CN108344427B - Calibration method and calibration mechanism for pitching reflector of star sensor - Google Patents
Calibration method and calibration mechanism for pitching reflector of star sensor Download PDFInfo
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- CN108344427B CN108344427B CN201810104676.3A CN201810104676A CN108344427B CN 108344427 B CN108344427 B CN 108344427B CN 201810104676 A CN201810104676 A CN 201810104676A CN 108344427 B CN108344427 B CN 108344427B
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Abstract
The invention relates to a calibration method and a calibration mechanism of a pitching reflector of a star sensor. The calibration method comprises the following steps: 1) an extraction reflector is arranged at one end of the mechanical rotating shaft, and an included angle between the mechanical rotating shaft and the extraction reflector is measured through a first auto-collimation theodolite. And adjusting the pose of the extraction reflector on the mechanical rotating shaft to ensure that the mechanical rotating shaft is vertical to the extraction reflector. 2) Adjusting the normal angle of the pitching reflector; performing autocollimation on the pitching reflector by a second autocollimation theodolite; aligning the first autocollimation theodolite and the second autocollimation theodolite with each other; mutually complementing the azimuth readings of the second autocollimation theodolite and the first autocollimation theodolite; and operating the second autocollimation theodolite to rotate in the pitching direction, monitoring the autocollimation value of the second autocollimation theodolite, and adjusting the position and the posture of the pitching reflector to ensure that the autocollimation value of the second autocollimation theodolite is fixed or kept within the allowable range of the installation error. The invention has high correction precision, less operators and high correction speed.
Description
Technical Field
The invention belongs to the field of airborne astronomical navigation, and particularly relates to a calibration method for a pitching reflecting mirror of a star sensor.
Background
At present, with the development of space technology and navigation technology, the research on airborne star sensors in various countries in the world is deepened continuously, and various star sensors appear in the development process of miniaturization and high precision. The star sensor has important application value in the navigation fields of aviation, aerospace, navigation and the like, has the greatest characteristic of autonomous navigation capability as the inertial gyro navigation technology, is a high-precision space attitude measuring device, and has the measurement precision reaching the order of angular seconds.
In the star sensor with the pitching reflector, the light of the fixed star is reflected by the pitching reflector to enter the imaging system, and the pitching reflector rotates around the rotating shaft of the star sensor, so that the field angle of the star sensor can be effectively increased, the star sensor is used for searching and tracking a target, and the environmental adaptability of the system is greatly improved. In the star sensor, the pitching reflector is arranged on a mechanical rotating shaft and continuously rotates along with the space height, the position and the like of the star sensor, and the rotation error of the pitching reflector influences the position of a star image on a sensitive element (such as a CCD), namely the position coordinate of a target, and directly influences the measurement precision.
Currently, in such star sensors, the orthogonality error between the normal of the pitch mirror and the mechanical axis of rotation characterizes the rotation error of the pitch mirror. The existing method for checking and correcting the orthogonality error between the normal of the pitching reflector and the mechanical rotating shaft is realized by a zenith instrument of large equipment, and the checking and correcting method has the disadvantages of large used equipment, large occupied space, low checking and correcting precision, more requirements of operators and low checking and correcting speed.
Disclosure of Invention
The invention aims to provide a calibration method and a calibration mechanism of a pitching reflecting mirror of a star sensor, which have the advantages of high calibration precision, high speed, convenience and flexibility.
In order to solve the technical problems, the invention adopts a technical scheme that: a calibration method for a pitching reflector of a star sensor comprises the following steps:
1) the axis of rotation of the mechanical shaft being led out
An extraction reflector is arranged at one end of the mechanical rotating shaft, and an included angle between the mechanical rotating shaft and the extraction reflector is measured through a first auto-collimation theodolite. And adjusting the pose of the extraction reflector on the mechanical rotating shaft to ensure that the mechanical rotating shaft is vertical to the extraction reflector. The normal line of the extraction mirror is parallel to the rotation axis of the mechanical rotation shaft, and the normal line direction of the extraction mirror represents the rotation axis direction of the mechanical rotation shaft.
2) Normal angle adjustment of pitch mirror
Zeroing the azimuth value of the first autocollimation theodolite when the first autocollimation theodolite keeps self-alignment;
the pitching reflector is autocollimated through the second autocollimation theodolite, and the direction of the second autocollimation theodolite is adjusted to obtain an autocollimation image of the second autocollimation theodolite;
simultaneously rotating the first autocollimation theodolite and the second autocollimation theodolite to align the first autocollimation theodolite and the second autocollimation theodolite with each other, recording the azimuth reading of the first autocollimation theodolite, and setting the azimuth reading of the second autocollimation theodolite to zero;
rotating the second autocollimation theodolite again to enable the azimuth reading of the second autocollimation theodolite to be complementary with the azimuth reading of the first autocollimation theodolite;
and operating the second autocollimation theodolite to rotate in the pitching direction, monitoring the autocollimation value of the second autocollimation theodolite to the pitching reflector in the azimuth direction, and adjusting the position and posture of the pitching reflector so that the autocollimation value of the second autocollimation theodolite is fixed or kept within the allowable range of installation error in the rotating process of the second autocollimation theodolite, and considering that the normal line of the pitching reflector is orthogonal to the rotation axis of the mechanical rotating shaft.
Specifically, the extraction reflector in the step 1) is installed at one end of the mechanical rotating shaft through an extraction reflector adjusting device, and the pose of the extraction reflector on the mechanical rotating shaft is adjusted through adjusting the extraction reflector adjusting device.
Furthermore, draw speculum adjusting device and include first mount pad and three first boss, first mount pad is used for fixed mounting to draw the speculum, three first boss respectively fixed mounting in the bottom of first mount pad, three first boss still respectively with mechanical pivot end connection, adjust the length that three first boss stretches out mechanical pivot end respectively in order to realize drawing the speculum at the epaxial position appearance of machinery and adjust.
The step 1) is specifically as follows:
installing a mechanical rotating shaft on a rotating shaft supporting seat, wherein the mechanical rotating shaft can rotate around a rotating axis of the mechanical rotating shaft, and installing the leading-out reflector and the leading-out reflector adjusting device at one end part of the mechanical rotating shaft;
placing a first autocollimation theodolite in the normal direction of the leading-out reflector, and adjusting the direction of the first autocollimation theodolite to obtain an autocollimation image;
and rotating the mechanical rotating shaft, monitoring the movement of the auto-collimation image of the first auto-collimation theodolite, and adjusting the leading-out reflector adjusting device to ensure that the auto-collimation image of the first auto-collimation theodolite is fixed or kept within an allowable range of installation error in the rotating process of the mechanical rotating shaft around the rotating axis of the mechanical rotating shaft, wherein the normal line of the leading-out reflector is considered to represent the rotating axis of the mechanical rotating shaft.
Making first auto-collimation theodolite and second auto-collimation theodolite aim at each other specifically does: when one part of the first autocollimation theodolite and the second autocollimation theodolite is used for observing the other part, division lines of the first autocollimation theodolite and the second autocollimation theodolite are overlapped.
Specifically, the pitching reflecting mirror in the step 2) is installed on the circumferential surface of the mechanical rotating shaft through a pitching reflecting mirror adjusting device, and the posture of the pitching reflecting mirror on the mechanical rotating shaft is adjusted through adjusting the pitching reflecting mirror adjusting device.
Furthermore, every single move speculum adjusting device includes second mount pad and three second boss, the second mount pad is used for fixed mounting every single move speculum, three second boss respectively fixed mounting in the bottom of second mount pad, three second boss still be connected with mechanical pivot periphery respectively, adjust the length that three second boss stretches out mechanical pivot periphery respectively in order to realize every single move speculum in the epaxial position appearance of machinery and adjust.
The utility model provides a calibration mechanism of every single move speculum of star sensor, is including installing the speculum of drawing forth at mechanical pivot one end, drawing forth speculum adjusting device, along the every single move speculum adjusting device, first auto-collimation theodolite and the second auto-collimation theodolite that machinery pivot circumference set up, draw forth the speculum and install the tip at mechanical pivot through drawing forth speculum adjusting device, the every single move speculum passes through every single move speculum adjusting device and installs on the periphery of machinery pivot, first auto-collimation theodolite is placed in the normal direction of drawing forth the speculum, the normal direction at the every single move speculum is placed to the second auto-collimation theodolite.
The leading-out reflector adjusting device comprises a first mounting seat and three first bosses, the first mounting seat is used for fixedly mounting the leading-out reflector, the three first bosses are respectively and fixedly mounted at the bottom of the first mounting seat, the three first bosses are respectively connected with the end parts of the mechanical rotating shaft, and the lengths of the three first bosses extending out of the end parts of the mechanical rotating shaft are respectively adjusted so as to realize the position and pose adjustment of the leading-out reflector on the mechanical rotating shaft.
Specifically, every single move speculum adjusting device includes second mount pad and three second boss, the second mount pad is used for fixed mounting every single move speculum, three second boss respectively fixed mounting in the bottom of second mount pad, three second boss still be connected with mechanical pivot periphery respectively, adjust the length that three second boss stretches out mechanical pivot periphery respectively in order to realize the position appearance of every single move speculum in mechanical pivot and adjust.
The scope of the present invention is not limited to the specific combinations of the above-described features, and other embodiments in which the above-described features or their equivalents are arbitrarily combined are also intended to be encompassed. For example, the above features and the technical features (but not limited to) having similar functions disclosed in the present application are mutually replaced to form the technical solution.
Due to the application of the technical scheme, compared with the prior art, the invention has the following advantages:
1) the correction precision can be greatly improved;
2) the checking operation needs less operators and small field;
3) the correction speed is high, and the correction result is digitized;
4) the repeated operation precision is high.
Drawings
FIG. 1 is a schematic structural diagram of a calibration mechanism of a pitching reflecting mirror of the star sensor;
wherein: 1. a mirror; 2. a first auto-collimation theodolite; 3. a second autocollimation theodolite; 4. a first mounting seat; 5. a first boss; 6. a second mounting seat; 7. a second boss; 100. a mechanical shaft; 101. a rotation axis; 200. a pitch mirror.
Detailed Description
As shown in fig. 1, the pitch mirror 200 is mounted on the circumferential surface of the mechanical rotating shaft 100 by a pitch mirror adjusting device, and the attitude adjustment of the pitch mirror 200 on the mechanical rotating shaft 100 is realized by adjusting the pitch mirror adjusting device. The pitch mirror adjustment means comprises a second mounting 6 and three second bosses 7. The second mount 6 is used to fixedly mount the pitch mirror 200. The three second bosses 7 are respectively and fixedly installed at the bottom of the second installation base 6, and the three second bosses 7 are also respectively connected with the circumferential surface of the mechanical rotating shaft 100. In this embodiment, the second boss 7 is screwed to the end of the mechanical rotating shaft 100. Screwing the first boss 5 can adjust the length of the first boss 5 exposed from the end of the mechanical rotation shaft 100. The lengths of the three second bosses 7 extending out of the circumferential surface of the mechanical rotating shaft 100 are respectively adjusted to realize the posture adjustment of the pitch mirror 200 on the mechanical rotating shaft 100.
The invention relates to a calibration method of a pitching reflector of a star sensor, which comprises the following steps:
1) the rotation axis 101 of the mechanical rotating shaft 100 is led out
A mechanical spindle 100 is mounted on a spindle bearing support, said mechanical spindle 100 being rotatable about its axis of rotation 101.
The extraction mirror 1 is attached to one end of the mechanical rotation shaft 100. In this embodiment, the extraction mirror 1 is installed at one end of the mechanical rotating shaft 100 through an extraction mirror adjusting device. The pose adjustment of the extraction reflector 1 on the mechanical rotating shaft 100 can be realized by adjusting the extraction reflector adjusting device. Specifically, the extractor mirror adjusting device includes a first mount 4 and three first bosses 5. The three first bosses 5 are arranged non-collinearly. The first mounting seat 4 is used for fixedly mounting the extraction reflector 1. The three first bosses 5 are respectively and fixedly installed at the bottom of the first installation seat 4, and the three first bosses 5 are also respectively connected with the end of the mechanical rotating shaft 100. In this embodiment, the first boss 5 is in threaded connection with the end of the mechanical rotating shaft 100, and the length of the first boss 5 exposed out of the end of the mechanical rotating shaft 100 can be adjusted by screwing the first boss 5. Due to the three-point surface forming principle, the pose adjustment of the first mounting seat 4 is realized by respectively adjusting the lengths of the three first bosses 5 extending out of the end part of the mechanical rotating shaft 100, so that the pose adjustment of the extraction reflector 1 on the mechanical rotating shaft 100 is realized.
The first autocollimation theodolite 2 is arranged in the normal direction of the leading-out reflector 1, the included angle between the mechanical rotating shaft 100 and the leading-out reflector 1 is measured through the first autocollimation theodolite 2, and the direction of the first autocollimation theodolite 2 is adjusted to obtain an autocollimation image.
Rotating the mechanical rotating shaft 100, monitoring the movement of the auto-collimation image of the first auto-collimation theodolite 2, adjusting three first bosses 5 of the leading-out reflector adjusting device, and changing the pose of the leading-out reflector 1 on the mechanical rotating shaft 100, so that the auto-collimation image of the first auto-collimation theodolite 2 is fixed or kept within the allowable range of installation error in the rotating process of the mechanical rotating shaft 100 around the rotating axis 101 of the mechanical rotating shaft. Thus, the mechanical rotation shaft 100 is considered to be perpendicular to the lead-out mirror 1, the normal line of the lead-out mirror 1 is considered to be parallel to the rotation axis 101 of the mechanical rotation shaft 100, and the normal line of the lead-out mirror 1 is considered to represent the rotation axis 101 of the mechanical rotation shaft 100.
) Normal angle adjustment of pitch mirror 200
The azimuth value of the first autocollimator theodolite 2 is zeroed out while it remains self-aligned.
The pitching mirror 200 is autocollimated by the second autocollimation theodolite 3, and the direction of the second autocollimation theodolite 3 is adjusted to obtain an autocollimation image of the second autocollimation theodolite 3.
The first autocollimation theodolite 2 and the second autocollimation theodolite 3 are simultaneously rotated so that the first autocollimation theodolite 2 and the second autocollimation theodolite 3 are aligned with each other. The specific process of aligning the first autocollimation theodolite 2 and the second autocollimation theodolite 3 with each other is as follows: when one of the first autocollimation theodolite 2 and the second autocollimation theodolite 3 is used to observe the other part, the division lines of the two parts are overlapped.
The azimuth reading α 1 of the first autocollimator theodolite 2 is recorded and the azimuth reading of the second autocollimator theodolite 3 is zeroed.
The second autocollimation theodolite 3 is rotated again to have its azimuth reading complementary to that of the first autocollimation theodolite 2, i.e. 90- α 1.
Operating the second autocollimation theodolite 3 to rotate in the pitching direction, monitoring the autocollimation value of the second autocollimation theodolite 3 to the pitching reflection mirror 200 in the azimuth direction, and adjusting the position and the posture of the pitching reflection mirror 200 to ensure that the autocollimation value of the second autocollimation theodolite 3 is fixed or kept within the allowable range of installation error in the rotating process of the second autocollimation theodolite 3, wherein the normal line of the pitching reflection mirror 200 is considered to be orthogonal to the rotation axis 101 of the mechanical rotating shaft 100.
The calibration mechanism corresponding to the calibration method is described below with an embodiment.
A calibration mechanism of a pitching reflector of a star sensor comprises an outgoing reflector 1 arranged at one end of a mechanical rotating shaft 100, an outgoing reflector adjusting device, a pitching reflector adjusting device arranged along the circumferential direction of the mechanical rotating shaft 100, a first autocollimation theodolite 2 and a second autocollimation theodolite 3. The extraction reflector 1 is mounted at the end of the mechanical rotation shaft 100 through an extraction reflector adjustment device. The pitch mirror 200 is mounted on the circumferential surface of the mechanical rotation shaft 100 by a pitch mirror adjusting means. The first autocollimation theodolite 2 is placed in the normal direction of the leading-out reflector 1, and the second autocollimation theodolite 3 is placed in the normal direction of the pitching reflector 200.
In this embodiment, the guiding mirror adjusting device includes first mount pad 4 and three first bosses 5, first mount pad 4 is used for fixed mounting to guide mirror 1, three first bosses 5 respectively fixed mounting in the bottom of first mount pad 4, three first bosses 5 still respectively with mechanical pivot 100 end connection, adjust the length that three first bosses 5 stretch out mechanical pivot 100 end respectively in order to realize guiding mirror 1 in the position appearance of mechanical pivot 100 and adjust.
In this embodiment, the pitching reflecting mirror adjusting device includes a second mounting base 6 and three second bosses 7, the second mounting base 6 is used for fixedly mounting the pitching reflecting mirror 200, the three second bosses 7 are respectively and fixedly mounted at the bottom of the second mounting base 6, the three second bosses 7 are further respectively connected with the circumferential surface of the mechanical rotating shaft 100, and the lengths of the three second bosses 7 extending out of the circumferential surface of the mechanical rotating shaft 100 are respectively adjusted to realize the posture adjustment of the pitching reflecting mirror 200 on the mechanical rotating shaft 100.
The invention is used for calibrating and adjusting the pitching reflecting mirror. Has the following advantages:
1) the correction precision can be greatly improved and can reach within 5 arc seconds, and the precision of the traditional zenith instrument correction method is more than 30 arc seconds.
2) The operation personnel required by the calibration operation is less, the field is small
The calibration mechanism has small volume and convenient carrying, and can complete the whole process by only 2 persons generally. When people are nervous, the method can be completed by 1 person. Compared with the traditional zenith instrument which needs a larger special field, the zenith instrument does not need the special field, only needs a smaller optical platform, and has low environmental requirement.
3) High correction speed and digitizing the correction result
The whole operation flow has few steps, the time required by the operation is short, the calibration result is digitalized, and the deviation value from the theoretical value can be directly read from the first autocollimation theodolite 2 and the second autocollimation theodolite 3, so that the operation is convenient.
4) High precision of repeated operation
The invention can monitor at any time in the online process, and each part in the checking and correcting mechanism is relatively independent and has high repetition precision.
As described above, the present invention has been explained fully in accordance with the gist of the present invention, but the present invention is not limited to the above-described examples and implementation methods. A practitioner of the related art can make various changes and implementations within a range allowed by the technical idea of the present invention.
Claims (7)
1. A calibration method for a pitching reflector of a star sensor is characterized by comprising the following steps:
1) the rotation axis (101) of the mechanical rotating shaft (100) is led out
An extraction reflector (1) is arranged at one end of a mechanical rotating shaft (100), an included angle between the mechanical rotating shaft (100) and the extraction reflector (1) is measured through a first auto-collimation theodolite (2), the pose of the extraction reflector (1) on the mechanical rotating shaft (100) is adjusted to enable the mechanical rotating shaft (100) to be perpendicular to the extraction reflector (1), the normal of the extraction reflector (1) is parallel to the rotating axis (101) of the mechanical rotating shaft (100), and the normal direction of the extraction reflector (1) represents the rotating axis (101) direction of the mechanical rotating shaft (100);
2) normal angle adjustment of a pitch mirror (200)
Zeroing the azimuth value of the first autocollimation theodolite (2) while keeping self-alignment,
the pitching reflector (200) is autocollimated by the second autocollimation theodolite (3), the direction of the second autocollimation theodolite (3) is adjusted to obtain an autocollimation image of the second autocollimation theodolite (3),
simultaneously rotating the first auto-collimation theodolite (2) and the second auto-collimation theodolite (3) to align the first auto-collimation theodolite (2) and the second auto-collimation theodolite (3) with each other, recording the azimuth reading of the first auto-collimation theodolite (2), and setting the azimuth reading of the second auto-collimation theodolite (3) to zero,
the second autocollimation theodolite (3) is rotated again to make the azimuth reading of the second autocollimation theodolite complementary to the azimuth reading of the first autocollimation theodolite (2),
operating the second autocollimation theodolite (3) to rotate in the pitching direction, monitoring the autocollimation value of the second autocollimation theodolite (3) to the pitching reflector (200) in the azimuth direction, adjusting the position and the posture of the pitching reflector (200) to ensure that the autocollimation value of the second autocollimation theodolite (3) is fixed or kept within the allowable range of installation error during the rotation of the second autocollimation theodolite (3), and considering that the normal line of the pitching reflector (200) is orthogonal to the rotation axis (101) of the mechanical rotating shaft (100).
2. The calibration method for the pitching mirror of the star sensor according to claim 1, wherein the extraction mirror (1) in the step 1) is installed at one end of the mechanical rotating shaft (100) through an extraction mirror adjusting device, and the pose adjustment of the extraction mirror (1) on the mechanical rotating shaft (100) is realized through adjusting the extraction mirror adjusting device.
3. The calibration method for the pitching reflector of the star sensor according to claim 2, wherein the extraction reflector adjusting device comprises a first mounting seat (4) and three first bosses (5), the first mounting seat (4) is used for fixedly mounting the extraction reflector (1), the three first bosses (5) are respectively fixedly mounted at the bottom of the first mounting seat (4), the three first bosses (5) are respectively connected with the end of the mechanical rotating shaft (100), and the lengths of the three first bosses (5) extending out of the end of the mechanical rotating shaft (100) are respectively adjusted to realize the adjustment of the pose of the extraction reflector (1) on the mechanical rotating shaft (100).
4. The calibration method for the pitching mirror of the star sensor according to claim 2, wherein the step 1) is specifically as follows:
installing a mechanical rotating shaft (100) on a rotating shaft supporting seat, wherein the mechanical rotating shaft (100) can rotate around a rotating axis (101) thereof, and installing an outgoing reflector (1) and an outgoing reflector adjusting device at one end part of the mechanical rotating shaft (100);
placing a first autocollimation theodolite (2) in the normal direction of the extraction reflector (1), and adjusting the direction of the first autocollimation theodolite (2) to obtain an autocollimation image;
rotating the mechanical rotating shaft (100), monitoring the movement of the auto-collimation image of the first auto-collimation theodolite (2), adjusting the leading-out mirror adjusting device to ensure that the auto-collimation image of the first auto-collimation theodolite (2) is fixed or kept within an allowable range of installation error during the rotation process of the mechanical rotating shaft (100) around the rotating shaft (101), and considering that the normal line of the leading-out mirror (1) represents the rotating shaft (101) of the mechanical rotating shaft (100).
5. The calibration method for the pitching mirror of the star sensor according to claim 1, wherein the aligning the first autocollimation theodolite (2) and the second autocollimation theodolite (3) with each other is specifically: when one part of the first autocollimation theodolite (2) and the second autocollimation theodolite (3) is used for observing the other part, division lines of the two parts are overlapped.
6. The calibration method for the pitching mirror of the star sensor according to claim 1, wherein the pitching mirror (200) of step 2) is installed on the circumferential surface of the mechanical rotating shaft (100) through a pitching mirror adjusting device, and the attitude adjustment of the pitching mirror (200) on the mechanical rotating shaft (100) is realized by adjusting the pitching mirror adjusting device.
7. The calibration method for the pitching mirror (200) of the star sensor according to claim 6, wherein the pitching mirror adjusting device comprises a second mounting seat (6) and three second bosses (7), the second mounting seat (6) is used for fixedly mounting the pitching mirror (200), the three second bosses (7) are respectively and fixedly mounted at the bottom of the second mounting seat (6), the three second bosses (7) are further respectively connected with the circumferential surface of the mechanical rotating shaft (100), and the lengths of the three second bosses (7) extending out of the circumferential surface of the mechanical rotating shaft (100) are respectively adjusted to realize the pose adjustment of the pitching mirror (200) on the mechanical rotating shaft (100).
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