CN107101591A - Spaceborne calibration device based on laser measurement - Google Patents
Spaceborne calibration device based on laser measurement Download PDFInfo
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- CN107101591A CN107101591A CN201710343714.6A CN201710343714A CN107101591A CN 107101591 A CN107101591 A CN 107101591A CN 201710343714 A CN201710343714 A CN 201710343714A CN 107101591 A CN107101591 A CN 107101591A
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- Prior art keywords
- measuring unit
- auxiliary
- laser
- angle measuring
- laser angle
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/16—Measuring arrangements characterised by the use of optical techniques for measuring the deformation in a solid, e.g. optical strain gauge
Abstract
The invention provides a kind of spaceborne calibration device based on laser measurement, it includes main laser angle measuring unit, laser, PSD position sensors, auxiliary laser angle measuring unit, principal reflection mirror, auxiliary speculum, data acquisition and procession unit, reference platform, satellite platform, load, main laser angle measuring unit is located above auxiliary laser angle measuring unit, laser, sensor is all located at the inside of main laser angle measuring unit, auxiliary laser angle measuring unit on the left of data acquisition and procession unit with being connected, principal reflection mirror is located above auxiliary speculum, auxiliary speculum is located on the left of auxiliary laser angle measuring unit, data acquisition and procession unit above reference platform with being connected, reference platform above satellite platform with being connected, load is located at auxiliary speculum left side etc..The present invention can point to deformation to satellite load and carry out inflight measurement, obtain load and point to deflection to carry out calibration.
Description
Technical field
The present invention relates to a kind of spaceborne calibration device, in particular it relates to a kind of spaceborne calibration device based on laser measurement.
Background technology
In satellite engineering field, the sensing of high-precision load is the emphasis of concern, due to the thermal deformation of satellite health structure with
And the influence of mechanical oscillation, the mounting seat of high-precision load can produce relative deformation relative to precision reference, so that high-precision
Spend load and point to the relative rotation for occurring low-angle, the rotational angle that load is pointed to can produce deviation.
The content of the invention
For defect of the prior art, it is an object of the invention to provide a kind of spaceborne calibration dress based on laser measurement
Put, it can point to deformation to satellite load and carry out inflight measurement, obtain load and point to deflection to carry out calibration.
There is provided a kind of spaceborne calibration device based on laser measurement according to an aspect of the present invention, it is characterised in that its
Including main laser angle measuring unit, auxiliary laser angle measuring unit, principal reflection mirror, auxiliary speculum, data acquisition and procession list
Member；Wherein, two laser angle measuring units are installed on precision reference seat, coordinate two reflections loaded at least one load
Mirror, by laser PSD methods, can be achieved to measure the relative rotation of load；Wherein, main laser angle measuring unit includes laser
Device and PSD sensors, laser, which can send laser, to be got to principal reflection mirror and reflects again to PSD sensors, by detecting that PSD is passed
The output signal of sensor can be obtained by the two-dimentional corner of principal reflection mirror；Auxiliary laser angle is measured also similarly；Wherein main laser angle
Spend measuring unit and principal reflection mirror completes main measurement work, auxiliary laser angle measuring unit and auxiliary speculum carry out error benefit
Repay；Data acquisition and procession unit realizes the control and data processing and transmission to laser angle measuring unit；Wherein, principal reflection
Mirror is installed at the top of load, and speculum is oriented angled obliquely, the main laser angular surveying on alignment pedestal
Unit；Auxiliary speculum is oriented the auxiliary laser angle measuring unit on level, alignment pedestal；When load points to axis opposite base
When relatively rotating, correspondence can be occurred partially by launching the light reflected again via principal reflection mirror by main laser angle measuring unit
Turn, then detect that the light is offset as the PSD position sensors built in main laser angle measuring unit, can finally be obtained in the hope of solution
Both relative rotations；The measuring principle of auxiliary laser angle measuring unit is similarly.
Preferably, the auxiliary speculum and auxiliary laser angle measuring unit are all levels, in order to carry out error compensation.
Preferably, the principal reflection mirror is oriented obliquely, the main laser angle measuring unit on alignment pedestal, in order to survey
Try distance.
Preferably, the main laser angle measuring unit, auxiliary laser angle measuring unit, principal reflection mirror, auxiliary speculum, number
The top of a satellite platform is all located at processing unit and load according to collection.
Compared with prior art, the present invention has following beneficial effect：The present invention can be pointed to satellite load and deformed
Inflight measurement is carried out, load is obtained and points to deflection to carry out calibration.
Brief description of the drawings
By reading the detailed description made with reference to the following drawings to non-limiting example, further feature of the invention,
Objects and advantages will become more apparent upon：
Fig. 1 is the structural representation of the spaceborne calibration device based on laser measurement.
Fig. 2 is the outer corner measurement schematic diagram of the spaceborne calibration device based on laser measurement.
Fig. 3 is the error compensation instrumentation plan of the spaceborne calibration device based on laser measurement.
Embodiment
With reference to specific embodiment, the present invention is described in detail.Following examples will be helpful to the technology of this area
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that to the ordinary skill of this area
For personnel, without departing from the inventive concept of the premise, various modifications and improvements can be made.These belong to the present invention
Protection domain.
As shown in figure 1, the spaceborne calibration device based on laser measurement of the invention include main laser angle measuring unit 1, it is auxiliary
Laser angle measuring unit 2, principal reflection mirror 3, auxiliary speculum 4, data acquisition and procession unit 5；Wherein, two laser angles are surveyed
Amount unit is installed on precision reference seat, coordinates two speculums loaded at least one load 8, can be real by laser PSD methods
Now the relative rotation of load is measured；Wherein, main laser angle measuring unit includes laser 11 and PSD sensors, laser
Can send laser get to principal reflection mirror reflect again to PSD sensors 12 (PSD sensors be one kind can measure luminous point detection
The optical sensor of continuous position on device surface), by detecting that the output signal of PSD sensors can be obtained by principal reflection mirror
Two-dimentional corner；Auxiliary laser angle is measured also similarly；Wherein main laser angle measuring unit and principal reflection mirror complete main measurement work
Make, auxiliary laser angle measuring unit and auxiliary speculum carry out error compensation；Data acquisition and procession unit is realized to laser angle
The control and data processing and transmission of measuring unit；Wherein, principal reflection mirror is installed at the top of load, and speculum is oriented tiltedly
It is down into a certain angle, the main laser angle measuring unit on alignment pedestal；Auxiliary speculum is oriented on level, alignment pedestal
Auxiliary laser angle measuring unit；When load, which points to axis opposite base, to relatively rotate, by main laser angle measuring unit
Correspondence deflection can be occurred by launching the light reflected again via principal reflection mirror, then as the PSD positions built in main laser angle measuring unit
Put sensor and detect that the light is offset, both relative rotations can be finally obtained in the hope of solution；Auxiliary laser angle measuring unit
Measuring principle is similarly.
Auxiliary speculum 4 and auxiliary laser angle measuring unit 2 are all levels, in order to carry out error compensation.
Principal reflection mirror 3 is oriented obliquely, the main laser angle measuring unit 1 on alignment pedestal, for measuring distance.
The main laser angle measuring unit, auxiliary laser angle measuring unit, principal reflection mirror, auxiliary speculum, data acquisition
The top of a satellite platform 6 is all located at processing unit and load, so convenient control and operation.
Data acquisition and procession unit 5 is connected with a top of reference platform 6, and reference platform 6 connects with the top of satellite platform 7
Connect, it is so convenient that reference performance is provided.
As shown in Fig. 2 explanation is around X-axis and around the measurement of Y-axis corner, before being deformed, built in laser angle measuring unit
Generating laser, the laser launched reflects via the reflector in load, beats the center in PSD position sensors, and works as
Load axis opposite base is turned about the X axis, and when producing relative rotation θ x, the corner that reflection laser can produce 2 θ x is inclined
Move, thus the skew Sy along Y-direction can occur for PSD position sensors institute light spot received, according to laser angle measuring principle, the skew
Sy and meet certain relational expression apart from L and relative rotation θ x, it is possible to by detecting skew Sy, solve relative rotation θ x.
Likewise, can also be obtained around Y-axis corner by same procedure measurement, when load points to axis opposite base axis
Simultaneously turned about the X axis and around Y-axis rotates when, pass through detection light line skew Sy and Sx, you can correspondingly calculate around X-axis phase
To rotational angle theta x, around Y-axis relative rotation θ y, from unlike above-mentioned turn about the X axis, due to principal reflection mirror horizontal angle α presence, carrying
Lotus around Y-axis rotational angle theta y, the caused corresponding corner of principal reflection mirror normal should be 2 θ ycos α.
Finally, load axis opposite base axis around X-axis relative rotation θ x, around Y-axis relative rotation θ y, can be swashed with main
PSD the measurement value sensors Sy and Sx of angular measuring unit are represented, i.e., such as following formula (1) and (2):
Wherein, Sy and Sx is light deviation angle, and L is distance.
It is to turn when load is turned about the Z axis relative to required measurement around X-axis around Y-axis to need the operating mode for carrying out error compensation
Move in the case of can not ignore, although load is turned about the Z axis, can't cause load axis is relative with precision reference seat to turn
It is dynamic, but the reflection function of principal reflection mirror is influenced whether, and then influence whether the measurement accuracy of main laser angle measuring unit, base
In this, the auxiliary laser angle measuring unit being horizontally mounted and auxiliary speculum are devised, for measuring turning about the Z axis for load, and
Corner, which will be measured, is used for the error compensation of above-mentioned two outer corner measurement, and θ z expression formulas, such as following formula can be obtained through subsidiary
(3):
Wherein, θ z are Z axis rotational angle, and Sz is light deviation angle, and L is distance.
θ z are rotated by the Z axis for measuring load, the error compensation for obtaining measuring around X-axis and around Y-axis is calculated, it is specific as follows
It is described, when load is neither turned about the X axis nor is rotated around Y-axis, then no matter whether load turns about the Z axis, it is contemplated that measurement is obtained
Numerical value should be zero positioned at zero-bit, that is, around X-axis corner and around Y-axis corner, and the direction yet with principal reflection mirror does not have
Have parallel with load, that is, there is the horizontal angle more than zero, then when Z axis, which occurs, for load rotates, can turn measuring around X-axis
Angle and cause error addition Item, i.e. β x, β y on Y-axis corner.
As shown in figure 3, laser measuring unit is turned about the Z axis into θ z angles, then projection of the change angle of optical axis in YOZ faces
Component β x and projection components β y in XOZ faces are error of the laser measuring unit when measurement is around X-axis corner and around Y-axis corner
, calculate, can be obtained such as following formula (4) and (5) by related geometry：
βx=α-arctan (tan α cos θz) (4)
βy=arcsin (sin α sin θsz) (5)
Wherein, θ z are Z axis rotational angle, and β x is cause error addition Item on X-axis corner, and β y are on being around Y-axis corner
Cause error addition Item.
After compensated, load axis opposite base around X-axis relative rotation, around Y-axis relative rotation be such as following formula (6) and
(7)：
θ′x=θx-βx (6)
θ′y=θy-βy (7)
Wherein, θ x ' are that, around X-axis relative rotation, θ y ' are that, around Y-axis relative rotation, θ x are X-axis rotational angle, and θ y turn for Y-axis
Dynamic angle, β x to cause error addition Item on X-axis corner, β y be around Y-axis corner be on cause error addition Item.
Substitute into and make to simplify calculating, second order in formula can in a small amount be omitted, then obtain load and point to outer corner measurement final result
Expression formula such as following formula (8) and (9)：
Wherein, θ x ' are that, around X-axis relative rotation, θ y ' are that, around Y-axis relative rotation, Sy, Sx, Sz are light deviation angle, and L is
Distance.
In summary, the present invention can point to deformation to satellite load and carry out inflight measurement, obtain load and point to deflection
To carry out calibration.
The specific embodiment of the present invention is described above.It is to be appreciated that the invention is not limited in above-mentioned
Particular implementation, those skilled in the art can make various deformations or amendments within the scope of the claims, this not shadow
Ring the substantive content of the present invention.
Claims (4)
1. a kind of spaceborne calibration device based on laser measurement, it is characterised in that it includes main laser angle measuring unit, auxiliary swashed
Angular measuring unit, principal reflection mirror, auxiliary speculum, data acquisition and procession unit；Wherein, two laser angle measuring units
Precision reference seat is installed on, coordinates two speculums loaded at least one load, by laser PSD methods, be can be achieved to carrying
The relative rotation measurement of lotus；Wherein, main laser angle measuring unit includes laser and PSD sensors, and laser can send sharp
Light is got to principal reflection mirror and reflected again to PSD sensors, by detecting that it is main anti-that the output signal of PSD sensors can be obtained by
Penetrate the two-dimentional corner of mirror；Auxiliary laser angle is measured also similarly；Wherein main laser angle measuring unit and principal reflection mirror complete main
Work is measured, auxiliary laser angle measuring unit and auxiliary speculum carry out error compensation；Data acquisition and procession unit is realized to swashing
The control and data processing and transmission of angular measuring unit；Wherein, principal reflection mirror is installed at the top of load, and speculum court
To be angled obliquely, the main laser angle measuring unit on alignment pedestal；Auxiliary speculum is oriented level, is directed at base
Auxiliary laser angle measuring unit on seat；When load, which points to axis opposite base, to relatively rotate, surveyed by main laser angle
Correspondence deflection can occur for the light that amount unit transmitting is reflected via principal reflection mirror again, then as built in main laser angle measuring unit
PSD position sensors detect that the light is offset, and both relative rotations can be finally obtained in the hope of solution；Auxiliary laser angle measurement is single
The measuring principle of member is similarly.
2. the spaceborne calibration device according to claim 1 based on laser measurement, it is characterised in that the auxiliary speculum with
Auxiliary laser angle measuring unit is all level.
3. the spaceborne calibration device according to claim 1 based on laser measurement, it is characterised in that the principal reflection mirror court
To for obliquely.
4. the spaceborne calibration device according to claim 1 based on laser measurement, it is characterised in that the main laser angle
Measuring unit, auxiliary laser angle measuring unit, principal reflection mirror, auxiliary speculum, data acquisition and procession unit and load are all located at
The top of one satellite platform.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710343714.6A CN107101591A (en) | 2017-05-16 | 2017-05-16 | Spaceborne calibration device based on laser measurement |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710343714.6A CN107101591A (en) | 2017-05-16 | 2017-05-16 | Spaceborne calibration device based on laser measurement |
Publications (1)
| Publication Number | Publication Date |
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| CN107101591A true CN107101591A (en) | 2017-08-29 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710343714.6A Pending CN107101591A (en) | 2017-05-16 | 2017-05-16 | Spaceborne calibration device based on laser measurement |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109900225A (en) * | 2019-04-24 | 2019-06-18 | 吉林大学 | A kind of superhigh precision angle measurement system |
| CN114485544A (en) * | 2022-01-17 | 2022-05-13 | 上海卫星工程研究所 | Satellite load pointing high-precision measurement system and method |
Citations (4)
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| CN202101649U (en) * | 2011-06-23 | 2012-01-04 | 重庆交通大学 | Two-dimensional microminiature-torsion-angle measuring system |
| US20140204398A1 (en) * | 2011-08-12 | 2014-07-24 | Sharp Kabushiki Kaisha | Positional deviation detection unit, light emitting device, illumination apparatus, projector, vehicle headlamp, and positional deviation adjustment method |
| US20150049329A1 (en) * | 2010-04-21 | 2015-02-19 | Faro Technologies, Inc. | Method and apparatus for locking onto a retroreflector with a laser tracker |
| CN104482874A (en) * | 2014-11-21 | 2015-04-01 | 上海卫星工程研究所 | On-orbit measurement system used for pointing relative deformation of satellite load |
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2017
- 2017-05-16 CN CN201710343714.6A patent/CN107101591A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20150049329A1 (en) * | 2010-04-21 | 2015-02-19 | Faro Technologies, Inc. | Method and apparatus for locking onto a retroreflector with a laser tracker |
| CN202101649U (en) * | 2011-06-23 | 2012-01-04 | 重庆交通大学 | Two-dimensional microminiature-torsion-angle measuring system |
| US20140204398A1 (en) * | 2011-08-12 | 2014-07-24 | Sharp Kabushiki Kaisha | Positional deviation detection unit, light emitting device, illumination apparatus, projector, vehicle headlamp, and positional deviation adjustment method |
| CN104482874A (en) * | 2014-11-21 | 2015-04-01 | 上海卫星工程研究所 | On-orbit measurement system used for pointing relative deformation of satellite load |
Non-Patent Citations (1)
| Title |
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| 方无迪等: "采用激光PSD技术的载荷指向角度测量系统", 《光电工程》 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109900225A (en) * | 2019-04-24 | 2019-06-18 | 吉林大学 | A kind of superhigh precision angle measurement system |
| CN114485544A (en) * | 2022-01-17 | 2022-05-13 | 上海卫星工程研究所 | Satellite load pointing high-precision measurement system and method |
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Application publication date: 20170829 |
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