CN108614571A - A kind of satellite gravity anomaly test method based on optical sensor - Google Patents
A kind of satellite gravity anomaly test method based on optical sensor Download PDFInfo
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- B64—AIRCRAFT; AVIATION; COSMONAUTICS
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- B64G1/00—Cosmonautic vehicles
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Abstract
The satellite gravity anomaly test method based on optical sensor that this application involves a kind of, which is characterized in that include the following steps：A) according to the operation principle of high-precision guiding sensor on star, high-precision guiding simulator is designed；B) by controlling movement of the galvanometer come simulated optical target on the detector；C) it is calculated by image procossing and deviation to extract posture information；And d) the utilization of the metrical information of guiding simulator.
Description
Technical field
This application involves space technology fields, and in particular to a kind of satellite gravity anomaly test method is based especially on light
Learn sensor satellite gravity anomaly in ground test method, also known as satellite attitude control simulation system.
Background technology
Satellite attitude control system is the core of satellite system, it can make satellite in space to particular reference to be protect
It holds in specific orientation, is the key that satellite is stabilized and executes task.Especially astronomical observation satellite visits satellite
Survey ability has higher requirement, therefore, it is intended that astronomical observation satellite can have higher attitude accuracy and stability.For example, day
Based multi-band space becomes source monitor satellite (Space Variable Objects Monitor, SVOM) and is wanted to attitude stability
It asks and reaches 0.8 rad/100s.Development and launch cost due to satellite is higher, in grinding for satellite attitude control system
During system, need first to be tested accordingly in face of the function and/or performance of the system on ground, with ensure after satellite launch
Rail task smoothly completes.For system, on ground, experiment is also referred to as Simulation Test.
System emulation is to check and accept to satellites such as fault simulations the pole developed in overall process from plan-validation, properties of product
Its important means is broadly divided into mathematical simulation, semi-physical simulation and full physical simulation.Its major significance has：
1. the correctness of verifying satellites control system conceptual design is developed for satellite research and provides reliable scheme guarantee,
Reduce unnecessary loss；
2. examining whether satellite control system model is consistent with the performance of physical unit, satellite control system is tested and proved
The reliability and stability of physical unit；
3. carrying out fault simulation and trouble shooting research, to improve the fault-resistant ability of satellite, ensure satellite transit
Fault freedom improves the stability and reliability of satellite；
4. examining the electrical property of system under test (SUT) and polarity design whether correct on the whole, and real-time inspection is simulated system
Information exchanging process between component and computer.Real time data is provided to user, so that user analyzes and handles.
Liu Fei etc. is artificially verified the feasibility for adjusting satellite body posture and realizing accurate pointing, has devised and is based on
Uniaxial air-float turntable, with reaction wheel and accurate wheel for executing agency, CCD camera is optical system with DSP image processors,
Using pid algorithm as the pointing experimental system on land of tracking control unit algorithm.And propose Tracking Control Scheme.And with a typical case
For operating mode, the precision of pointing experimental system has been tested out.Should the experimental results showed that, when 2.5 meters of video camera distance objective, and mesh
When marking sight with the speed rotation of 1mrad/s, the tracking error of pointing experimental system is less than 0.051mrad, logical to demonstrate
Cross the feasibility that adjustment satellite body posture realizes smart pointing.(Liu Fei, Dong Yun are with flying space pointings of the based on single-axle air bearing table
Interview the design tested and realization [J] computer measurement and controls, 2010.18 (3):626-628)
However, in the Attitude Simulation system of the prior art, mathematics simulation system is unable to real simulation single machine working method, entirely
Physical simulation construction cost is high, and three-axis air-bearing table analogue system is smaller to the adjustment angle of posture, and uniaxial air supporting emulation system
System is unable to the realistic objective movement variation of simulated optical sensor.
Therefore, there is an urgent need in the art to develop a kind of gesture stability analogue system, can simulated optical sensor reality
Target movement variation is tested to can operate with the attitude of satellite emulation based on optical sensor on ground.
Invention content
The application's is designed to provide a kind of satellite gravity anomaly test method in optical sensor.
To achieve the goals above, the application provides following technical proposals.
The first aspect of the present invention provides the realization step of the above method, including a) sensitive according to high-precision guiding on star
The operation principle of device designs high-precision guiding simulator；B) by controlling shifting of the galvanometer come simulated optical target on the detector
It is dynamic；C) it is calculated by image procossing and deviation to extract posture information；And d) the utilization of the metrical information of guiding simulator.
Compared with prior art, the deed target movement for having the advantage that simulated optical sensor of the application becomes
Change.
Description of the drawings
Fig. 1 is the schematic diagram of the high-precision guiding simulator of the application.
Fig. 2 is the image-forming principle schematic diagram of the high-precision guiding simulator of the application.
Fig. 3 is the schematic diagram of the closed loop verification test of the high-precision guiding simulator of the application.
Specific implementation mode
Below in conjunction with attached drawing and embodiments herein, carries out clear to the technical solution of the application and completely retouch
It states.
The satellite gravity anomaly test method based on optical sensor that this application involves a kind of comprising following steps：
A) according to the operation principle of high-precision guiding sensor (FGS) on star, high-precision guiding simulator (FGS moulds are designed
Quasi- device)；
B) by controlling movement of the galvanometer come simulated optical target on the detector；
C) it is calculated by image procossing and deviation to extract posture information；
D) utilization of the metrical information of guiding simulator.
Specifically, in the design of step a) high-precision guiding simulators, the high-precision guiding simulator is by 1) mould
Quasi- asterism module of optical system, 2) asterism beam-splitting optical system component and 3) high-precision guiding sensor (FGS) forms.Such as Fig. 1
Shown, the simulation asterism module of optical system includes an at least light source, at least a star tester and an at least parallel light tube.Pass through
Light source, star tester and parallel light tube can simulate the asterism that light is launched from infinity.The asterism beam-splitting optical system
Component includes an at least Amici prism, at least a galvanometer and an at least speculum.Asterism from parallel light tube is by being divided rib
Mirror is divided into two-way, and all the way by speculum, another way passes through galvanometer.The zero and speculum of galvanometer exist relative to Amici prism
Certain deviation can make same Ray Of Light become the different light in two-way direction after beam-splitting optical system is gone out, final point
One group of original asterism is become mutual corresponding two groups of asterisms by light optical system.Wherein, by the light all the way of vibration mirror reflected
Generated asterism is motor point, and motion feature is identical with the motion feature of galvanometer, is produced by the light all the way of speculum
Raw asterism is reference point, and motion feature reflects the vibration interference of experimental enviroment.The high-precision guiding sensor includes
An at least optical lens, at least a detector, at least an image processing circuit and at least two-way output interface.Optical lens and spy
It surveys device and converts optical signalling to detection image, asterism position is extracted through output interface carry-out bit confidence by image processing circuit
Breath and display picture point image.
In step b) by controlling galvanometer come in the movement on the detector of simulated optical target, input information and output
Information difference is as follows：
Input information：N-th and n+1 process cycle dynamics export attitude quaternion of this system relative to inertial systemThe location information of motor point on the detector
Constant parameter：Optical lens focal length f=0.5m；
Output information：Galvanometer control rotation increments (the Δ α of n-th of process cyclen,Δβn)；
Process flow：
Correspondence vector of the motor point of n-th of process cycle in high-precision guiding sensor coordinate system be：
Subscript T indicates transposition.
Matrix transposition defines：If A is m * n matrix, the element of the i-th row jth row is a (i, j), i.e. A=a (i, j) defines A
Transposition be n × m matrix B, meet B=a (j, i), be denoted as AT=B.
It isCorresponding unitization vector, computational methods are as follows：
(For vectorModulus value)
Correspondence vector of the motor point of (n+1)th process cycle in high-precision guiding sensor coordinate system be：
Wherein, R (q) indicates quaternary number q=[q0 q1 q2 q3]TCorresponding transition matrix,
It is obtained by the following formula theoretical coordinate position of the motor point detected in (n+1)th period in detector coordinates system
It sets
N-th of process cycle moves point coordinatesPoint coordinates is moved to (n+1)th process cycleFortune
It is dynamic to pass through translation (Δ xn,Δyn) and rotation γnIt realizes, is calculated by lower two formula：
Wherein, translational movement (Δ xn,Δyn) can be swung and be realized by galvanometer.
N-th of process cycle, Δ αnIt is galvanometer level angle, Δ βnIt is galvanometer vertical pivoting angle, is calculated by following formula
In step c), attitude misalignment calculating is carried out to the asterism location information of high-precision guiding simulator output.
Known high-precision guiding simulator is in the coordinate of two motor points that n-th of process cycle exports on the detectorWithOne is with reference to point coordinatesCalculate attitude misalignment dqn。
Pass through motor pointWith reference pointDifference is made in position can eliminate ambient noise to detector picture point
The influence of position, is shown below：
Note：Unit is millimeter.
Wherein,For the asterism coordinate after removal ambient noise.
Using detector center as origin, horizontal axis is x-axis, and the longitudinal axis is y-axis, and optical axis direction is z-axis, establishes detector coordinates system
oxFyFzF, itself and satellite body coordinate system ox are assumed in this analogue systembybzbIt overlaps, as shown in Figure 2.
Wherein,γnIt needs to be attached to detector output for attitude of satellite variation
Rotation angle.
It is unitization to obtain starlight vectorK=1,2.
By the starlight vector dV of n-th of process cycle1 n,With the corresponding vector dV of the 1st process cycle1 1,It is logical
It crosses double vectors and determines appearance and obtain attitude misalignment quaternary number dq of n-th of process cycle attitude of satellite relative to the 1st process cyclen。
It is as follows that double vectors determine appearance algorithm：
Wherein, × indicate vector multiplication cross, such as
U × V=[Ux Uy Uz]T×[Vx Vy Vz]T=[UyVz-UzVy UzVx-UxVz UxVy-UyVx]T
Attitude matrix A calculates as follows：
Corresponding attitude quaternionIt calculates as follows：
In step d), by guiding simulator metrical information in gesture stability closed loop.In one embodiment of the application
In, same light source obtains two light beams, respectively light path A and light path B by 45 ° of Amici prisms.Light path A is as constant reference
Light beam, light path B pass through vibration mirror reflected.Detector C CD (Charge-coupled of the two-beam in high-precision guiding simulator
Device charge coupled cells) on formed two specks, picpointed coordinate is respectively A (x1, y1), B (x2, y2), galvanometer low-angle
It swings, the movement of analog satellite platform.Attitude of satellite quaternary number deviation is found out by barycenter extraction algorithm and attitude algorithm, as whole
The input of a semi physical pilot system introduces attitude control closed loop.Attitude control closed loop uses mathematical model in addition to optics guiding sensor,
Including determining appearance algorithm, control algolithm, execution unit, kinetic model and sensor measurement model.
It is known that star sensor measurement output quaternary number isGyro to measure Output speed isWhereinWithRespectively star sensor and gyro to measure error,WithRespectively attitude dynamics
Quaternary number and angular speed are exported with kinematics.
For quaternary number multiplication, example is as follows：
Simplify dynamics and kinematics model is as follows：
Mc+Md=I ω+ω × I ω
Wherein, MdIndicate disturbance torque,
Quaternary number is exported by the 1st process cycle of star sensorIt is defeated with n-th of process cycle high-precision guiding simulator
The attitude misalignment quaternary number dq gone outn, it is calculate by the following formula absolute pose quaternary number under guiding simulator inertial system
Simplify control device output model is as follows：
Wherein, qtAnd ωtRespectively targeted attitude quaternary number and angular speed, KpAnd KdRespectively control parameter, single task
It is known numeric value again.
Executing agency's reaction wheel model is as follows：
Mc=KwheelTc+Me
Wherein, KwheelFor reaction wheel torque parameter, MeFor output torque error, McTorque is exported to dynamics in order to control
Model.
High-precision guiding simulator output attitude misalignment quaternary number is introduced into gesture stability closed loop as a result, passes through sight
Examine attitude dynamics and kinematics outputWithTo assess closed-loop control simulated effect.
The above-mentioned description to embodiment is that this Shen can be understood and applied for the ease of those skilled in the art
Please.Person skilled in the art obviously easily can make various modifications to these embodiments, and described herein
General Principle is applied in other embodiments without paying performing creative labour.Therefore, the application is not limited to implementation here
Example, those skilled in the art make according to herein disclosed content in the case where not departing from the application scope and spirit
It improves and changes within all scope of the present application.
Claims (7)
1. a kind of satellite gravity anomaly test method based on optical sensor, which is characterized in that include the following steps：
A) according to the operation principle of high-precision guiding sensor on star, high-precision guiding simulator is designed；
B) by controlling movement of the galvanometer come simulated optical target on the detector；
C) it is calculated by image procossing and deviation to extract posture information；With
D) utilization of the metrical information of guiding simulator.
2. the method as described in claim 1, which is characterized in that 1) the high-precision guiding simulator is by simulating asterism optical system
Unite component, 2) asterism beam-splitting optical system component and 3) high-precision guiding sensor form.
3. method as claimed in claim 2, which is characterized in that the simulation asterism module of optical system includes an at least light
Source, at least a star tester and at least a parallel light tube.
4. method as claimed in claim 2, which is characterized in that the asterism beam-splitting optical system component includes at least one light splitting
Prism, at least a galvanometer and at least a speculum.
5. method as claimed in claim 2, which is characterized in that the high-precision guiding sensor includes an at least optical frames
Head, an at least detector, at least an image processing circuit and at least two-way output interface.
6. the method as described in claim 1, which is characterized in that the step b) can to the movement of optical target on the detector
Point coordinates is moved by n-th of process cyclePoint coordinates is moved to (n+1)th process cycleMovement it is flat
Move (Δ xn,Δyn) and rotation γnIt obtains；
Wherein,
Wherein, n and n+1 respectively represents n-th and (n+1)th process cycle；
Wherein,
Wherein,
Wherein, f is optical lens focal length；The motor point of (n+1)th process cycle is in high-precision guiding sensor coordinate system
Corresponding to vector is：
Wherein, R (q) indicates quaternary number q=[q0 q1 q2 q3]TCorresponding transition matrix,
Subscript T indicates transposition；WithIt is n-th and the n+1 process cycle dynamics appearance that exports this system relative to inertial system
State quaternary number is input information；Wherein,It isCorresponding unitization vector,WhereinFor vectorModulus value；Wherein,Wherein,It is being detected for motor point
Location information on device is input information.
7. the method as described in claim 1, which is characterized in that the star of high-precision guiding simulator output in the step c)
The method that dot position information carries out attitude misalignment calculating includes the following steps：
I) high-precision guiding simulator known to is in the coordinate of two motor points that n-th of process cycle exports on the detectorWithOne is with reference to point coordinatesCalculate attitude misalignment dqn；
Ii) pass through motor pointWith reference pointMake difference and eliminate ambient noise to detector image point position in position
It influences, is shown below：
Wherein,For the asterism coordinate after removal ambient noise；
Iii) using detector center as origin, horizontal axis is x-axis, and the longitudinal axis is y-axis, and optical axis direction is z-axis, establishes detector coordinates system
oxFyFzF, it is assumed that analogue system and satellite body coordinate system oxbybzbIt overlaps,
Then
Wherein,
Iv) unitization to obtain starlight vector
V) by the starlight vector dV of n-th of process cycle1 n,With the corresponding vector dV of the 1st process cycle1 1,Pass through
Double vectors determine appearance and obtain attitude misalignment quaternary number dq of n-th of process cycle attitude of satellite relative to the 1st process cyclen；
It is as follows that double vectors determine appearance algorithm：
Wherein, × indicate vector multiplication cross, such as
U × V=[Ux Uy Uz]T×[Vx Vy Vz]T=[UyVz-UzVy UzVx-UxVz UxVy-UyVx]T
Attitude matrix A calculates as follows：
Corresponding attitude quaternionIt calculates as follows：
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| CN114114961A (en) * | 2022-01-25 | 2022-03-01 | 伸瑞科技（北京）有限公司 | Space non-cooperative target optical tracking and aiming closed-loop verification system |
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