CN109459055A - A kind of reference attitude Multi-sensor Fusion networking measuring device - Google Patents
A kind of reference attitude Multi-sensor Fusion networking measuring device Download PDFInfo
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- CN109459055A CN109459055A CN201811294979.2A CN201811294979A CN109459055A CN 109459055 A CN109459055 A CN 109459055A CN 201811294979 A CN201811294979 A CN 201811294979A CN 109459055 A CN109459055 A CN 109459055A
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract
The invention belongs to Multi-sensor Fusion networking technology fields, and in particular to a kind of reference attitude Multi-sensor Fusion networking measuring device.Reference attitude Multi-sensor Fusion networking measuring device of the present invention, including four angular instruments, a benchmark reflective mirror, a measurement power control cabinet and mounting bracket, to overcome the defect of the prior art means camera and star sensor reference attitude angular measurement at low ambient temperatures, a set of accurate, real-time space reference attitude angle network is established using multiple sensors such as photoelectric sensor, temperature sensor, accelerometers, it is resolved by data fusion, networking, realizes the rapid survey at reference attitude angle under low temperature environment.
Description
Technical field
The invention belongs to Multi-sensor Fusion networking technology fields, and in particular to a kind of reference attitude multisensor melts
It is combined net measuring device.
Background technique
Multi-sensor Fusion networking about reference attitude angle between low temperature environment down space aircraft camera and star sensor
Measurement method, there has been no public technology documents to be described.
At present on spacecraft between camera and star sensor reference attitude angle measurement, it is quiet to be limited primarily to laboratory room temperature
Measurement under the conditions of state can not provide real-time measurement result due to the relationship of measurement method.Mainly include the following types: passing through
Manual measurement mode carries out the calibration at reference attitude angle；Pass through Computer Simulation, the side of fraction parameter simulation in laboratory
Formula sets attitude angle.
Manual measurement, which refers to, forms measuring systems by setting up four theodolites, every theodolite telescope respectively with guidance
The corresponding reflecting surface collimation of unit outside reference rib body.In this measurement process, the vertical pivot leveling error comprising two theodolites and
To line error, 1:1 is brought directly in measurement data artificial collimation by this two errors, seriously affects the accuracy of measurement result.
Two benchmark rib bodies are being measured in the differential seat angle on yaw direction, also by itself error of other two theodolites and to taking aim at error
It brings into measurement result.The configuration quantity of such measurement method measuring device is more, and instrument sets up complexity, and process of measurement is cumbersome,
The defects of measurement error item is more cause the accuracy of measurement result；And it is only applicable to static room temperature measurement, do not have in real time
Property and low temperature environment adaptability.Computer simulation refers to according to previous empirical value on three orientation, pitching, rolling axis
Key parameter carry out software simulation and calculate, the attitude angle after providing simulation is used for subsequent spatial algorithm, but and actual error
It is larger, lack world consistency.
Traditional technical solution needs to develop a kind of reference attitude multisensor and melts due to facing above-mentioned deficiency
It is combined net measuring device, to solve the above problems.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of reference attitude Multi-sensor Fusion networking measuring devices, thus
The defect for overcoming the prior art means camera and star sensor reference attitude angular measurement at low ambient temperatures, utilizes photoelectric sensing
The multiple sensors such as device, temperature sensor, accelerometer establish a set of accurate, real-time space reference attitude angle network,
It is resolved by data fusion, networking, realizes the rapid survey at reference attitude angle under low temperature environment.
In order to realize the purpose, the technical solution adopted by the present invention is that:
A kind of reference attitude Multi-sensor Fusion networking measuring device, including four angular instruments, benchmark reflective mirror, one
Platform measures power control cabinet and mounting bracket；
One, angular instrument
Angular instrument I, inclinator II, inclinator IV respectively contain a dual axis photoelectric autocollimation, a double-shaft tilt angle
Sensor, two temperature sensors and a temperature control module；
Angular instrument III include two dual axis photoelectric autocollimations, a double-shaft tilt angle sensor, two temperature sensors with
An and temperature control module；The measurement optical axis of two dual axis photoelectric autocollimations is installed at a fixed angle, a photoelectric auto-collimation
Instrument is used to collimate star sensor benchmark rib body, and the benchmark that another photoelectric auto-collimator is used to collimate on angular instrument II is reflective
Mirror realizes the transmitting of orientation angular dependence between angular instrument II and angular instrument III；
Two, benchmark reflective mirror
The three-dimension altitude angle of camera and star sensor benchmark rib body that angular instrument measurement obtains passes through benchmark reflective mirror orientation
Angle transmitting, builds to form a measurement network；
Three, power control cabinet is measured
Measuring power control cabinet includes power module, angle measurement cell processing module, horizontal measurement processing module, temperature control system processing
Module, attitude angle fusion resolve module and the big module of man-machine interactively module six, realize power supply, data acquisition, signal processing, deposit
Storage, man-machine interactively interface function；
Four, mounting bracket
Mounting bracket is independent four brackets, respectively and corresponding four angular instruments connection after, be placed on test between
On plate, and it can be moved freely on surveying time floor；
When testing, be the sighting condition for meeting test and needing, operator according to the physical location of measurand, from
By put mounting bracket and four angular instruments.
It measures and is connected between power control cabinet and four angular instruments by signal cable.
Further, a kind of reference attitude Multi-sensor Fusion networking measuring device as described above, two twenty percent of angular instrument
Group measures the three-dimension altitude angle of camera reference rib body and star sensor benchmark rib body respectively；
Angular instrument I, angular instrument IV complete camera reference rib body, star sensor benchmark rib body around X-axis direction of rotation angle
Measurement；
Angular instrument II, angular instrument III complete camera reference rib body and star sensor benchmark rib body around Y-axis and Z axis direction of rotation
Angle measurement.
Further, a kind of reference attitude Multi-sensor Fusion networking measuring device as described above, twin shaft photoelectric auto
Straight instrument is responsible for the deflection angle of measuring basis rib body reflective surface normal Yu auto-collimation zero-bit optical axis；
The angle and benchmark rib body of each angular instrument zero-bit optical axis of double-shaft tilt angle sensor real-time measurement and the earth horizontal plane
Roll angle；
Temperature sensor measurement environment temperature device temperature；
Temperature control module adjusts output PWM waveform by PID, and realization is rapidly heated and thermostatic control, and control reference attitude is more
The operating ambient temperature of sensor combination network measuring device.
Further, a kind of reference attitude Multi-sensor Fusion networking measuring device as described above, benchmark reflective mirror are used
Screw is connected on angular instrument II.
Further, a kind of reference attitude Multi-sensor Fusion networking measuring device as described above, benchmark reflective mirror
The angle of outgoing normal and the measurement optical axis of angular instrument II is installed at fixed angle.
Further, a kind of reference attitude Multi-sensor Fusion networking measuring device as described above, measures in network
Data carry out including amplification, filtering, the coordinate change data processing of AD conversion, processing by measuring the upper computer software of power control cabinet
The computer that data later are sent into measurement power control cabinet carries out feature extraction, signal fused calculates, after posture conversion, obtains two
3 d pose between benchmark rib body is poor, to obtain the relative attitude relationship between camera and star sensor.
Further, a kind of reference attitude Multi-sensor Fusion networking measuring device as described above, power module are realized
Function of supplying power；
Angle measurement cell processing module sends angle measurement instruction to photoelectricity angle measurement unit by timer synchronization, and each serial ports receives
Orientation values X, the pitch value Y of five dual axis photoelectric autocollimations, real-time display are simultaneously transmitted to solving of attitude module；
Horizontal measurement processing module, temperature control system processing module acquire four road double-shaft tilt angle sensors by timer synchronization
Orientation X, pitching Y value and eight channel temperature sensors real time temperature sampled value, be displayed and transmitted to solving of attitude mould
Block；
Attitude angle fusion resolves module according to initial alignment value known to the variate-value and tooling actually received, leads to
Cross three-dimensional coordinate conversion, obtain camera reference rib body and star sensor benchmark rib body rotating around X-axis, Y-axis, Z axis attitude misalignment
Angle, and real-time display；
Man-machine interactively module realizes man-machine interactively interface display function.
Further, a kind of reference attitude Multi-sensor Fusion networking measuring device as described above, angular instrument I and angle measurement
Instrument II realizes the 3 d pose measurement of camera reference rib body；
α is camera reference rib body around measurement coordinate system Z axis deflection angle；
θ1It is camera reference rib body with respect to I zero-bit optical axis deflection angle in X-direction of dual axis photoelectric autocollimation；
θ2For level angle of the obliquity sensor II in X-direction；
Camera reference rib body is around X-axis deflection angle are as follows: θ1+θ2；
θ3It is camera reference rib body with respect to II zero-bit optical axis deflection angle in Y direction of dual axis photoelectric autocollimation；
θ4For level angle of the obliquity sensor I in Y direction；
Camera reference rib body is around Y-axis deflection angle are as follows: θ3+θ4；
Temperature sensor I, the temperature sensor II being mounted on angular instrument I, and the temperature being mounted on angular instrument II
Sensor III, temperature sensor IV are responsible for real-time sampling equipment and current environment temperature, the temperature control module I on angular instrument I with
And temperature control module II on angular instrument II uses closed loop PID control algorithm, for overcoming low temperature environment, keep suitable equipment and
Environment temperature.
Further, a kind of reference attitude Multi-sensor Fusion networking measuring device as described above, angular instrument III and survey
Angle instrument IV realizes the 3 d pose measurement of star sensor benchmark rib body；
β is the quick benchmark rib body of star around measurement coordinate system X-axis deflection angle；
θ5It is the quick benchmark rib body of star with respect to IV zero-bit optical axis deflection angle in X-direction of dual axis photoelectric autocollimation；
θ6For level angle of the obliquity sensor IV in X-direction；
The quick benchmark rib body of star is around X-axis deflection angle are as follows: θ5+θ6；
θ7It is the quick benchmark rib body of star with respect to III zero-bit optical axis deflection angle in Y direction of dual axis photoelectric autocollimation；
θ8For level angle of the obliquity sensor III in Y direction；
The quick benchmark rib body of star is around Y-axis deflection angle are as follows: θ7+θ8；
Temperature sensor VII, the temperature sensor VIII being mounted on angular instrument III, and be mounted on angular instrument IV
Temperature sensor V, temperature sensor VI are responsible for real-time sampling equipment and current environment temperature, the temperature control mould on angular instrument III
Temperature control module IV on block III and angular instrument IV keeps suitable for overcoming low temperature environment using closed loop PID control algorithm
Equipment and environment temperature.
The beneficial effect of technical solution of the present invention is:
A kind of reference attitude Multi-sensor Fusion networking measuring device provided by the invention is established to be imaged in optical autocollimating
On the basis of the transmitting of azimuth, integrated use photoelectricity, angular position measurement technology, by multiple photoelectric sensors, obliquity sensor, temperature
Degree sensor integration form test network, it can be achieved that it is automatic, quickly, accurately measure attitude misalignment between two measurands.Through
Verification experimental verification can be rapidly heated in -40 DEG C of environment of low temperature, and be kept for 25 degrees Celsius of constant temperature, orientation, pitching, rolling three
Measurement accuracy on direction is respectively less than 6 ".
Above-mentioned technical proposal fundamentally solves low temperature environment down space aircraft camera and star sensor reference attitude
Angle quickly, the technical problem of accurate alignment, eliminate the otherness between manual operation error and operator, improve the standard of measurement
True property provides strong Metrology Support for the development of Chinese Space technical field；Can also promote the use of field of space technology with
On outer other carriers between camera and star sensor reference attitude angle automatic measurement and calibration.
Detailed description of the invention
Fig. 1 is Multi-sensor Fusion networking measuring device structural schematic diagram of the present invention；
Fig. 2 is that angular instrument I, II of the present invention measures camera reference rib body schematic diagram；
Fig. 3 is that angular instrument III, IV of the present invention measures the quick benchmark rib body schematic diagram of star.
In figure: 1- measurement power control cabinet, 2- signal cable, 3- star sensor benchmark rib body, 4- camera reference rib body 5- angle measurement
Instrument I, 6- angular instrument II, 7- benchmark reflective mirror, 8- angular instrument III, 9- mounting bracket, 10- angular instrument IV, 11- temperature control module II,
12- dual axis photoelectric autocollimation II, 13- double-shaft tilt angle sensor II, 14- temperature sensor III, 15- temperature sensor IV, 16-
Temperature control module I, 17- double-shaft tilt angle sensor I, 18- dual axis photoelectric autocollimation I, 19- temperature sensor I, 20- temperature sensing
Device II, 21- double-shaft tilt angle sensor IV, 22- temperature sensor V, 23- dual axis photoelectric autocollimation IV, 24- temperature sensor
VI, 25- temperature control module IV, 26- temperature sensor VII, 27- temperature sensor VIII, 28- double-shaft tilt angle sensor III, 29- is bis-
Axis photoelectric auto-collimator III, 30- temperature control module III.
Specific embodiment
Technical solution of the present invention is described in detail in the following with reference to the drawings and specific embodiments.
As shown in Figure 1, a kind of reference attitude Multi-sensor Fusion networking measuring device of the present invention, including four angular instruments,
One benchmark reflective mirror, a measurement power control cabinet and mounting bracket；
One, angular instrument
5 angular instruments I, 6 inclinators II, 10 inclinators IV respectively contain a dual axis photoelectric autocollimation, a twin shaft
Obliquity sensor, two temperature sensors and a temperature control module；
8 angular instruments III include two dual axis photoelectric autocollimations, a double-shaft tilt angle sensor, two temperature sensors with
An and temperature control module；The measurement optical axis of two dual axis photoelectric autocollimations is installed at a fixed angle, a photoelectric auto-collimation
Instrument is used to collimate star sensor benchmark rib body, and 7 benchmark that another photoelectric auto-collimator is used to collimate on 6 angular instruments II are reflective
Mirror realizes the transmitting of orientation angular dependence between 6 angular instruments II and 8 angular instruments III；
Angular instrument in groups, measures the three-dimension altitude angle of camera reference rib body and star sensor benchmark rib body two-by-two respectively；
5 angular instruments I, 10 angular instruments IV complete 4 camera reference rib bodies, 3 star sensor benchmark rib bodies around X-axis direction of rotation
Angle measurement；
6 angular instruments II, 8 angular instruments III are completed 4 camera reference rib bodies and 3 star sensor benchmark rib bodies and are rotated around Y-axis and Z axis
The angle measurement in direction.
Wherein, dual axis photoelectric autocollimation is responsible for the inclined of measuring basis rib body reflective surface normal and auto-collimation zero-bit optical axis
Gyration；
The angle and benchmark rib body of each angular instrument zero-bit optical axis of double-shaft tilt angle sensor real-time measurement and the earth horizontal plane
Roll angle；
Temperature sensor measurement environment temperature device temperature；
Temperature control module adjusts output PWM waveform by PID, and realization is rapidly heated and thermostatic control, and control reference attitude is more
The operating ambient temperature of sensor combination network measuring device；
Two, benchmark reflective mirror
The three-dimension altitude angle of camera and star sensor benchmark rib body that angular instrument measurement obtains passes through 7 benchmark reflective mirror orientation
Angle transmitting, builds to form a measurement network；
7 benchmark reflective mirrors are connected on 6 angular instruments II with screw；
The outgoing normal of 7 benchmark reflective mirrors and the angle of the measurement optical axis of 6 angular instruments II are installed at fixed angle；
Three, power control cabinet is measured
1 measurement power control cabinet include power module, angle measurement cell processing module, horizontal measurement processing module, at temperature control system
Manage module, attitude angle fusion resolves module and the big module of man-machine interactively module six, realize power supply, data acquisition, signal processing,
Storage, man-machine interactively interface function；
Data in measurement network carry out including amplification, filtering, AD conversion by the upper computer software of 1 measurement power control cabinet
The processing of coordinate change data, the computer that the data after handling are sent into measurement power control cabinet carry out feature extraction, signal fused meter
It calculates, after posture conversion, show that the 3 d pose between two benchmark rib bodies is poor, to obtain opposite between camera and star sensor
Posture relationship.
Power module realizes function of supplying power；
Angle measurement cell processing module sends angle measurement instruction to photoelectricity angle measurement unit by timer 1 is synchronous, and each serial ports receives
Orientation values X, pitch value Y to 5 dual axis photoelectric autocollimations, real-time display are simultaneously transmitted to solving of attitude module；
Horizontal measurement processing module, temperature control system processing module rely on 4 road double-shaft tilt angle sensor of timer 2 synchronous acquisition
Orientation X, pitching Y value and 8 channel temperature sensors real time temperature sampled value, be displayed and transmitted to solving of attitude mould
Block；
Attitude angle fusion resolves module according to initial alignment value known to the variate-value and tooling actually received, leads to
Cross three-dimensional coordinate conversion, obtain camera reference rib body and star sensor benchmark rib body rotating around X-axis, Y-axis, Z axis attitude misalignment
Angle, and real-time display；
Man-machine interactively module realizes man-machine interactively interface display function；
Four, mounting bracket
Mounting bracket is independent four brackets, respectively and corresponding four angular instruments connection after, be placed on test between
On plate, and it can be moved freely on surveying time floor；
When testing, to meet the sighting condition that test needs, operator can be according to the actual bit of measurand
It sets, freely puts mounting bracket and four angular instruments.
It measures and is connected between power control cabinet and four angular instruments by signal cable.
As shown in Fig. 2, 5 angular instruments I and 6 angular instruments II realize the 3 d pose measurement of camera reference rib body；
α is 4 camera reference rib bodies around measurement coordinate system Z axis deflection angle；
θ1It is 4 camera reference rib bodies with respect to 18 dual axis photoelectric autocollimation, I zero-bit optical axis deflection angle in X-direction；
θ2For level angle of 17 obliquity sensors II in X-direction；
4 camera reference rib bodies are around X-axis deflection angle are as follows: θ1+θ2；
θ3It is 4 camera reference rib bodies with respect to 12 dual axis photoelectric autocollimation, II zero-bit optical axis deflection angle in Y direction；
θ4For level angle of 13 obliquity sensors I in Y direction；
4 camera reference rib bodies are around Y-axis deflection angle are as follows: θ3+θ4；
19 temperature sensors I, 20 temperature sensors II being mounted on 5 angular instruments I, and be mounted on 6 angular instruments II
14 temperature sensors III, 15 temperature sensors IV, be responsible for real-time sampling equipment and current environment temperature, on 5 angular instruments I
11 temperature control modules II on 16 temperature control modules I and 6 angular instruments II use closed loop PID control algorithm, for overcoming low temperature environment,
Keep suitable equipment and environment temperature.
As shown in figure 3,8 angular instruments III and 10 angular instruments IV realize the 3 d pose measurement of star sensor benchmark rib body；
β is the quick benchmark rib body of 3 stars around measurement coordinate system X-axis deflection angle；
θ5It is the quick benchmark rib body of 3 stars with respect to 23 dual axis photoelectric autocollimation, IV zero-bit optical axis deflection angle in X-direction；
θ6For level angle of 21 obliquity sensors IV in X-direction；
The quick benchmark rib body of 3 stars is around X-axis deflection angle are as follows: θ5+θ6；
θ7It is the quick benchmark rib body of 3 stars with respect to 29 dual axis photoelectric autocollimation, III zero-bit optical axis deflection angle in Y direction；
θ8For level angle of 28 obliquity sensors III in Y direction；
The quick benchmark rib body of 3 stars is around Y-axis deflection angle are as follows: θ7+θ8；
26 temperature sensor VII, the 27 temperature sensor VIII being mounted on 8 angular instruments III, and it is mounted on 10 angle measurements
22 temperature sensor V, 24 temperature sensor VI on instrument IV are responsible for real-time sampling equipment and current environment temperature, 8 angular instruments
25 temperature control modules IV on 30 temperature control modules III and 10 angular instruments IV on III use closed loop PID control algorithm, for overcoming
Low temperature environment keeps suitable equipment and environment temperature.
In technical solution of the present invention design process, there is the benchmark of itself based on camera in known load and star sensor
Rib body, the spatial attitude angle of benchmark rib body may be defined as the angle rotated rotating around each measurement reference axis.For foregoing invention
Purpose, the solution that the present invention uses is: using 5 road twin shaft photoelectricity from sensor, 4 road double-shaft tilt angle sensors, 8 tunnel temperature
Sensor and 8 road temperature control modules networkings constitute four angular instruments, and angular instrument in groups, measures camera respectively and star is quick two-by-two
The three-dimension altitude angle of sensor benchmark rib body, and transmitted by reference mirror azimuth, a measurement network is built, through upper computer software
Coordinate conversion, resolves the relative attitude relationship obtained between two measurands.
Technical solution of the present invention is based on optical autocollimating and measuring principle, two measurands of synchro measure are transmitted in azimuth
Benchmark rib body clears out the phase between measurand using azimuth transmitting coordinate conversion around the attitudes vibration of tri- axis of X, Y, Z
To posture relationship, realize the automatic measurement at reference attitude angle, overcome prior art means manual measurement is cumbersome, analogue simulation not
Accurately, the defects of low temperature environment can not be adapted to.
Claims (9)
1. a kind of reference attitude Multi-sensor Fusion networking measuring device, it is characterised in that: including four angular instruments, a benchmark
Reflective mirror, a measurement power control cabinet and mounting bracket；
One, angular instrument
(5) angular instrument I, (6) inclinator II, (10) inclinator IV respectively contain a dual axis photoelectric autocollimation, one pair
Axial rake sensor, two temperature sensors and a temperature control module；
(8) angular instrument III include two dual axis photoelectric autocollimations, a double-shaft tilt angle sensor, two temperature sensors and
One temperature control module；The measurement optical axis of two dual axis photoelectric autocollimations is installed at a fixed angle, a photoelectric auto-collimator
For collimating star sensor benchmark rib body, (7) benchmark that another photoelectric auto-collimator is used to collimate on (6) angular instrument II is anti-
Light microscopic realizes the transmitting of orientation angular dependence between (6) angular instrument II and (8) angular instrument III；
Two, benchmark reflective mirror
The three-dimension altitude angle of camera and star sensor benchmark rib body that angular instrument measurement obtains passes through (7) benchmark reflective mirror azimuth
Transmitting, builds to form a measurement network；
Three, power control cabinet is measured
(1) measurement power control cabinet includes power module, angle measurement cell processing module, horizontal measurement processing module, temperature control system processing
Module, attitude angle fusion resolve module and the big module of man-machine interactively module six, realize power supply, data acquisition, signal processing, deposit
Storage, man-machine interactively interface function；
Four, mounting bracket
Mounting bracket is independent four brackets, respectively and after the connection of corresponding four angular instruments, is placed between testing on floor,
And it can be moved freely on surveying time floor；
It when testing, is the sighting condition for meeting test and needing, operator is according to the physical location of measurand, freely
Put mounting bracket and four angular instruments.
It measures and is connected between power control cabinet and four angular instruments by signal cable.
2. a kind of reference attitude Multi-sensor Fusion networking measuring device as described in claim 1, it is characterised in that: angular instrument
Two-by-two in groups, the three-dimension altitude angle of camera reference rib body and star sensor benchmark rib body is measured respectively；
(5) angular instrument I, (10) angular instrument IV complete (4) camera reference rib body, (3) star sensor benchmark rib body around the X-axis side of rotation
To angle measurement；
(6) angular instrument II, (8) angular instrument III complete (4) camera reference rib body and (3) star sensor benchmark rib body around Y-axis and Z axis
The angle measurement of direction of rotation.
3. a kind of reference attitude Multi-sensor Fusion networking measuring device as claimed in claim 2, it is characterised in that: wherein,
Dual axis photoelectric autocollimation is responsible for the deflection angle of measuring basis rib body reflective surface normal Yu auto-collimation zero-bit optical axis；
The rolling of the angle and benchmark rib body of each angular instrument zero-bit optical axis of double-shaft tilt angle sensor real-time measurement and the earth horizontal plane
Gyration；
Temperature sensor measurement environment temperature device temperature；
Temperature control module adjusts output PWM waveform by PID, and realization is rapidly heated and thermostatic control, and control reference attitude senses more
The operating ambient temperature of device combination network measuring device.
4. a kind of reference attitude Multi-sensor Fusion networking measuring device as described in claim 1, it is characterised in that: (7) base
Quasi- reflective mirror is connected on (6) angular instrument II with screw.
5. a kind of reference attitude Multi-sensor Fusion networking measuring device as claimed in claim 4, it is characterised in that: (7) base
The outgoing normal of quasi- reflective mirror and the angle of the measurement optical axis of (6) angular instrument II are installed at fixed angle.
6. a kind of reference attitude Multi-sensor Fusion networking measuring device as described in claim 1, it is characterised in that: measurement net
To carry out include amplification, is filtered, the coordinate change data of AD conversion by the upper computer software that (1) measures power control cabinet for data in network
Processing, the computer that the data after handling are sent into measurement power control cabinet carries out feature extraction, signal fused calculates, posture conversion
Afterwards, show that the 3 d pose between two benchmark rib bodies is poor, to obtain the relative attitude relationship between camera and star sensor.
7. a kind of reference attitude Multi-sensor Fusion networking measuring device as claimed in claim 6, it is characterised in that: power supply mould
Block realizes function of supplying power；
Angle measurement cell processing module sends angle measurement instruction to photoelectricity angle measurement unit by timer (1) is synchronous, and each serial ports receives
Orientation values X, the pitch value Y of five dual axis photoelectric autocollimations, real-time display are simultaneously transmitted to solving of attitude module；
Horizontal measurement processing module, temperature control system processing module rely on four road double-shaft tilt angle sensor of timer (2) synchronous acquisition
Orientation X, pitching Y value and eight channel temperature sensors real time temperature sampled value, be displayed and transmitted to solving of attitude mould
Block；
Attitude angle fusion resolves module according to initial alignment value known to the variate-value and tooling actually received, passes through three
Tie up coordinate conversion, obtain camera reference rib body and star sensor benchmark rib body rotating around X-axis, Y-axis, Z axis attitude misalignment angle, and
Real-time display；
Man-machine interactively module realizes man-machine interactively interface display function.
8. a kind of reference attitude Multi-sensor Fusion networking measuring device as described in claim 1, it is characterised in that: (5) survey
Angle instrument I and (6) angular instrument II realize the 3 d pose measurement of camera reference rib body；
α is (4) camera reference rib body around measurement coordinate system Z axis deflection angle；
θ1It is (4) camera reference rib body with respect to I zero-bit optical axis deflection angle in X-direction of (18) dual axis photoelectric autocollimation；
θ2For level angle of (17) obliquity sensor II in X-direction；
(4) camera reference rib body is around X-axis deflection angle are as follows: θ1+θ2；
θ3It is (4) camera reference rib body with respect to II zero-bit optical axis deflection angle in Y direction of (12) dual axis photoelectric autocollimation；
θ4For level angle of (13) obliquity sensor I in Y direction；
(4) camera reference rib body is around Y-axis deflection angle are as follows: θ3+θ4；
(19) temperature sensor I, (20) temperature sensor II being mounted on (5) angular instrument I, and it is mounted on (6) angular instrument
(14) temperature sensor III, (15) temperature sensor IV on II are responsible for real-time sampling equipment and current environment temperature, (5)
(11) temperature control module II on (16) temperature control module I and (6) angular instrument II on angular instrument I uses closed loop PID control algorithm,
For overcoming low temperature environment, suitable equipment and environment temperature are kept.
9. a kind of reference attitude Multi-sensor Fusion networking measuring device as described in claim 1, it is characterised in that: 8 angle measurements
Instrument III and 10 angular instruments IV realize the 3 d pose measurement of star sensor benchmark rib body；
β is the quick benchmark rib body of (3) star around measurement coordinate system X-axis deflection angle；
θ5It is the quick benchmark rib body of (3) star with respect to IV zero-bit optical axis deflection angle in X-direction of (23) dual axis photoelectric autocollimation；
θ6For level angle of (21) obliquity sensor IV in X-direction；
(3) the quick benchmark rib body of star is around X-axis deflection angle are as follows: θ5+θ6；
θ7It is the quick benchmark rib body of (3) star with respect to III zero-bit optical axis deflection angle in Y direction of (29) dual axis photoelectric autocollimation；
θ8For level angle of (28) obliquity sensor III in Y direction；
(3) the quick benchmark rib body of star is around Y-axis deflection angle are as follows: θ7+θ8；
(26) temperature sensor VII, (27) the temperature sensor VIII being mounted on (8) angular instrument III, and it is mounted on (10)
(22) temperature sensor V, (24) temperature sensor VI on angular instrument IV are responsible for real-time sampling equipment and current environment temperature
It spends, (25) temperature control module IV on (30) temperature control module III and (10) angular instrument IV on (8) angular instrument III uses closed loop PID
Control algolithm keeps suitable equipment and environment temperature for overcoming low temperature environment.
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