CN108020244B - Calibration device and method for star sensor reference cube mirror installation error - Google Patents
Calibration device and method for star sensor reference cube mirror installation error Download PDFInfo
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- CN108020244B CN108020244B CN201810114189.5A CN201810114189A CN108020244B CN 108020244 B CN108020244 B CN 108020244B CN 201810114189 A CN201810114189 A CN 201810114189A CN 108020244 B CN108020244 B CN 108020244B
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- 238000009434 installation Methods 0.000 title claims abstract description 22
- 238000000034 method Methods 0.000 title claims abstract description 20
- 230000003287 optical effect Effects 0.000 claims description 2
- 238000005259 measurement Methods 0.000 abstract description 9
- 238000010586 diagram Methods 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 238000004891 communication Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
Abstract
The invention provides a calibration device for a star sensor reference cube mirror installation error, which comprises: the reference plane is provided with a first reflecting surface and a second reflecting surface, the first reflecting surface and the second reflecting surface are perpendicular to the reference plane, and the first reflecting surface and the second reflecting surface are perpendicular to each other; at least three light sources are arranged on the first reflecting surface, and the light ray emergent direction of the light sources is perpendicular to the first reflecting surface; and forming light spots corresponding to the light sources on the light sensitive surface of the star sensor. The exit normal of the reference cube mirror pointing to the first reflecting surface is perpendicular to the first reflecting surface, and the exit normal of the reference cube mirror pointing to the second reflecting surface is perpendicular to the second reflecting surface. According to the embodiment of the invention, the reading light spot coordinates are adopted to calibrate the installation errors of the reference cube, so that the measurement times in the error calibration process are reduced, and the random errors in the measurement are reduced.
Description
Technical Field
The invention relates to the field of measurement of a coordinate system of photoelectric equipment, in particular to a calibration device and method for a reference cube mirror installation error of a star sensor.
Background
The star sensor shell is provided with a reference cube mirror for converting a virtual coordinate system of measurement of the star sensor. And errors are inevitably generated when the reference cube is installed, so that error calibration is required for the cube.
In the prior art, the calibration method of the installation error of the star sensor reference cube mirror mainly adopts a method of combined measurement of a precise turntable, a theodolite and a single star simulator. The theodolite collimates the pitching axis of the turntable and the X axis of the reference mirror, a single star simulator is placed in front of a star-sensitive lens for imaging, and the turntable runs at specific angles along the pitching axis, so that a plurality of image points on a straight line can be obtained on the star-sensitive lens, and the relative relation between the coordinate system of the reference mirror and the coordinate system for measurement is obtained through calculation.
In the prior art, only attitude errors with two degrees of freedom can be obtained in one calibration process. The second calibration is performed after adjustment, so that the attitude errors of three degrees of freedom can be completely calibrated, and multiple measurements can bring about multiple random errors.
Disclosure of Invention
Therefore, the invention aims to provide a calibration device for the installation error of the star sensor reference cube, so as to improve the calibration efficiency of the installation error of the star sensor reference cube.
In a first aspect, an embodiment of the present invention provides a calibration device for a star sensor reference cube installation error, defining an outgoing normal line on the star sensor, where the outgoing normal line is opposite to an incident optical axis of the star sensor, and the outgoing normal line direction on an upper plane of the reference cube is a Z axis, where a Y axis is obtained according to a right-handed spiral rule, where the calibration device is characterized by including:
a reference platform, the reference platform having a reference plane;
the first reflecting surface and the second reflecting surface are arranged on the reference plane and are perpendicular to the reference plane, and the first reflecting surface and the second reflecting surface are perpendicular to each other;
at least three light sources are arranged on the first reflecting surface, and the light ray emergent direction of each light source is perpendicular to the first reflecting surface; after the emergent light rays of the light sources are used for reaching the star sensor arranged on the reference plane, light points corresponding to the light sources are formed on the light sensitive surface of the star sensor;
the direction of the emergent normal line of the reference cube, which points to the first reflecting surface, is an X axis, the direction of the emergent normal line of the upper plane of the reference cube is a Z axis, and the Y axis is naturally generated by a right-handed spiral rule;
the X axis of the reference cube is perpendicular to the first reflective surface and the Y axis is perpendicular to the second reflective surface.
Optionally, the method further comprises: a collimator;
the collimator is used for adjusting the reference cube mirror to enable the X axis of the reference cube mirror to be perpendicular to the first reflecting surface, and enable the Y axis to be perpendicular to the second reflecting surface.
Optionally, two collimators are installed on the reference plane.
Optionally, the method further comprises: three-dimensional adjustment base of star sensor;
the three-dimensional adjusting base of the star sensor is used for placing the star sensor and adjusting the position of the star sensor.
In a second aspect, an embodiment of the present invention provides a method for calibrating an installation error of a reference cube of a star sensor, where outgoing light from at least three point light sources enters a star sensor placed on a reference plane, so that light spots corresponding to each light source are formed on a light sensitive surface of the star sensor, and the installation error of the reference cube on the star sensor is calibrated by using coordinates of the passing light spots;
the light source is positioned on a first reflection plane, the first reflection plane is perpendicular to the reference plane, and the second reflection plane is perpendicular to the first reflection plane and the reference plane;
the direction of the emergent normal line of the reference cube, which points to the first reflecting surface, is an X axis, the direction of the emergent normal line of the upper plane of the reference cube is a Z axis, and the Y axis is naturally generated by a right-handed spiral rule;
the X axis of the reference cube is perpendicular to the first reflective surface and the Y axis is perpendicular to the second reflective surface.
Optionally, the reference cube is adjusted by a collimator such that the X-axis of the reference cube is perpendicular to the first reflecting surface and the Y-axis is perpendicular to the second reflecting surface.
Optionally, the reference cube is collimated by two collimators mounted to the reference plane opposite the first and second reflective surfaces, respectively.
Optionally, the star sensor is mounted on a three-dimensional adjustment base of the star sensor.
Optionally, the number of the light sources is four, and the light sources are distributed in a square shape.
Compared with the method for measuring the combination of the precise turntable, the theodolite and the single star simulator in the prior art, the calibration device for the star sensor reference cube mirror mounting error can obtain the calibration error of three degrees of freedom through calculation by only one measurement, and reduces random errors in the error calibration process.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 shows a physical diagram of a calibration device for the installation error of a star sensor reference cube provided by an embodiment of the invention;
FIG. 2 shows a phantom image of a calibration device for star sensor reference cube mounting errors provided by an embodiment of the present invention;
FIG. 3 shows a flow chart of the calibration device for the installation error of the star sensor reference cube according to the embodiment of the invention.
Description of the embodiments
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by a person skilled in the art without making any inventive effort, are intended to be within the scope of the present invention.
Example 1
The embodiment of the invention provides a calibration device for a star sensor reference cube mirror installation error, which comprises the following components:
a reference platform having a reference plane;
the first reflecting surface and the second reflecting surface are arranged on the reference plane and are perpendicular to the reference plane, and the first reflecting surface and the second reflecting surface are perpendicular to each other;
at least three light sources are arranged on the first reflecting surface, and the light ray emergent direction of each light source is perpendicular to the first reflecting surface; after the emergent light rays of each light source are used for reaching the star sensor arranged on the reference plane, light points corresponding to each light source are formed on the light sensitive surface of the star sensor;
the direction of the emergent normal line of the reference cube mirror pointing to the first reflecting surface is an X axis, the direction of the emergent normal line of the upper plane of the reference cube mirror is a Z axis, and the Y axis is naturally generated by a right-hand spiral rule;
the X axis of the reference cube is perpendicular to the first reflecting surface and the Y axis is perpendicular to the second reflecting surface.
In the embodiment of the invention, the star sensor is firstly adjusted to enable any one of the adjacent three surfaces of the reference cube mirror on the star sensor to be parallel to any one of the first reflecting surface, the second reflecting surface and the reference plane, and the star sensor can receive the light rays emitted by at least three light sources on the first reflecting surface and image one by one. The mounting error of the reference cube can be calculated by the coordinates of the image point of the light spot on the star sensor.
The embodiment of the invention also comprises the following steps: a collimator;
and the collimator is used for adjusting the reference cube mirror to enable the X axis of the reference cube mirror to be perpendicular to the first reflecting surface and enable the Y axis of the reference cube mirror to be perpendicular to the second reflecting surface.
In the embodiment of the invention, two collimators can be fixedly arranged on the reference plane to calibrate the error conveniently, and the two collimators are respectively aligned with the first reflecting surface and the second reflecting surface, so that the collimators do not need to be aligned every calibration.
In the embodiment of the invention, the method further comprises the following steps: three-dimensional adjustment base of star sensor;
the star sensor three-dimensional adjusting base is used for placing the star sensor and adjusting the position of the star sensor.
In the embodiment of the invention, the number of the light sources is four, and the light sources are distributed in a square shape.
In the embodiment of the invention, four light sources are adopted, and the light sources are distributed in a square shape only for the convenience of calculation, but not limitation. In the case of only any three points, the imaging of four square distributed light sources can also be obtained through mathematical calculation.
With reference to fig. 2, the star sensor receives the light source and obtains the coordinates of four star points a ', E, F and K under the coordinate system of the star sensor on the light sensitive surface of the star sensor, and the coordinates of four corresponding star points are known, so that the length of a ' K, KE and E A ' can be calculated to be a, b and c.
Plane a 'EFK is translated such that a coincides with a' (hereinafter point a is replaced) and the translation process is for ease of understanding and does not occur realistically. The projection points of K, E and F on the AHIJ plane are B, C, D respectively. Let AB, AC be x and BK be y.
A point k is chosen on the straight line L where CE lies such that kK is parallel BC.
Ak=b, ke=a, ea=c, as known. Let AB and AC be x and BK be y.
Then
The following set of equations may be set forth:
the rotation angles alpha of the plane AEFK and the plane ALFB around the axis AF, the rotation angles beta of the plane ALFB and the plane ACDB around the axis AB, and the rotation angles gamma of the plane ACDB and the plane AHIJ around the axis AG can be obtained by obtaining the AB and BK and determining the whole projection relation diagram. These three angles are the mounting errors between the reference cube coordinates and the star sensor coordinates.
Based on the analysis, compared with the error calibration device in the related art, the error calibration device provided by the embodiment of the invention only passes through the two times of collimation in one measurement, and the error of the cube mirror in three degrees of freedom can be obtained by reading the point for the least three times, so that the generated random error is smaller.
Example 2
The embodiment of the invention provides a calibration method for the installation error of a star sensor reference cube,
the emergent light of at least three point light sources enters a star sensor placed on a reference plane, so that light spots corresponding to all light sources are formed on a light sensitive surface of the star sensor, and the installation error of a reference cube mirror on the star sensor is calibrated through light spot coordinates;
the light source is positioned on a first reflection plane, the first reflection plane is perpendicular to the reference plane, and the second reflection plane is perpendicular to the first reflection plane and the reference plane;
the direction of the emergent normal line of the reference cube mirror pointing to the first reflecting surface is an X axis, the direction of the emergent normal line of the upper plane of the reference cube mirror is a Z axis, and the Y axis is naturally generated by a right-hand spiral rule;
the X axis of the reference cube is perpendicular to the first reflecting surface and the Y axis is perpendicular to the second reflecting surface.
Referring to fig. 3, in step 102, when the star sensor is properly positioned, the outgoing light of at least three point light sources enters the star sensor.
And step 103, calibrating the installation error of the reference cube on the star sensor.
Proper placement of the star sensor requires that the facets of the reference cube on the star sensor be parallel to the facets of the known coordinate system.
In the embodiment of the invention, the reference cube can be adjusted through the collimator so that the X axis of the reference cube is perpendicular to the first reflecting surface and the Y axis is perpendicular to the second reflecting surface.
In the embodiment of the invention, the reference cube mirror can be collimated by two collimators which are respectively opposite to the first reflecting surface and the second reflecting surface and are arranged on the reference plane for convenient operation.
In the embodiment of the invention, in order to facilitate adjustment of the star sensor, the star sensor can be arranged on a three-dimensional adjustment base of the star sensor.
In the embodiment of the invention, in order to facilitate calculation, the light sources can be set to be four and distributed in a square shape.
In the embodiment of the invention, the installation error of the reference cube mirror can be calculated by directly reading the coordinates of the light spots on the star sensor through the processor.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
In the description of the present invention, it should be noted that, directions or positional relationships indicated by terms "center", up ", down", left "," right "," vertical "," horizontal "," inside "," outside ", etc. are directions or positional relationships based on those shown in the drawings, or those that are conventionally put in use of the inventive product, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific direction, be configured and operated in a specific direction, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance.
In the description of the present invention, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
Finally, it should be noted that: the above examples are only specific embodiments of the present invention, and are not intended to limit the scope of the present invention, but it should be understood by those skilled in the art that the present invention is not limited thereto, and that the present invention is described in detail with reference to the foregoing examples: any person skilled in the art may modify or easily conceive of the technical solution described in the foregoing embodiments, or perform equivalent substitution of some of the technical features, while remaining within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the corresponding technical solutions. Are intended to be encompassed within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. The calibration device for the installation error of the reference cube mirror of the star sensor defines that an outgoing normal line of the star sensor, which is opposite to an incident optical axis of the star sensor, is an X axis, an outgoing normal line direction of a plane of the reference cube mirror is a Z axis, and a Y axis is obtained according to a right-handed spiral rule, and the calibration device is characterized by comprising the following steps:
a reference platform, the reference platform having a reference plane;
the first reflecting surface and the second reflecting surface are arranged on the reference plane and are perpendicular to the reference plane, and the first reflecting surface and the second reflecting surface are perpendicular to each other;
at least three light sources are arranged on the first reflecting surface, and the light ray emergent direction of each light source is perpendicular to the first reflecting surface; after the emergent light rays of the light sources are used for reaching the star sensor arranged on the reference plane, light points corresponding to the light sources are formed on the light sensitive surface of the star sensor;
and calibrating the installation error of the reference cube on the star sensor through the coordinates of the light spots.
2. The star sensor reference cube error calibration apparatus of claim 1, further comprising: a collimator;
the collimator is used for obtaining the rotation angles of the reference cube mirror and the first reflecting surface and the second reflecting surface.
3. The star sensor reference cube mirror mounting error calibration apparatus of claim 2 wherein said collimator is two in number mounted on a reference plane.
4. The star sensor reference cube error calibration apparatus of claim 1, further comprising: three-dimensional adjustment base of star sensor;
the three-dimensional adjusting base of the star sensor is used for placing the star sensor and adjusting the position of the star sensor.
5. The star sensor reference cube error calibration apparatus of claim 1 further comprising a processor for calculating the reference cube error.
6. The calibration method of the star sensor reference cube mirror installation error is characterized in that emergent light rays of at least three point light sources enter a star sensor placed on a reference plane, light points corresponding to the light sources are formed on a light sensitive surface of the star sensor, and the installation error of the reference cube mirror on the star sensor is calibrated through coordinates of the light points;
the light source is positioned on a first reflection plane, the first reflection plane is perpendicular to the reference plane, and the second reflection plane is perpendicular to the first reflection plane and the reference plane;
the direction of the emergent normal line of the reference cube, which points to the first reflecting surface, is an X axis, the direction of the emergent normal line of the upper plane of the reference cube is a Z axis, and the Y axis is naturally generated by a right-handed spiral rule;
the X axis of the reference cube is perpendicular to the first reflective surface and the Y axis is perpendicular to the second reflective surface.
7. The method of calibrating a star sensor reference cube mounting error according to claim 6, wherein said reference cube is adjusted by a collimator such that said X-axis of the reference cube is perpendicular to said first reflecting surface and said Y-axis is perpendicular to said second reflecting surface.
8. The method of calibrating a mounting error of a star sensor reference cube according to claim 7 wherein the reference cube is collimated by two collimators mounted to the reference plane opposite the first reflecting surface and the second reflecting surface, respectively.
9. The method of calibrating a mounting error of a star sensor reference cube of claim 6 wherein said star sensor is mounted on a three-dimensional adjustment base of the star sensor.
10. The method of calibrating a mounting error of a star sensor reference cube of claim 6 wherein the mounting error of the reference cube is calculated by a processor.
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| CN112945183A (en) * | 2021-01-29 | 2021-06-11 | 中国科学院长春光学精密机械与物理研究所 | Calibration method for coordinate system transformation matrix of space optical remote sensor |
| CN113446985B (en) * | 2021-07-07 | 2023-03-28 | 上海航天测控通信研究所 | Method for calibrating electric axis direction of reflector antenna |
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