4: the star chart relative displacement obtained according to step 3, higher by the positioning accuracy extracted in step 2
Asterism is transformed into latest frame star chart point coordinates system；For the same asterism in different time on piece, ask it fixed with step 2
Position precision is the average value of weight.
Step 5: being obtained based on step 4 all in the case where the star chart of latest frame corresponds to the star sensor coordinate system at moment
Asterism and position are completed the high-precision attitude merged based on asynchronous multiframe star chart and are surveyed using QUEST algorithm and general star catalogue
Amount obtains and corresponds to posture of the moment star sensor under inertial coodinate system in latest frame star chart.The definition of star sensor coordinate system
It is: using star sensor mass center as origin, z-axis is oriented to the optical axis of star sensor, xoy plane is perpendicular to z-axis；
Fig. 1 illustrates the process of the embodiment of the present invention.
The 1. width subgraph correspond to step 1, image is acquired with the different time for exposure in continuous 5 timeslices.Because
The presence of angular speed, position of the asterism in figure can constantly migrate, and 5 groups of same asterism such as S2 formation different time on piece are adopted
Sample coordinate { UV2(t1),UV2(t2),UV2(t3),UV2(t4),UV2(t5), some asterisms can leave visual field, only 4 groups or less
Sample coordinate.
The 2. width subgraph correspond to step 2, asterism extraction and analysis are carried out to the image of each timeslice, according to asterism essence
Degree and the function C=f (d, N) of spatial distribution obtain imaging positioning accuracy of each asterism in each timeslice, if S2 is at 5
Positioning accuracy in timeslice is respectively { C2(t1)=1.2, C2(t2)=1.5, C2(t3)=1.3, C2(t4)=1.1, C2(t5)=
0.9 }, as Fig. 1-2. shown in.
The 3. width subgraph illustrate subsequent step, including matching the asterism in each timeslice, according to QUEST algorithm meter
Calculate t1~t4Timeslice is relative to t5The transition matrix A of timeslice1~A4, so that all asterisms are transformed into t5Timeslice.For example,
UV2(t1)·A1It is exactly by S2 in t1The sample coordinate at moment is transformed into t5Timeslice on, be equivalent to it in t5Moment is to S2
Second has been carried out to sample, thus our available S2 in t5The equivalent multiple repairing weld coordinate { UV at moment2(t1)·A1,UV2
(t2)·A2,UV2(t3)·A3,UV2(t4)·A4,UV2(t5)}.Then this multiple repairing weld coordinate is calculated to each asterism to be averaged
Value (only takes precision to be greater than 1.0 sample coordinate), and weight is the positioning accurate angle value of each asterism, finally obtains S1~S4In t5
The average coordinates value at moment, such as UV2’(t5)=(UV2(t1)·A1·C2(t1)+UV2(t2)·A2·C2(t2)+UV2(t3)·
A3·C2(t3)+UV2(t4)·A4·C2(t4))/(C2(t1)+C2(t2)+C2(t3)+C2(t4)).Finally use QUEST algorithm meter
Star sensor is calculated in t5The optical axis at timeslice i.e. newest moment is directed toward posture.
The content that description in the present invention is not described in detail belongs to the well-known technique of those skilled in the art.
Claims (4)
1. a kind of asynchronous multiframe star chart fusion method of star sensor, which is characterized in that comprise the following steps that
Step 1: being spaced the time for exposure of identical period change star sensor in the exposure time range of setting, obtaining
t1Moment is to tnThe star chart at moment；N is positive integer；
Step 2: position of each asterism in the n frame star chart according to obtained in step 1 in visual field, asterism distribution of shapes and
The gray scale energy of asterism determines the positioning accurate angle value of each asterism；According to the positioning accurate angle value of each asterism in each moment star chart
Asterism data are ranked up, and reject the asterism that positioning accuracy is unsatisfactory for the required precision of setting；
T is obtained Step 3: calculating separately1~tn-1Asterism and t in moment star chartnThe transition matrix A of asterism in moment star chart1~
An-1；
Step 4: the t obtained according to step 31~tn-1Asterism and t in moment star chartnThe transition matrix of asterism in moment star chart,
The asterism that the positioning accuracy extracted in step 2 meets required precision is transformed into tnIn the point coordinates system of moment star chart, obtain
Obtain t1~tn-1Each asterism is in t in moment star chartnPosition coordinates in moment star chart point coordinates system；
Step 5: in tnMoment star chart corresponds under the star sensor coordinate system at moment, all asterisms obtained based on step 4 and institute
There are the position coordinates of asterism, using QUEST algorithm and general star catalogue, obtains in tnMoment star chart corresponds to moment star sensor and exists
Posture under inertial coodinate system.
2. a kind of asynchronous multiframe star chart fusion method of star sensor according to claim 1, it is characterised in that: the step
In rapid four, for the same asterism on different moments star chart, the asterism is in tnPosition in moment star chart point coordinates system is sat
Be designated as: the positioning accurate angle value in each moment star chart is average as the position coordinates of weight using the asterism obtained in step 2 for the asterism
Value.
3. a kind of asynchronous multiframe star chart fusion method of star sensor according to claim 1 or 2, it is characterised in that: institute
It states to measure in step 3 by gyroscope and obtains t1~tn-1Asterism and t in moment star chartnThe transition matrix of asterism in moment star chart
A1~An-1。
4. a kind of asynchronous multiframe star chart fusion method of star sensor according to claim 1 or 2, it is characterised in that: institute
It states and obtains t in step 31~tn-1Asterism and t in moment star chartnThe transition matrix A of asterism in moment star chart1~An-1Method such as
Under: identical asterism in adjacent two moment star chart is searched for by triangle map method, calculates adjacent two moment using QUEST algorithm
The relative attitude of star chart, obtains t1~tn-1Moment star chart and tnThe transition matrix A of moment star chart1~An-1。
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| CN109489657B (en) * | 2018-11-22 | 2022-04-19 | 北京航天计量测试技术研究所 | Double-view-field star sensor attitude fusion measuring device and method |
| CN109682369A (en) * | 2018-12-13 | 2019-04-26 | 上海航天控制技术研究所 | Rotating Platform for High Precision Star Sensor data fusion method based on asynchronous exposure |
| CN111412914B (en) * | 2020-04-21 | 2022-08-23 | 中国科学院光电技术研究所 | Method for improving attitude update rate of star sensor based on rolling shutter exposure frame correlation |
| CN111402176B (en) * | 2020-04-21 | 2023-02-14 | 中国科学院光电技术研究所 | Method for removing APS star sensor fixed mode noise in real time on orbit |
| CN114070996B (en) * | 2020-07-30 | 2024-01-12 | 北京小米移动软件有限公司 | Star sky shooting method, star sky shooting device and storage medium |
| CN112017106B (en) * | 2020-08-27 | 2023-12-29 | 上海航天控制技术研究所 | Composite view field distributed digital signal processing system and scheduling method |
| CN112880707B (en) * | 2021-02-07 | 2021-12-07 | 北京控制工程研究所 | Star sensor and method for processing image obtained under deformation loading |
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| CN103674023B (en) * | 2013-12-26 | 2014-10-15 | 中国人民解放军国防科学技术大学 | Method for dynamically measuring attitude of star sensor based on top accurate angle relevance |
| CN105136150B (en) * | 2015-08-18 | 2018-01-05 | 北京控制工程研究所 | A kind of attitude determination method based on the fusion of multiple star sensor metrical information |
| CN106382927B (en) * | 2016-08-19 | 2019-10-18 | 哈尔滨工业大学 | A kind of star sensor autonomous navigation method based on satellite identification |
| CN106441283B (en) * | 2016-10-12 | 2019-03-26 | 上海航天控制技术研究所 | It is a kind of from principal mark compared with the more visual field star sensor data fusion methods of star vector grade |
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