CN108871317A - A kind of Rotating Platform for High Precision Star Sensor information processing system - Google Patents
A kind of Rotating Platform for High Precision Star Sensor information processing system Download PDFInfo
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- CN108871317A CN108871317A CN201811051120.9A CN201811051120A CN108871317A CN 108871317 A CN108871317 A CN 108871317A CN 201811051120 A CN201811051120 A CN 201811051120A CN 108871317 A CN108871317 A CN 108871317A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/02—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by astronomical means
- G01C21/025—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by astronomical means with the use of startrackers
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
Abstract
The invention discloses a kind of Rotating Platform for High Precision Star Sensor information processing system, the FPGA module of the system includes：Photodetector timing sequencer module transmits detector driving signal；Image processing module receives and processes the star chart data of detector output；Protocol layer data interactive controlling module carries out protocol interaction with external equipment；CPU collaborative work interface module, connect with outer CPU processor；Manage the data management module of Various types of data packet；Precision temperature control module.The present invention has shared the calculated load of CPU, significantly improves parallel information processing capacity；Timing control, image background estimation and the asterism mass center for completing photodetector in real time extract, and have taken into account demand of the image procossing in real time with anti-stray light highly reliable image processing strategie；Acquisition detector temperature in real time realizes semiconductor cooler precision temperature control technology, promotes the integrated level of circuit system, advantageously reduces cost and product minimizes, improve star sensor measurement accuracy.
Description
Technical field
The present invention relates to star sensor field, in particular to a kind of Rotating Platform for High Precision Star Sensor information processing system.
Background technique
Star sensor is the key that one of spacecraft Attitude and orbit control system measuring mechanism, for measuring fixed star vector in star
Component in sensor coordinate system, it by importance in star map recognition, and determined using the exact position of known fixed star satellite relative to
The three-axis attitude of inertial coodinate system.Star sensor is usually by accurate optics and structural system, Photoelectric Inspect & Signal Processing electricity
The composition such as road and software.
Star sensor attitude measure error is mainly extracted in error and visual field by visual field, detector pixel number, asterism position
Average asterism number determines.Rotating Platform for High Precision Star Sensor generally requires to improve asterism extraction accuracy, reduces visual field, improves and participates in posture meter
The asterism data of calculation and focal plane are maintained at a stable temperature.
Asterism extracts error and is mainly derived from the integral translation of asterism image position and energy caused by camera lens aberration and temperature change
Measure changes in distribution, the Systematic Errors of sub-pixed mapping extraction algorithm, detector and circuit noise error.On the one hand pass through optimization camera lens
The concrete engineerings side such as the design of Design and optimization star sensing structure and material selection, star sensor calibration calibration and Optimization Design of Electronic Circuits
Method is reduced and is eliminated；On the other hand by cooling technic, by the control of star sensor focal plane in stable temperature spot and
Optimize information processing algorithm and reduce error, improves precision of star sensor.
In the prior art it is also undisclosed by photodetector timing sequencer, image procossing, Protocol layer data interactive controlling,
CPU collaborative work interface, data management and precision temperature control are all integrated into FPGA and realize at Rotating Platform for High Precision Star Sensor information
The related content of reason system.FPGA completes above-mentioned function, improves the integrated level of circuit system, advantageously reduces cost and product
Miniaturization；The advantage of its parallel processing can be given full play to, the burden and time overhead of CPU processing are mitigated.
Summary of the invention
The object of the present invention is to provide a kind of Rotating Platform for High Precision Star Sensor information processing systems, and it is pre- to be integrated with star sensor image
It handles, the control of the control of semiconductor cooler and all kinds of interfaces, photodetector timing is occurred using FPGA Parallel Implementation
Device, image procossing, Protocol layer data interactive controlling, CPU collaborative work interface, data management and precision temperature control are fully integrated
To FPGA, i.e., star sensor photodetector timing control, image preprocessing and Objective extraction, protocol layer are completed using FPGA
The functions such as data interaction, CPU collaborative work interface, data management and precision temperature control realize Rotating Platform for High Precision Star Sensor letter
The functions such as breath processing, interactive and external equipment access control.
The invention discloses a kind of Rotating Platform for High Precision Star Sensor information processing system, which includes FPGA module, described
FPGA module is provided with：
Photodetector timing sequencer module, connect with detector, transmits detector driving signal；
Image processing module is connect with the detector, receives the star chart data of the detector output, and handles the star
Diagram data obtains star chart data processed result；
Protocol layer data interactive controlling module carries out protocol interaction with external equipment；
CPU collaborative work interface module, connect with outer CPU processor, carries out data interaction；
The data management module of Various types of data packet is managed, is handed over respectively with described image processing module, the Protocol layer data
Mutual control module is connected with the CPU collaborative work interface module, is performed in accordance with data interaction；
Precision temperature control module, respectively with the Protocol layer data interactive controlling module, temperature collecting module and electric current
Acquisition module connection, receives switch and control parameter, temperature digital data and current digital data respectively.
Preferably, the data management module is connect with external data SRAM, is received described image processing module and is sent
Star chart data processed result after, and be saved in data SRAM.
Preferably, the CPU collaborative work interface module is connect with program SRAM, output chip choosing, read-write control signal collection
To program SRAM；And/or the CPU collaborative work interface module is connect with program FLASH, output chip choosing, read-write control signal
Collect to program FLASH.
Preferably, the CPU collaborative work interface module completes CPU to external memory by data management module
Reading and writing operation, and complete the generation to the interrupt signal of CPU and the control of watchdog signal.
Preferably, the memory uses Pingpang Memory device, to realize that the Various types of data for memory is read to control and write
The timing Design of shaking hands of control meets the read/write conflict that the read-write of Various types of data requires and avoid memory data to access.
Preferably, the photodetector timing sequencer module receives the exposure mode from the data management module
Mark adaptively generates different driving signal driving detectors, after detector receives driving signal, generates pixel grey scale letter
Breath, output to described image processing module；Wherein, the photodetector timing sequencer module adaptively adjust generation when
Sequential signal is realized and becomes time for exposure control, and the signal for controlling the time for exposure is synchronous with external hardware pulse signal；
The row that the reception of described image processing module is exported by the photodetector timing sequencer module is effective, shows
Effect, pixel effectively and exposure mode mark, image data is pre-processed, and by processing data export to the data management
Module；Wherein, described image processing module is divided into two kinds of processing modes：The first, it background estimating to star chart data and is based on
The Objective extraction of background is estimated, to realize antinoise and anti-halation；The second, the Pixel Information for acquiring wicket is completed small for CPU
The image procossing of window, to improve the data updating rate and anti-veiling glare ability of star sensor.
Preferably, the Protocol layer data interactive controlling module is connect with host computer, carries out data interaction.
Preferably, the Protocol layer data interactive controlling module is integrated with serial ports and high speed data transmission interface；Work as reception
To after serial ports instruction, the command resolution unit of Protocol layer data interactive controlling inside modules is parsed the command, according to order
Content generates corresponding control signal, and command response unit receives the control signal, and generates the reply data of order through serial ports
It sends；After 1553B bus interface module is enabled, data interaction is carried out by 1553B bus；When high speed data transfer module passes through
After serial port command is enabled, the data for needing to send in data management module are read, are sent through high speed data transmission interface；
Each interface of the Protocol layer data interactive controlling module can parallel processing, can simultaneously towards GNC computer, number
Pass subsystem computer, payload carries out data interaction.
Preferably, the precision temperature control module is connect with semiconductor cooler, and pwm signal is exported to described and is partly led
Chiller.
Preferably, the precision temperature control module includes：
Temperature collecting module is acquired detector temperature；
Pid control module realizes pid algorithm, exports control amount；
PWM module generates pwm pulse, controls conductor refrigeration according to the control amount that the pid control module exports
Device.
Compared with prior art, beneficial effects of the present invention are：(1) all modules of the invention are based on FPGA realization,
Make full use of the advantage of FPGA parallel processing.(2) photodetector timing sequencer module of the invention is quick according to high precision star
Sense device working mode, the clock signal that adaptive adjustment generates are realized and become time for exposure control, and control the signal of time for exposure
It is synchronous with external hardware pulse signal.Image processing module is divided into two kinds of processing modes according to the difference of mode：First, including it is right
It is high to realize antinoise, the sub-pixed mapping grade of anti-halation for the background estimating of star chart data and Objective extraction based on estimation background
Precision star sensor image processing techniques, and image procossing and detector exposure sync carry out, when end exposure, complete at image
Reason；Second, it is required according to control, acquires the Pixel Information of wicket, the image procossing of wicket is completed for CPU, it is intended to improve
The data updating rate of star sensor, anti-veiling glare ability.(3) present invention be integrated with the serial communication protocol of rail control subsystem,
With communication protocol, 1553B bus inferface protocol and the high speed data transfer communication protocol of electric star mould；Each interface can be located parallel
Reason can carry out data interaction towards GNC computer, data transmission subsystem computer, payload etc. simultaneously.(4) present invention is logical
Cross operating mode, the use of Pingpang Memory device is realized and the timing of shaking hands that the Various types of data of memory reads control and writes control is set
Meter meets the read/write conflict that the read-write of Various types of data requires and avoid memory data to access.(5) precision temperature of the invention
Control module realizes real-time temperature collection information, while being integrated with star sensor semiconductor cooler precision temperature control technology, makes
Focal plane temperature accuracy of temperature control, which is stablized, is better than ± 0.25 DEG C, promotes star sensor measurement accuracy.(6) present invention by image procossing,
Protocol layer data is interactive to be integrated in FPGA with functions such as precision temperature controls, has been shared the calculated load of CPU, has been significantly improved
Parallel information processing capacity improves the integrated level of circuit system, advantageously reduces cost and product minimizes.
Detailed description of the invention
Rotating Platform for High Precision Star Sensor information processing system the general frame Fig. 1 of the invention；
Image processing data flow graph Fig. 2 of the invention；
CPU collaborative work interface module functional block diagram Fig. 3 of the invention；
Protocol layer data interactive controlling functions of modules block diagram Fig. 4 of the invention；
Precision temperature control functions of modules block diagram Fig. 5 of the invention.
Specific embodiment
The invention discloses a kind of Rotating Platform for High Precision Star Sensor information processing systems, in order to keep the present invention more obvious and easy to understand,
Below in conjunction with the drawings and specific embodiments, the present invention will be further described.
As shown in Figure 1, Rotating Platform for High Precision Star Sensor information processing system of the invention includes FPGA module, which can
Complete star sensor photodetector timing control, image preprocessing and Objective extraction, Protocol layer data interaction, CPU collaboration work
Make the functions such as interface, data management and precision temperature control, to realize Rotating Platform for High Precision Star Sensor information processing, interaction and outer
The functions such as the access control of portion's equipment.
As shown in Figure 1, FPGA module includes photodetector timing sequencer module, image processing module, the agreement number of plies
According to interactive controlling module, CPU collaborative work interface module, data management module and precision temperature control module.
Wherein, photodetector timing sequencer module is connect with detector and video processing circuit, sends detection
To detector and video processing circuit, detector and video frequency signal processing are electric for device driving signal and video processing control signal
Road accordingly exports picture signal or control signal.
The management of data management module completion Various types of data packet.Wherein, data management module and detector and vision signal
Processing circuit connection receives data image signal or control signal.Data management module and data SRAM (Static Random-
Access Memory, static random access memory) connection, carry out data, address, the interaction for controlling signal.
Data management module is connect with image processing module, and the image processing module and detector and video frequency signal processing
Circuit connection then connects picture signal or control signal that image processing module receives detector and video processing circuit output
Afterwards, and to picture signal it handles, output star chart data processed result is saved to the data connecting with data management module
In SRAM.
Data management module is also communicated to connect with Protocol layer data interactive controlling module, CPU collaborative work interface module, into
Row data interaction.
Data management module of the invention is integrated with all kinds of FPGA module internal storages and the reading to such memory
Write control, to the Read-write Catrol of external memory and to star sensor school when management.Pass through operating mode, Pingpang Memory device
Control is read using the Various types of data realized to memory and writes the timing Design of shaking hands of control, meets the read-write requirement of Various types of data
And the read/write conflict for avoiding memory data from accessing.
CPU collaborative work interface module is connect with CPU processor, carries out data, address, the interaction for controlling signal, so
Outer CPU processor is completed to hand over the data of Rotating Platform for High Precision Star Sensor information processing system by CPU collaborative work interface module
Mutually.And CPU collaborative work interface module is connect with program SRAM, output chip choosing, read-write control signal collection to program SRAM, and
CPU collaborative work interface module is connect with program FLASH (a kind of memory devices), output chip choosing, read-write control signal collection to journey
Sequence FLASH.
The protocol interaction of Protocol layer data interactive controlling module completion star sensor and external equipment.For example, the agreement number of plies
It is connect according to interactive controlling module with host computer, carries out data interaction.
Precision temperature control module respectively with Protocol layer data interactive controlling module, temperature collecting module and current acquisition mould
Block connection, then accordingly receive switch and control parameter, temperature digital data and current digital data；Precision temperature control module
Pwm signal is also sent to the semiconductor cooler being attached thereto.
All modules in the present embodiment are based on FPGA realization, improve the integrated level of circuit system, are conducive to drop
Low cost is minimized with product.
As shown in Fig. 2, photodetector timing sequencer module receives the exposure mode mark from data management module,
Different driving signal driving detectors is adaptively generated, after detector receives driving signal, generates pixel grey scale information, it is defeated
Out to image processing module.Meanwhile image processing module receive row export by photodetector timing sequencer module it is effective,
It shows effect, pixel effectively and exposure mode mark, realizes pretreatment to image data, and processing data are exported to data pipe
Manage module.Data processing module stores data (such as enable signal data, address etc.) into external data SRAM.
From the above mentioned, photodetector timing sequencer module foundation Rotating Platform for High Precision Star Sensor operating mode of the invention,
The clock signal that adaptive adjustment generates is realized and becomes time for exposure control, and controls the signal and external hardware arteries and veins of time for exposure
It is synchronous to rush signal.
Image processing module is divided into two kinds of processing modes according to the difference of mode：First, including the background to star chart data
Estimate and based on the Objective extraction for estimating background, realizes the sub-pixed mapping grade Rotating Platform for High Precision Star Sensor figure of antinoise, anti-halation
As processing technique, and image procossing and detector exposure sync carry out, and when end exposure completes image procossing；Second, according to control
System requires, and acquires the Pixel Information of wicket, the image procossing of wicket is completed for CPU, it is intended to improve the data of star sensor
Turnover rate, anti-veiling glare ability.
As shown in figure 3, CPU collaborative work interface module completes address decoding and the data access control of CPU, pass through number
CPU is completed according to management module to operate the reading and writing of external memory.Meanwhile CPU collaborative work interface module is completed to CPU's
The generation of interrupt signal and the control of watchdog signal.CPU collaborative work interface module is suitable for a variety of different model processing
The access interface demand of device.
The present invention is integrated with and the serial communication protocol of rail control subsystem, communication protocol, 1553B bus with electric star mould
Interface protocol and high speed data transfer communication protocol.As shown in figure 4, Protocol layer data interactive controlling module is mainly integrated with serial ports
And high speed data transmission interface.After receiving serial ports instruction, the command resolution unit of Protocol layer data interactive controlling inside modules
The parsing to order to be completed, corresponding control signal is generated according to command context, command response unit receives the control signal, and
The reply data for generating order is sent through serial ports.After 1553B bus interface module is enabled, realize that data are handed over by 1553B bus
Mutually.High speed data transfer module reads the data for needing to send in data management module, through high-speed data after serial port command is enabled
Coffret is sent.Each interface can parallel processing, can simultaneously towards GNC computer, data transmission subsystem computer, effectively carry
Lotus etc. carries out data interaction.
As shown in figure 5, star sensor precision temperature control module mainly includes temperature collecting module, PID (Proportion
Integral Differential) control module and PWM (Pulse Width Modulation, pulse width modulation) module.
Temperature collecting module mainly completes the acquisition to detector temperature；Pid control module mainly realizes pid algorithm, exports control amount.
The control amount that PWM module is exported according to pid control module generates pwm pulse, controls refrigerator.In addition, the accurate temperature of star sensor
In-orbit modification pid parameter, setting target temperature value and switch refrigerator can be completed by way of instruction injection by spending control module
Function.
Precision temperature control module of the invention realizes real-time temperature collection information, while being integrated with star sensor and partly leading
Body refrigerator precision temperature control technology stablizes focal plane temperature accuracy of temperature control better than ± 0.25 DEG C, promotes star sensor measurement essence
Degree.
In conclusion Rotating Platform for High Precision Star Sensor information processing system provided by the invention, completes star by FPGA module
Sensor photodetector timing control, image preprocessing and Objective extraction, Protocol layer data interaction, CPU collaborative work interface,
The functions such as data management and precision temperature control, realize the visit of Rotating Platform for High Precision Star Sensor information processing, interaction and external equipment
Ask the functions such as control.The advantage for making full use of FPGA parallel processing, by image procossing, Protocol layer data interaction and precision temperature control
The functions such as system are integrated in FPGA, have been shared the calculated load of CPU, have been significantly improved parallel information processing capacity；It completes in real time
The timing control of photodetector, image background estimation and asterism mass center extract, taken into account image procossing in real time with anti-stray light
The demand of highly reliable image processing strategie；Acquisition detector temperature in real time, PID and PWM algorithm are integrated in FPGA, realize half
Conductor refrigerator precision temperature control technology, improves the integrated level of circuit system, advantageously reduces cost and product minimizes；Pass through
The stabilization temperature control of sub-pixed mapping grade Rotating Platform for High Precision Star Sensor image processing techniques and focal plane improves star sensor measurement accuracy.
It is discussed in detail although the contents of the present invention have passed through above preferred embodiment, but it should be appreciated that above-mentioned
Description is not considered as limitation of the present invention.After those skilled in the art have read above content, for of the invention
A variety of modifications and substitutions all will be apparent.Therefore, protection scope of the present invention should be limited to the appended claims.
Claims (10)
1. a kind of Rotating Platform for High Precision Star Sensor information processing system, which is characterized in that the system includes FPGA module, the FPGA mould
Block is provided with：
Photodetector timing sequencer module, connect with detector, transmits detector driving signal；
Image processing module is connect with the detector, receives the star chart data of the detector output, and handles the star chart number
According to obtaining star chart data processed result；
Protocol layer data interactive controlling module carries out protocol interaction with external equipment；
CPU collaborative work interface module, connect with outer CPU processor, carries out data interaction；
The data management module for managing Various types of data packet, interacts control with described image processing module, the Protocol layer data respectively
Molding block is connected with the CPU collaborative work interface module, is performed in accordance with data interaction；
Precision temperature control module, respectively with the Protocol layer data interactive controlling module, temperature collecting module and current acquisition
Module connection, receives switch and control parameter, temperature digital data and current digital data respectively.
2. a kind of Rotating Platform for High Precision Star Sensor information processing system as described in claim 1, which is characterized in that
The data management module is connect with external data SRAM, is received at the star chart data that described image processing module is sent
After managing result, and it is saved in data SRAM.
3. a kind of Rotating Platform for High Precision Star Sensor information processing system as described in claim 1, which is characterized in that
The CPU collaborative work interface module is connect with program SRAM, output chip choosing, read-write control signal collection to program SRAM；
And/or the CPU collaborative work interface module is connect with program FLASH, output chip choosing, read-write control signal collection to journey
Sequence FLASH.
4. a kind of Rotating Platform for High Precision Star Sensor information processing system as described in claim 1, which is characterized in that
The CPU collaborative work interface module is completed CPU by data management module and is operated to the reading and writing of external memory, with
And complete the generation to the interrupt signal of CPU and the control of watchdog signal.
5. a kind of Rotating Platform for High Precision Star Sensor information processing system as claimed in claim 4, which is characterized in that
The memory uses Pingpang Memory device, to realize that the Various types of data for memory is read to control and write when shaking hands of control
Sequence design meets the read/write conflict that the read-write of Various types of data requires and avoid memory data to access.
6. a kind of Rotating Platform for High Precision Star Sensor information processing system as described in claim 1, which is characterized in that
The photodetector timing sequencer module receives the exposure mode mark from the data management module, adaptively
Different driving signal driving detectors is generated, after detector receives driving signal, generates pixel grey scale information, output to institute
State image processing module；Wherein, the photodetector timing sequencer module adaptively adjusts the clock signal of generation, realizes
Become time for exposure control, and the signal for controlling the time for exposure is synchronous with external hardware pulse signal；
Described image processing module receive the row that export by the photodetector timing sequencer module is effective, show effect, as
It is known as effect and exposure mode mark, image data is pre-processed, and processing data are exported to the data management module；
Wherein, described image processing module is divided into two kinds of processing modes：The first, background estimating to star chart data and based on estimation back
The Objective extraction of scape, to realize antinoise and anti-halation；The second, the Pixel Information for acquiring wicket completes wicket for CPU
Image procossing, to improve the data updating rate and anti-veiling glare ability of star sensor.
7. a kind of Rotating Platform for High Precision Star Sensor information processing system as described in claim 1, which is characterized in that
The Protocol layer data interactive controlling module is connect with host computer, carries out data interaction.
8. a kind of Rotating Platform for High Precision Star Sensor information processing system as claimed in claim 1 or 7, which is characterized in that
The Protocol layer data interactive controlling module is integrated with serial ports and high speed data transmission interface；It is instructed when receiving serial ports
Afterwards, the command resolution unit of Protocol layer data interactive controlling inside modules parses the command, and generates phase according to command context
The control signal answered, command response unit receives the control signal, and the reply data for generating order is sent through serial ports；When
After 1553B bus interface module is enabled, data interaction is carried out by 1553B bus；When high speed data transfer module is ordered through serial ports
It enables after enabling, reads the data for needing to send in data management module, sent through high speed data transmission interface；
Each interface of the Protocol layer data interactive controlling module can parallel processing, can simultaneously towards GNC computer, number pass point
Component computer, payload carry out data interaction.
9. a kind of Rotating Platform for High Precision Star Sensor information processing system as described in claim 1, which is characterized in that
The precision temperature control module is connect with semiconductor cooler, and pwm signal is exported to the semiconductor cooler.
10. a kind of Rotating Platform for High Precision Star Sensor information processing system as claimed in claim 9, which is characterized in that
The precision temperature control module includes：
Temperature collecting module is acquired detector temperature；
Pid control module realizes pid algorithm, exports control amount；
PWM module generates pwm pulse, controls semiconductor cooler according to the control amount that the pid control module exports.
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| CN112017106A (en) * | 2020-08-27 | 2020-12-01 | 上海航天控制技术研究所 | Composite view field distributed digital signal processing system and scheduling method |
| CN113727148A (en) * | 2021-07-22 | 2021-11-30 | 北京控制工程研究所 | Large-scale image high-speed transmission circuit |
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| CN108871317B (en) | 2020-10-27 |
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