CN107607127B - External field-based star sensor internal parameter calibration and precision rapid verification system - Google Patents
External field-based star sensor internal parameter calibration and precision rapid verification system Download PDFInfo
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Abstract
The invention relates to a star sensor internal parameter calibration and precision rapid verification system based on an external field, which comprises a star sensor, a time system device, a data acquisition and analysis system and a horizontal transposition locking test device.
Description
Technical Field
The invention belongs to the technical field of space science, and particularly relates to a system for calibrating internal parameters and quickly verifying precision of a star sensor based on an external field.
Background
The star sensor is a high-precision space attitude measuring device taking an equatorial inertia system as a reference system and a fixed star as a navigation information source, the position information of a star point is extracted by shooting images of fixed stars at different positions on an celestial sphere through a signal processing circuit, an observation star is searched in a navigation star library by adopting a star map recognition algorithm, and the attitude information of a space vehicle is determined by utilizing a direction vector of the observation star.
Among the existing numerous attitude sensors, the star sensor has the most outstanding performance, has the advantages of low power consumption, light weight, strong autonomy, good dynamic performance, high precision and the like, is widely applied to the technical field of space such as satellites and rockets, and has important research value, wherein the internal parameter calibration and precision verification technology of the star sensor is a key technology for ensuring the attitude measurement precision of the star sensor.
At present, the internal parameter calibration and precision verification scheme of the star sensor is mainly divided into three types, namely a ground laboratory calibration test, an outfield star observation calibration test and an on-orbit calibration test, wherein the ground laboratory calibration test needs to be calibrated in an optical darkroom by using a single-star simulator, a collimator and a high-precision turntable, the precision verification work is completed in the outfield, and the method has the advantages of complex test flow and expensive test equipment; in the on-orbit calibration test, the star map is shot and downloaded to the ground, ground workers finish calibration work and upload calibration parameters to the star sensor, and the method introduces errors of uncertain factors because the on-orbit state of the star sensor is not completely controlled when the star map is shot and has high cost of manpower and material resources; the calibration test of the star observed in the outfield uses the earth as a rotary table, and adopts a polynomial surface equation fitting method for calibration, so that the influence of factors such as timing errors, uneven distribution of fixed stars in a field of view and the like can exist, and the angle measurement precision of the star sensor is low.
Disclosure of Invention
The invention mainly solves the technical problem of providing a system for calibrating internal parameters of a star sensor and quickly verifying the precision of the star sensor based on an external field, which can quickly finish the calibration of the internal parameters of the star sensor and the verification of the pointing precision of an optical axis of the star sensor by adopting a four-position method under a simple test condition.
In order to solve the technical problems, the invention adopts a technical scheme that: a star sensor internal parameter calibration and precision rapid verification system based on an external field comprises a star sensor, a time system device, a data acquisition and analysis system and a horizontal transposition locking test device, wherein a closed-loop information chain of the star sensor internal parameter calibration and precision rapid verification system is established, high-precision time information and current star point position information are acquired through the time system device, the earth is used as a rotary table rotating at a constant speed under the real starry sky of the external field, the internal parameters of the star sensor are calibrated by adopting a four-position method, and the optical axis pointing precision of the star sensor is rapidly verified;
wherein: the star sensor collects a star map at the current moment in real time, receives UTC time information and current star point position information of the time system equipment and receives internal parameter information calculated by the data acquisition and analysis system;
the time system equipment is used for acquiring UTC time information and current star point position information in real time;
the data acquisition and analysis system receives star map information from the star sensor, calculates internal parameter information of the star sensor and analyzes the optical axis pointing accuracy of the star sensor;
the horizontal transposition locking test device is used for dynamically adjusting the optical axis direction of the star sensor and ensuring that the optical axis direction of the star sensor vertically points to the zenith position;
the closed-loop information chain comprises a communication chain of the star sensor and the time system equipment, a communication chain of the star sensor and the data acquisition and analysis system, an astronomical observation on-line management system data chain of the data acquisition and analysis system, and an optical axis pointing feedback information chain between the data acquisition and analysis system and the horizontal transposition locking test device.
The time system equipment has the functions of receiving Beidou and GPS satellite signals to complete UTC time service and positioning (including longitude and latitude).
The horizontal transposition locking test device has the functions of leveling and locking, wherein the leveling function realizes that the optical axis of the star sensor points to the zenith position vertically, so that the influence of atmospheric refraction effect on star sensor imaging is minimized; the locking function ensures that the star sensor can keep stable position pointing at the star observation time.
The astronomical observation on-line management system data chain of the data acquisition and analysis system comprises a coordinate system conversion module of the star sensor, an internal parameter calibration module and an optical axis pointing precision evaluation module.
The star map information comprises UTC time information, current viewing star point position information, optical axis direction, star quantity, matching star number of each star, star gray value, star x coordinate and star y coordinate in a J2000 equatorial coordinate system.
The internal parameter information comprises the focal length, the principal point coordinate and the distortion coefficient of the star sensor.
Drawings
FIG. 1 is a flow chart of the system operation of the present invention;
FIG. 2 is a block diagram of a system test of the present invention;
fig. 3 is an imaging model of the star sensor.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
The terms used in the present invention will be described in detail below.
1) UTC: coordinated universal time (universal time coordinated) is a time metering system that is as close to universal time as possible in time based on atomic time-seconds.
2) J2000 equatorial coordinate system: the origin of coordinates is at the earth's centroid, the reference plane is the earth's equatorial plane at time J2000, and the X-axis points to the vernal wind point at time J2000 (an intersection of the equatorial plane and the ecliptic plane at time J2000).
3) A ground fixation coordinate system: the origin of coordinates is at the earth centroid (including the mass of the atmosphere ocean and the like), the reference plane is the earth equatorial plane, the Z axis points to the position of a north pole CIO (celestial intermediate origin), and the X axis points to the intersection point of the Greenwich meridian and the equatorial plane.
4) The data types are BYTE-8-bit unsigned integer, INT 16-16-bit unsigned integer, and F L OAT-floating point number.
The invention provides a star sensor internal parameter calibration and precision rapid verification system based on an external field, which comprises a star sensor, a time system device, a data acquisition and analysis system and a horizontal transposition locking test device.
In the invention, the closed-loop information chain comprises a communication chain of the star sensor and the time system equipment, a communication chain of the star sensor and the data acquisition and analysis system, and an information chain of an astronomical observation online intelligent management system of the data acquisition and analysis system.
In the invention, the star map information comprises UTC time information, current viewing star point position information, optical axis direction under a J2000 equator geocentric coordinate system, star quantity, matching star number of each star, star gray value, star point x coordinate value and star point y coordinate value in the star map.
In the invention, the internal parameter information comprises the focal length, the principal point coordinate and the distortion coefficient of the star sensor.
The data frame format of the communication chain between the star sensor and the time system equipment is shown in tables 1 and 2, and the data frame format of the communication chain between the star sensor and the data acquisition and analysis system is shown in tables 3 and 4.
Table 1: data frame format for star sensor to request time service of time management equipment
Table 2: data frame format for time service requested by time management equipment responding star sensor
Table 3: data frame format of data acquisition and analysis system requesting star sensor working mode
Table 4: data frame format of star sensor response data acquisition and analysis system
The system work flow chart of the invention is shown in figure 1, and comprises the following steps:
selecting an open area without a large amount of stray light, building a test platform (shown in figure 2) of the whole system, fixedly connecting the star sensor on a horizontal transposition locking test device, and enabling an optical lens of the star sensor to be placed vertically towards the sky; and starting a working power supply of the time system equipment, and starting the star sensor and the data acquisition and analysis system to work after the time of the time system equipment is available.
And step two, respectively adjusting the horizontal transposition locking test device to four positions of 0 degree, 90 degrees, 180 degrees, 270 degrees and the like, starting a working mode of star map information by the data acquisition and analysis system, finely adjusting the horizontal transposition locking test device according to a value provided by an optical axis pointing accuracy evaluation module in the data acquisition and analysis system, ensuring that the optical axis of the star sensor points to a vertically-pointing zenith position, locking the horizontal transposition locking test device, and respectively acquiring the star map information for 10 minutes.
And step three, after the data acquisition and analysis system stops acquiring the star map information, calculating the internal parameter information of the star sensor by using an internal parameter calibration module of the star sensor.
And fourthly, starting a working mode of the internal parameter information by the data acquisition and analysis system, and uploading the internal parameter information of the star sensor to an F L ASH storage space appointed by the star sensor through a communication link between the star sensor and the data acquisition and analysis system.
And step five, repeating the process of the step two, starting the working mode of the star map information by the data acquisition and analysis system, and respectively acquiring the star map information at four positions of 0 degree, 90 degrees, 180 degrees, 270 degrees and the like.
And step six, after the data acquisition and analysis system stops acquiring the star map information, the optical axis pointing accuracy test work of the star sensor is completed by utilizing the coordinate system conversion module and the optical axis pointing accuracy evaluation module of the star sensor.
So far, the system work flow of the invention is completely finished.
According to an embodiment of the invention, in the second step, the optical axis direction of the star sensor is ensured to be vertically directed to the zenith position through a coordinate system conversion module and a pointing accuracy evaluation module of the star sensor in the data acquisition and analysis system.
The coordinate system conversion module of the star sensor is to convert the optical axis pointing information (including optical axis right ascension and optical axis declination) of the star sensor in the J2000 equatorial coordinate system to the optical axis pointing information (optical axis longitude and optical axis latitude) in the earth-fixed coordinate system, and the conversion method is a conventional technical means of those skilled in the art, belongs to the common general knowledge in the art, and is not described herein.
According to an embodiment of the invention, in the second step and the sixth step, the pointing accuracy evaluation module of the star sensor has two functions, namely, whether the optical axis direction of the star sensor points to the zenith position vertically or not is evaluated, and the accuracy test performance index of the star sensor before leaving the factory is evaluated. The specific method comprises the following steps:
1) evaluating whether the optical axis direction of the star sensor points to the zenith position vertically
When the horizontal transposition locking test device is adjusted to a specified position (such as 0 degree), a coordinate system conversion module of the star sensor in the data acquisition and analysis system can convert current optical axis pointing information (including optical axis right ascension and optical axis declination) of the star sensor under a J2000 equator geocentric coordinate system into current optical axis pointing information (optical axis longitude and optical axis latitude) under a geocentric coordinate system in real time, meanwhile star map information of the star sensor acquired by the data acquisition and analysis system comprises star point longitude and star point latitude, and if the two difference values are smaller than a given threshold value (such as 10'), the current optical axis is considered to point to a vertically pointed zenith position, and the test condition is met; otherwise, the horizontal transposition locking test device needs to be finely adjusted until the optical axis of the star sensor points to the zenith position vertically.
2) Evaluation of optical axis pointing accuracy performance index of star sensor before leaving factory
In order to reasonably evaluate the optical axis pointing accuracy of the star sensor, the star map information of the zenith position is acquired by adopting a four-position method, wherein the four positions are respectively 0 degree, 90 degree, 180 degree and 270 degree, so that not only can the fixed star traverse the whole view field of the star sensor as fast as possible, but also the random error source of the system can be eliminated. After the data acquisition and analysis system receives star map information of the star sensor, invalid values in optical axis pointing information are removed according to the time valid marks and the pointing valid marks, current optical axis pointing information under a ground-fixed coordinate system is obtained through a coordinate system conversion module of the star sensor, and finally a standard deviation sigma of the optical axis pointing information is counted to serve as an optical axis pointing accuracy evaluation index of the star sensor.
According to an embodiment of the invention, in the fourth step, the internal parameter calibration module of the star sensor is obtained by the following formula:
the imaging model of the star sensor is shown in FIG. 3, if On-XnYnZnThe vector is a celestial coordinate system, O-XYZ is a star sensor coordinate system, and v and w are direction vectors of the fixed star in the celestial coordinate system and the star sensor coordinate system respectively, so that
Wherein (α) is the right ascension and declination of the stars, (x, y), (x)0,y0) And f represents the projection coordinate and the principal point coordinate of the star on the star sensor image detector, and f represents the focal length.
Under the ideal condition of not considering distortion, noise error and the like, the direction vectors w of the two stars i and j in the star sensor coordinate systemi、wjAnd the corresponding position vector v in the celestial coordinate systemi、vjAre equal. According to the characteristic, a state observation equation described in the vertical type (3) can be established to estimate internal parameters of the star sensor.
Substituting formula (2) for formula (3) to obtain
Due to the 'out-of-focus imaging' of the actual optical system of the star sensor and the influence of factors such as focal length deviation, imaging distortion, inclination of a photosensitive surface of an image detector, rotation of the photosensitive surface of the image sensor, principal point deviation and the like caused by processing and assembling errors, the projection position of a shot star under the coordinate system of the star sensor is not coincident with the actual position under the coordinate system of the celestial sphere, and therefore angle measurement errors are caused.
Combining the above factors, the projection coordinate values (x, y) in equation (4) need to be added with corresponding error coefficients (x, y). Because the influence of the high-order distortion coefficient is relatively small and can be ignored, the distortion model comprises the first-order and second-order radial distortion coefficient kappa1、κ2And first and second order tangential distortion coefficients k3、κ4. (x, y) can be expressed by the formula
Wherein u is x-x0，v＝y-y0，r＝u2+v2。
Therefore, equation (4) should be modified to
In order to estimate the optimal internal parameter information, the invention firstly pairs (f, x)0,y0) The value is estimated and then (f, k) is compared1,κ2,κ3,κ4) The value is estimated.
When one shot star map has n identified navigation stars, (f, x) is recorded0,y0) Is estimated as
The error between the estimated value and the true value is (Δ f, Δ x)0,Δy0) By linearizing the formula (6)
Wherein i is 1,2, …, n-1; j ═ i +1, i +2, …, n, then
R＝A[Δf Δx0Δy0]T(8)
In the formula (8)
When m shot star maps exist
Thus, (x)0,y0And f) least squares estimation of
In the formula (11)
Re-pairing (f, kappa) according to the above method1,κ2,κ3,κ4) The value is estimated, and the (f, x) is finally obtained0,y0,κ1,κ2,κ3,κ4) I.e. star sensorsInternal parameter information.
The above description is an embodiment of the present invention, but the present invention should not be limited to the disclosure of the embodiment and the drawings. Therefore, it is intended that all equivalents and modifications which do not depart from the spirit of the invention disclosed herein are deemed to be within the scope of the invention.
Claims (2)
1. A star sensor internal parameter calibration and precision rapid verification system based on an external field comprises a star sensor, a time system device, a data acquisition and analysis system and a horizontal transposition locking test device, wherein a closed-loop information chain of the star sensor internal parameter calibration and precision rapid verification system is established, high-precision time information and current star point position information are acquired through the time system device, the earth is used as a rotary table rotating at a constant speed under the real starry sky of the external field, the internal parameters of the star sensor are calibrated by adopting a four-position method, and the optical axis pointing precision of the star sensor is rapidly verified;
wherein: the star sensor collects a star map at the current moment in real time, receives UTC time information and current star point position information of the time system equipment and receives internal parameter information calculated by the data acquisition and analysis system;
the time system equipment is used for acquiring UTC time information and current star point position information in real time;
the data acquisition and analysis system receives star map information from the star sensor, calculates internal parameter information of the star sensor and analyzes the optical axis pointing accuracy of the star sensor;
the horizontal transposition locking test device is used for dynamically adjusting the optical axis direction of the star sensor and ensuring that the optical axis direction of the star sensor vertically points to the zenith position;
the closed-loop information chain comprises a communication chain of the star sensor and time system equipment, a communication chain of the star sensor and a data acquisition and analysis system, an astronomical observation on-line management system data chain of the data acquisition and analysis system, and an optical axis pointing feedback information chain of the star sensor between the data acquisition and analysis system and the horizontal transposition locking test device;
the time system equipment has the functions of receiving Beidou and GPS satellite signals to complete UTC time service and positioning, wherein the positioning comprises longitude and latitude;
the horizontal transposition locking test device has the functions of leveling and locking, wherein the leveling function realizes that the optical axis of the star sensor points to the zenith position vertically, so that the influence of atmospheric refraction effect on star sensor imaging is minimized; the locking function ensures that the star sensor can keep stable position pointing at the star observation time;
the astronomical observation on-line management system data chain of the data acquisition and analysis system comprises a coordinate system conversion module of the star sensor, an internal parameter calibration module and an optical axis pointing precision evaluation module of the star sensor;
the star map information comprises UTC time information, current star point viewing position information, optical axis direction of the star sensor under a J2000 equator geocentric coordinate system, star quantity, matching star number of each star, star point gray value, star point x coordinate and star point y coordinate in the star map;
the internal parameter information comprises a focal length, a principal point coordinate and a distortion coefficient of the star sensor;
the star sensor internal parameter calibration and precision rapid verification system based on the external field has the following working process:
the method comprises the following steps: selecting an open area without a large amount of stray light, building a test platform of the whole system, fixedly connecting the star sensor on a horizontal transposition locking test device, enabling an optical lens of the star sensor to be placed vertically towards the sky, turning on a working power supply of time system equipment, and starting the star sensor and a data acquisition and analysis system to work after the time of the time system equipment is available;
step two: adjusting the horizontal transposition locking test device to four positions of 0 degrees, 90 degrees, 180 degrees and 270 degrees respectively, starting a working mode of star map information by a data acquisition and analysis system, finely adjusting the horizontal transposition locking test device according to a value provided by an optical axis pointing accuracy evaluation module of a star sensor in the data acquisition and analysis system, ensuring that the optical axis of the star sensor points to a vertically-pointed zenith position, locking the horizontal transposition locking test device, and acquiring the star map information for 10 minutes respectively;
step three: after the data acquisition and analysis system stops acquiring the star map information, calculating the internal parameter information of the star sensor by using an internal parameter calibration module of the star sensor;
fourthly, the data acquisition and analysis system starts a working mode of internal parameter information, and the internal parameter information of the star sensor is uploaded to an F L ASH storage space appointed by the star sensor through a communication link between the star sensor and the data acquisition and analysis system;
step five: repeating the process of the second step, starting a working mode of star map information by the data acquisition and analysis system, and respectively acquiring star map information at four positions of 0 degrees, 90 degrees, 180 degrees and 270 degrees;
step six: and after the data acquisition and analysis system stops acquiring the star map information, the coordinate system conversion module of the star sensor and the optical axis pointing accuracy evaluation module of the star sensor are utilized to complete the optical axis pointing accuracy test work of the star sensor.
2. The system for calibrating the internal parameters and rapidly verifying the accuracy of the star sensor based on the external field according to claim 1, wherein the evaluation module for the pointing accuracy of the optical axis of the star sensor comprises the following steps:
the method comprises the following steps: whether the optical axis direction of the star sensor points to the zenith position vertically or not is evaluated, and the method comprises the following steps:
when the horizontal transposition locking test device is adjusted to the designated position of 0 degree, the coordinate system conversion module of the star sensor in the data acquisition and analysis system enables the star sensor to point to the information of the current optical axis under the J2000 equator geocentric coordinate system: and the optical axis right ascension and the optical axis declination are converted into current optical axis pointing information under a ground-fixed coordinate system in real time: the optical axis longitude and the optical axis latitude are determined, meanwhile, the data acquisition and analysis system acquires star map information of the star sensor, wherein the star map information comprises star point viewing longitude and star point viewing latitude, and the current optical axis points to the zenith vertically pointed position if the two difference values are smaller than a given threshold value 10' by comparing the optical axis longitude with the star point viewing longitude and the optical axis latitude with the star point viewing latitude, so that the test condition is met; otherwise, fine tuning the horizontal transposition locking test device until the optical axis of the star sensor points to the zenith position in the vertical direction;
step two: evaluating the performance index of optical axis pointing accuracy of the star sensor before leaving the factory, wherein the data processing method comprises the following steps:
acquiring star map information of a zenith position by adopting a four-position method, wherein the four positions are respectively 0 degrees, 90 degrees, 180 degrees and 270 degrees, so that a fixed star can traverse the whole view field of the star sensor as fast as possible, and a random error source of the system is eliminated; after receiving star map information of the star sensor, the data acquisition and analysis system firstly eliminates an invalid value in optical axis pointing information according to a time effective mark and a pointing effective mark, then obtains current optical axis pointing information under a ground-fixed coordinate system through a coordinate system conversion module of the star sensor, and finally counts a standard deviation sigma of the optical axis pointing information to be used as an optical axis pointing accuracy evaluation index of the star sensor;
the internal parameter calibration module of the star sensor is obtained by the following formula:
if O isn-XnYnZnThe vector is a celestial coordinate system, O-XYZ is a star sensor coordinate system, and v and w are direction vectors of the fixed star in the celestial coordinate system and the star sensor coordinate system respectively, so that
Wherein (α) is the right ascension and declination of the stars, (x, y), (x)0,y0) Respectively representing the projection coordinate and the principal point coordinate of the fixed star on the star sensor image detector, and f represents the focal length;
under the ideal condition of not considering distortion and noise error, the direction vectors w of the two stars i and j in the star sensor coordinate systemi、wjAnd the corresponding position vector v in the celestial coordinate systemi、vjThe included angles are equal, and according to the characteristic, a state observation equation described in the vertical type (3) can be established to estimate the internal parameters of the star sensor;
substituting formula (2) for formula (3) to obtain
Due to the influences of focal length deviation, imaging distortion, inclination of a photosensitive surface of an image detector, rotation of the photosensitive surface of the image sensor and principal point deviation factors caused by defocusing imaging, processing and assembling errors of an actual optical system of the star sensor, the projection position of a shot star under a coordinate system of the star sensor is not coincident with the actual position under an antenna coordinate system, and angle measurement errors are caused;
combining the above factors, the projection coordinate values (x, y) in the formula (4) need to be added with corresponding error coefficients (x, y); because the influence of the high-order distortion coefficient is relatively small and can be ignored, the distortion model comprises a first-order radial distortion coefficient kappa1Second order radial distortion coefficient kappa2And first order tangential distortion coefficient kappa3Second order tangential distortion coefficient kappa4(x, y) can be expressed by the formula:
wherein u is x-x0，v＝y-y0，r＝u2+v2；
Therefore, equation (4) is modified as:
to estimate the optimal internal parameter information, (f, x) is first aligned0,y0) The value is estimated and then (f, k) is compared1,κ2,κ3,κ4) Estimating the value;
when one shot star map has n identified navigation stars, (f, x) is recorded0,y0) Is estimated as
The error between the estimated value and the true value is (Δ f, Δ x)0,Δy0) By linearizing the formula (6)
Wherein i is 1,2, …, n-1; j ═ i +1, i +2, …, n, then
R＝A[Δf Δx0Δy0]T(8)
In the formula (8)
When m shot star maps exist
Thus, (x)0,y0And f) least squares estimation of
In the formula (11)
Re-pairing (f, kappa) according to the above method1,κ2,κ3,κ4) The value is estimated, and the (f, x) is finally obtained0,y0,κ1,κ2,κ3,κ4) Namely the internal parameter information of the star sensor.
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| CN109596146B (en) * | 2018-12-25 | 2022-07-05 | 哈尔滨工业大学 | Star sensor performance external field test system |
| CN111637885B (en) * | 2020-05-12 | 2021-10-01 | 北京控制工程研究所 | Shipborne daytime star sensor positioning algorithm |
| CN114252088A (en) * | 2020-09-25 | 2022-03-29 | 南京理工大学 | Star map matching semi-physical verification method based on collimator |
| CN113686353B (en) * | 2021-07-22 | 2024-03-19 | 西安中科微星光电科技有限公司 | Encircling type star simulator adapter |
| 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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