CN109459799A - Space optics detects geometric scene multi-angle dynamic simulation test method and system - Google Patents

Space optics detects geometric scene multi-angle dynamic simulation test method and system Download PDF

Info

Publication number
CN109459799A
CN109459799A CN201811615671.3A CN201811615671A CN109459799A CN 109459799 A CN109459799 A CN 109459799A CN 201811615671 A CN201811615671 A CN 201811615671A CN 109459799 A CN109459799 A CN 109459799A
Authority
CN
China
Prior art keywords
angle
target
coordinate
pitching
spin
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN201811615671.3A
Other languages
Chinese (zh)
Other versions
CN109459799B (en
Inventor
孟刚
南华
薛莲
周岩
李亚男
范小礼
白振东
水涌涛
陈福泰
刘洪艳
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing Aerospace Changzheng Aircraft Institute
Original Assignee
Beijing Aerospace Changzheng Aircraft Institute
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Beijing Aerospace Changzheng Aircraft Institute filed Critical Beijing Aerospace Changzheng Aircraft Institute
Priority to CN201811615671.3A priority Critical patent/CN109459799B/en
Publication of CN109459799A publication Critical patent/CN109459799A/en
Application granted granted Critical
Publication of CN109459799B publication Critical patent/CN109459799B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • GPHYSICS
    • G01MEASURING; TESTING
    • G01VGEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
    • G01V13/00Manufacturing, calibrating, cleaning, or repairing instruments or devices covered by groups G01V1/00 – G01V11/00

Abstract

The present invention relates to a kind of space optics to detect geometric scene multi-angle dynamic simulation test method and system, which comprises carries target and simulated target pitching, yaw and spin attitude motion by being mounted on the three-dimensional motion simulator inside spherical container;Pass through the optical emitter simulated target place space environment light radiation being mounted at the top of spherical container;The optical characteristics data of target multi-angle is obtained by the measuring device being mounted on spherical container meridian plane, the measuring device is installed in omnidirectional's test tracks of spherical container meridian plane and moves along warp direction.The present invention obtains the optical characteristics data of target multi-angle by the optical emitter, three-dimensional motion simulator and the measuring device being mounted on spherical container meridian plane that are mounted at the top of spherical container, realizes that space optics detects geometric scene multi-angle dynamic analog.

Description

Space optics detects geometric scene multi-angle dynamic simulation test method and system
Technical field
The present invention relates to extraterrestrial target modelling techniques more particularly to a kind of space optics to detect geometric scene multi-angle Dynamic simulation test method and system.
Background technique
In the in-orbit observation experiment of extraterrestrial target, image that target is formed on optical measuring apparatus and space optical emitter, There are substantial connection in the relative position and radiation of target and measuring device, and the shape of target and Luminance Distribution are to target in the image Observation has a great impact.
It would therefore be highly desirable to a kind of space optics detection geometric scene multi-angle dynamic simulation test system and method are provided, it is real The geometric scene of the in-orbit target of present ground simulation.
Summary of the invention
It is an object of the invention to solve at least part technical problem in the prior art, a kind of space optics is provided Detect geometric scene multi-angle dynamic simulation test method and system.
In order to solve the above-mentioned technical problem, it is more to provide a kind of space optics detection geometric scene for first aspect present invention Angle dynamic simulation test method, which comprises
By be mounted on three-dimensional motion simulator inside spherical container carry target and simulated target pitching, yaw and from Revolve attitude motion;
Pass through the optical emitter simulated target place space environment light radiation being mounted at the top of spherical container;
The optical characteristics data of target multi-angle is obtained by the measuring device being mounted on spherical container meridian plane, it is described Measuring device is installed in omnidirectional's test tracks of spherical container meridian plane and moves along warp direction.
In space optics according to the present invention detection geometric scene multi-angle dynamic simulation test method, preferably Ground, the method also includes:
It is special by the multiple optical characteristics observation windows being located in spherical container equatorial plane different direction and each optics Property observation window in the measuring device that is arranged obtain the optical characteristics data of target multi-angle.
In space optics according to the present invention detection geometric scene multi-angle dynamic simulation test method, preferably Ground, the three-dimensional motion simulator include: spin motion mechanism, pitching movement mechanism and yawing rotation mechanism;
The yawing rotation mechanism includes installation pedestal, arc track pillar, teeth arc gear transmission mechanism and yaw electricity Machine;The yaw motor drives arc track pillar to be turned using gravity axis Z as shaft by the teeth arc gear transmission mechanism It is dynamic;
The pitching movement mechanism includes: arc track, pitching movement trolley, pitching motor and rack pinion machine Structure;The arc track is mounted on the arc track pillar, and the pitching movement trolley is mounted on the arc track, The pitching motor is upper by gear and the rack gear realization pitching movement trolley arcuately track that is fixed among arc track Lower movement is rotated using the Y-axis perpendicular with the longitudinally asymmetric axis X of target itself and the constituted plane of arc track as shaft;
The spin motion mechanism includes: spin mechanics pedestal, target installation floral disc, gear drive combination and spin electricity Machine;The spin mechanics pedestal is fixedly mounted on the pitching movement trolley, is realized and is connected with pitching movement mechanism, target peace Dress floral disc is mounted on spin mechanics pedestal, and target is fixed on the target installation floral disc of the spin motion mechanism, by described The motor that spins is combined by the gear drive to be driven, and is rotated using the longitudinally asymmetric axis X of target itself as axle center.
In space optics according to the present invention detection geometric scene multi-angle dynamic simulation test method, preferably Ground, the three-dimensional rotation simulator further include: liquid nitrogen cooling system;
The liquid nitrogen cooling system includes the cold plate positioned at arc track outer surface, and is attached at the liquid of the cold plate Nitrogen pipeline;The liquid nitrogen pipes include interconnected input duct and liquid outlet pipe.
In space optics according to the present invention detection geometric scene multi-angle dynamic simulation test method, preferably Ground, the method also includes:
Coordinate conversion process is carried out according to preset optical emitter and observed bearing pitch angle, obtains three-dimensional motion simulator Turntable rotation angle be sent to the three-dimensional motion simulator control its simulated target pitching, yaw and spin attitude motion.
In space optics according to the present invention detection geometric scene multi-angle dynamic simulation test method, preferably Ground, the coordinate conversion process in the method include: to define two coordinate systems are as follows: fixed coordinate system Ot-XtYtZt, turntable coordinate It is OZ-XzYzZz, XtOtYtPlane and XzOZYzPlane is parallel, OtAt spherical container center, OzAt three-dimensional rotation simulator center;
Pitch angle and the azimuth of the measuring device and optical emitter can be obtained under the fixed coordinate system;The turntable The turntable rotation angle of the three-dimensional rotation simulator can be obtained under coordinate system;
If coordinate of the measuring device in fixed coordinate system is Ot0, coordinate in turntable coordinate system be Oz0, wrap in coordinate Containing pitch angle and azimuth, O is obtained according to turntable rotation modez0, measuring device is further solved in turntable coordinate system Azimuth and pitch angle, further by turntable coordinate system azimuth and pitch angle be converted to three-dimensional rotation simulator Turntable rotation angle.
The present invention also provides a kind of space optics to detect geometric scene multi-angle dynamic simulation test system, the system Include:
Spherical container;
The optical emitter being placed at the top of the spherical container, for space environment light radiation where simulated target;
The three-dimensional motion simulator being placed in inside the spherical container, for carrying target and simulated target pitching, yaw With spin attitude motion;
Omnidirectional's test tracks on spherical container meridian plane, and be mounted in omnidirectional's test tracks for edge The measuring device of warp direction movement.
In space optics according to the present invention detection geometric scene multi-angle dynamic simulation test system, preferably Ground, the system also includes: multiple optical characteristics observation windows in spherical container equatorial plane different direction, wherein each At least one measuring device is provided in optical characteristics observation window.
In space optics according to the present invention detection geometric scene multi-angle dynamic simulation test system, preferably Ground, the three-dimensional motion simulator include: spin motion mechanism, pitching movement mechanism and yawing rotation mechanism;
The yawing rotation mechanism includes installation pedestal, arc track pillar, teeth arc gear transmission mechanism and yaw electricity Machine;The yaw motor drives arc track pillar to be turned using gravity axis Z as shaft by the teeth arc gear transmission mechanism It is dynamic;
The pitching movement mechanism includes: arc track, pitching movement trolley, pitching motor and rack pinion machine Structure;The arc track is mounted on the arc track pillar, and the pitching movement trolley is mounted on the arc track, The pitching motor is upper by gear and the rack gear realization pitching movement trolley arcuately track that is fixed among arc track Lower movement is rotated using the Y-axis perpendicular with the longitudinally asymmetric axis X of target itself and the constituted plane of arc track as shaft;
The spin motion mechanism includes: spin mechanics pedestal, target installation floral disc, gear drive combination and spin electricity Machine;The spin mechanics pedestal is fixedly mounted on the pitching movement trolley, is realized and is connected with pitching movement mechanism, target peace Dress floral disc is mounted on spin mechanics pedestal, and target is fixed on the target installation floral disc of the spin motion mechanism, by described The motor that spins is combined by the gear drive to be driven, and is rotated using the longitudinally asymmetric axis X of target itself as axle center.
In space optics according to the present invention detection geometric scene multi-angle dynamic simulation test system, preferably Ground, the system also includes:
Control device is connected with the three-dimensional motion simulator and measuring device, for according to preset observation and light spoke It penetrates source azimuth pitch angle and carries out coordinate conversion process, the turntable rotation angle for obtaining three-dimensional motion simulator is sent to three maintenance and operation Dynamic simulator controls its operating.
Implement space optics detection geometric scene multi-angle dynamic simulation test method and system of the invention, has following The utility model has the advantages that
1, the present invention is led to by the optical emitter simulated target place space environment light radiation being mounted at the top of spherical container Three-dimensional motion simulator carrying target and simulated target pitching, yaw and spin attitude motion are crossed, and by being mounted on spherical container Measuring device on meridian plane obtains the optical characteristics data of target multi-angle, realizes that space optics detects geometric scene multi-angle Dynamic analog.
2, the present invention is by being to turn by transfer algorithm by the spatial position of in-orbit target, measuring device and optical emitter It is changed to the angular relationship of experimental provision, finally realizes the relative angular relationship in the in-orbit target of ground simulation, obtains and flies The identical image that measuring device is seen during row, for angle simulation error less than 0.3 °, radiance distribution is identical.
3, target is measured respectively by the multiple measuring devices being located on the spherical container equatorial plane and meridian plane in the present invention The optical characteristics data of multi-angle.
4, three-dimensional motion simulator of the invention is transported by the spin motion mechanism of design, pitching movement mechanism and yaw Motivation structure series system realizes extraterrestrial target spin, pitching and the simulation for yawing three dimension attitude motions, and passes through arc The design of shape track luffing mechanism makes tested target effective avoid top simulated solar irradiation to be blocked by movement simulation mechanism, really Authenticity of the simulated target under sunlight irradiation is protected.
5, of the invention to use liquid nitrogen cooling system, motion motor heat preservation bring heat radiation interference has been blocked, it can The infrared signature for meeting the three-dimensional compound motion target under the high vacuum low temperature environment with simulation optical emitter measures need It asks.By the use of the present apparatus, it will effectively avoid pitching movement trolley in infrared test and wherein motor be true to extraterrestrial target The interference of infrared characteristic, the accuracy of room for promotion target radiation measurement result.
Detailed description of the invention
Fig. 1 is to detect geometric scene multi-angle dynamic simulation test system according to the space optics of the preferred embodiment of the present invention Schematic illustration;
Fig. 2 is the sun and target angle corresponding relationship in spatial observation scene;
Fig. 3 is measuring device and target angle relational graph one in spatial observation scene;
Fig. 4 is measuring device and target angle relational graph two in spatial observation scene;
Fig. 5 is detection direction and direction of illumination angle schematic diagram;
Fig. 6 is direction of illumination and object axis angle schematic diagram;
Fig. 7 is object axis and observed direction angle schematic diagram;
Fig. 8 is to detect geometric scene multi-angle dynamic simulation test system according to the space optics of the preferred embodiment of the present invention Optical characteristics observation window distribution schematic diagram on the middle equatorial plane;
Fig. 9 is to detect geometric scene multi-angle dynamic simulation test system according to the space optics of the preferred embodiment of the present invention The relational graph of middle fixed coordinate system and turntable coordinate system;
Figure 10 is to detect geometric scene multi-angle dynamic simulation test system according to the space optics of the preferred embodiment of the present invention The structure chart of three-dimensional motion simulator in system;
Figure 11 is to detect geometric scene multi-angle dynamic simulation test system according to the space optics of the preferred embodiment of the present invention Liquid nitrogen cooling system installation diagram in system.
Specific embodiment
The feature and exemplary embodiment of various aspects of the invention is described more fully below, in order to make mesh of the invention , technical solution and advantage be more clearly understood, with reference to the accompanying drawings and embodiments, the present invention is further retouched in detail It states.It should be understood that specific embodiment described herein is only configured to explain the present invention, it is not configured as limiting the present invention. To those skilled in the art, the present invention can be real in the case where not needing some details in these details It applies.Below the description of embodiment is used for the purpose of better understanding the present invention to provide by showing example of the invention.
It should be noted that, in this document, relational terms such as first and second and the like are used merely to a reality Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or equipment Intrinsic element.In the absence of more restrictions, the element limited by sentence " including ... ", it is not excluded that including There is also other identical elements in the process, method, article or equipment of the element.
Fig. 1 is please referred to, to detect geometric scene multi-angle dynamic according to the space optics of the preferred embodiment of the present invention The schematic illustration of simulation experiment system.As shown, the space optics detects geometric scene multi-angle dynamic simulation test system System includes at least: spherical container 1, optical emitter 2, three-dimensional motion simulator 3, omnidirectional's test tracks 4 and measuring device 5.
Wherein spherical container 1 is major diameter spherical vacuum, low-temperature (low temperature) vessel, and diameter is preferably 10-30m.
Optical emitter 2 is installed on the top of spherical container 1, generates illumination downwards.The optical emitter 2 includes but is not limited to use The solar simulator shined upon in space environmental simulation.
Three-dimensional motion simulator 3 is placed in inside spherical container 1, for carry target 6 and simulated target pitching, yaw and from Revolve attitude motion.The three-dimensional motion simulator 3 can be described as turntable again.
Omnidirectional's test tracks 4 are located on the meridian plane of spherical container 1, and measuring device 5 is mounted on edge in omnidirectional's test tracks 4 Warp direction movement.Measuring device 5 can move up and down in omnidirectional's test tracks 4 as shown in figure 1.
The present invention can establish unified measuring basis coordinate system in spherical container, be solved according to transformational relation calculating Angular relationship between each moment targeted attitude, illumination, detection sight, in drive control spherical vessel 1 targeted attitude movement and The walking movement of measuring device 5.
The present invention can detect geometric scene multi-angle dynamic analog with space optics.
Firstly, it is (complete to ground system test to establish spatial observation scene (comprising space measurement equipment, the sun and spacecraft) To measuring mechanism measuring device, solar simulator, target) space three-dimensional angle map relationship.
The sun is illustrated in fig. 2 shown below with target angle corresponding relationship in spatial observation scene, if target position is [x1y 1z1], posture is [yaw pitch roll], and position of sun is [x2y 2z 2], then (target light is shone for the sun and object axis angle Angle) specific formula for calculation is as follows:
θ=φ-pitch
Measuring device and target angle relationship are as shown in figure 3, set target position as [x in spatial observation scene1y 1z 1], Posture is [yaw pitch roll], and device location measurement is [x2y 2z 2], then measuring device and object axis angle (target View angle) specific formula for calculation is ibid as follows:
λ=φ-pitch
Measuring device and target angle relationship are as shown in figure 4, set target position as [x in spatial observation scene1y 1z 1], Posture is [yaw pitch roll], and device location measurement is [x2y 2z 2], position of sun is [x3y3z3];Then measuring device It is as follows with angle (observation illumination angle) specific formula for calculation of target link and the sun and target link:
For reproduction observed object geometric angle variation, ground system test is designed as spherical shape by the present invention.Target is placed in The spherical container centre of sphere utilizes appearance by three-dimensional motion simulator carrying target and simulated target pitching, yaw, spin attitude motion Omnidirectional measurement track and be mounted on omnidirectional measurement track can be along the measuring device simulation that warp direction moves on device meridian plane Detection angle variation, optical emitter such as solar simulator are mounted at the top of spherical container.
The present invention can reappear following observation geometric angle relationship:
A) 0 °~180 ° of illumination angle is observed
Optical emitter position and direction are fixed, and make measuring device along container warp longitudinal movement by omnidirectional's test tracks, Realize the different angles of measurement direction and direction of illumination.0 °~180 ° of illumination angle variation range of observation, as shown in Figure 5.
B) target light shines 0~180 ° of angle
Sunlight can be achieved to the photograph of the different directions of target by the variation of the pitch angle of target three-dimensional motion simulator It penetrates, target light shines 0~180 ° of angular region, as shown in Figure 6.
C) 0~180 ° of target observation angle
Observation device can be achieved to the different directions of target by the variation of the yaw angle of target three-dimensional motion simulator Observation, 0~180 ° of target observation angle variation range, as shown in Figure 7.
A), b), c), system achievable target light in space simulator shines 0~180 ° of angle, target observation angle to synthesis 0~180 °, observe the various angle combinations relationships in 0 °~180 ° of illumination angle and consecutive variations process simulation.
In preferred embodiment of the invention, the system further include: in 1 equatorial plane different direction of spherical container Multiple optical characteristics observation windows, wherein at least one measuring device is provided in each optical characteristics observation window, such as Fig. 8 institute Show, is additionally arranged multiple measuring devices in all angles being located on the equatorial plane.It is located on the equatorial plane and meridian plane in the present invention Measuring device includes but is not limited to: for obtaining visible light, infrared and/or uv measurement data measuring device.
In preferred embodiment of the invention, the system further include: control device, with three-dimensional motion simulator and measurement Equipment is connected, and for carrying out coordinate conversion process with optical emitter azimuth pitch angle according to preset observation, obtains three-dimensional motion The turntable rotation angle of simulator is sent to the three-dimensional motion simulator and controls its operating.Specifically, in order to measure different direction It with the infrared radiation characteristics under angle, needs through coordinates transformation method, shines upon pitching, azimuth and survey for what is inputted Measuring the Parameter Switch under the earth axes such as pitching, the azimuth of equipment is under the experimental rigs coordinate systems such as test table and track Angle, directional bearing needed for by control turntable etc. rotating to specified angle when measurement test can be realized, pitch angle and Shine upon orientation, pitch angle.Conversion method is as follows:
1, coordinate system defines
As shown in Figure 9, it is assumed that equipment fixed coordinate system is (being equivalent to earth axes): Ot-XtYtZt, turntable coordinate system (being equivalent to target-based coordinate system) are as follows: OZ-XzYzZz;XtOtYtPlane and XzOZYzPlane is parallel, ZtAxis and ZzOverlapping of axles, OtIn spherical shape Container center, OzIn OtUnderface, OzIn turntable center.
Pitch angle definition: being direction vector and vector in the face XOY (XtOtYtOr XzOZYz) in projection angle, work as vector When Z component is greater than 0, it is positive, is negative when less than 0, angle is between (- 90~90 °).
Azimuth definition: being the angle of projection and+X-axis of the direction vector in the face XOY, when vector Y component is greater than 0, It is positive, is negative when less than 0, angle is between (- 180~180 °).
So when azimuth is θx, pitch angle θyWhen, then direction vector indicates are as follows:
Xiang Yingyou:
2, the sun and observation position indicate
It is assumed that the radius of spherical container is R, coordinate representation of the turntable center in fixed coordinate system is(turn Platform center is in fixed coordinate system central lower distance T), it is assumed that incident orientation angle of the solar simulator under turntable coordinate system is bowed The elevation angle is (α1, β1), then coordinate S of the solar simulator in fixed coordinate systemt0, coordinate S in turntable coordinate systemz0Respectively Are as follows:
It is assumed that azimuth of the observation position in fixed coordinate system, pitch angle θ4、θ5, under turntable coordinate system azimuth, Pitch angle is (α2, β2), then coordinate O of the observation position in fixed coordinate systemt0, coordinate O in turntable coordinate systemz0Are as follows:
Wherein,
3, coordinate is converted
If the azimuth (being also lower circular arc-shaped corner) of turntable is θ1(- 180 °~180 °), pitch angle (also make middle circular arc turn Angle) it is θ2(0 °~-150 °), angle of rotation are also named (upper circular arc-shaped corner) for θ3(- 180 °~180 °), can according to turntable rotation mode Know: enabling
In formula, ci=cos θi、si=sin θi
In view of coordinate translation, then have:
Then had according to above-mentioned two formula,
Had according to coordinate transformation relation:
Wherein, there is θ014, c0=cos (θ0)、s0=sin (θ0).Then have:
Position of sun and observation position that (7), (8) formula obtain are normalized, then can be asked according to formula (1) Its azimuth and pitch angle in turntable coordinate system is solved, details are not described herein again.
4, under turntable coordinate system, the orientation of observation position and position of sun, pitch angle are converted into turntable rotation angle:
Solve θ2、θ3
From formula (7):
According to formula (9), (3), direction is calculated at this time and does not consider R, T, can be obtained:
(1) work as θ2When [- 150,0] ∈, θ2=-cos-1(t3), θ at this time2There is unique solution.
(2) work as θ3When [- 180,180] ∈, have
Special case, s2When=0, θ3For arbitrary value, it may be assumed that be θ3=0
θ3There is unique solution;
Solve θ5、θ0
It can be obtained by formula (8):
It can obtain:
A[k3c2-(k1c3-k2s3)s2]=(Rs5-T) (10)
Enable k0=k3c2-(k1c3-k2s3)s2, then have
The S as T=05For the first inspection surface (i.e. the equatorial plane), as T ≠ 0, S5On non-equatorial face, s is solved by above formula5, θ can be found out5, θ is acquired according to the following formula0:
5, solar simulator and measuring device azimuth, pitch angle are being obtained about the turntable rotation angle under turntable coordinate system After degree, be obtained with by controlling these turntable rotation angles when actual test required observation bit and sun position azimuth, Pitch angle measures.
Referring to Fig. 10, to detect geometric scene multi-angle dynamic analog according to the space optics of the preferred embodiment of the present invention The structure chart of three-dimensional motion simulator in pilot system.
The three-dimensional motion simulator 3 includes: spin motion mechanism, pitching movement mechanism and yawing rotation mechanism.
Wherein, yawing rotation mechanism include installation pedestal 301, arc track pillar 302, teeth arc gear transmission mechanism 303, And yaw motor 304.Wherein, yaw motor 301 drives arc track pillar by the teeth arc gear transmission mechanism 303 302 using gravity axis Z as shaft, within the scope of ± 90 °, makees uniform rotation with certain revolving speed, rotates angle by yaw motor 304 Control.
Pitching movement mechanism includes: that arc track 305, pitching movement trolley 306, pitching motor 307 and rack-and-pinion pass Motivation structure.Rack and pinion drive mechanism includes gear 308 and rack gear 309.Arc track 305 is mounted on arc track pillar 302 On, pitching movement trolley 306 is mounted on arc track 305, and pitching motor 307 is by gear 308 and is fixed on arc track Rack gear 309 among 305 realizes the up and down motion of the arcuately track 305 of pitching movement trolley 306, with longitudinal right with target itself Axis X and the perpendicular Y-axis of the constituted plane of arc track are referred to as that shaft is rotated, with certain revolving speed in certain pitch angle In range, make uniform motion, can be made by motor control it is two-way, determine angular turn, rotate angle by Serve Motor Control.
Spin motion mechanism include: spin mechanics pedestal 310, target installation floral disc 311, gear drive combination 312 and Spin motor 313.Wherein spin mechanics pedestal 310 is fixedly mounted on pitching movement trolley 306, is realized with pitching movement mechanism Connection, target installation floral disc 311 are mounted on spin mechanics pedestal 310, and target is fixed on target installation floral disc 311, by institute It states spin motor 313 to drive by gear drive combination 312, using the longitudinally asymmetric axis X of target itself as axle center, with certain angle Speed uniform rotation.
In more preferred embodiment of the invention, as shown in figure 11, also it is mounted with that liquid nitrogen is cold in three-dimensional motion simulator But system.As shown in figure 11, which includes the cold plate 314 positioned at arc track outer surface, and is attached at The liquid nitrogen pipes of the cold plate 314.The liquid nitrogen pipe of the every side of arc track routes an integral conduit and constitutes, including connection into Liquid pipe road 315 and liquid outlet pipe 316, it is arcuately fixed on the outside of pitching track to be laid with, add heat-barrier material gasket therebetween, passes through Liquid nitrogen circulates the cold plate temperature that can be effectively reduced on the outside of arc track, and it is small to reach shielding inner tracks, pitching movement The effect of the components heat radiation such as vehicle and motor internal, the measurement principal direction to Infrared Targets characteristic are the side with target axis oriented normal To target can be greatly reduced with the interference of external heat source, realize the interference for ensuring to be subject to when target measurement while movement simulation It is minimum.
Three-dimensional motion simulator preferably uses hollow frame structure, to mitigate quality, by dry bearing handle vacuum motor, Dry lubrication handles the part such as right angle precision speed reduction device, gear, rack gear and forms, and structural material uses stainless steel, appearance Face polish and lacquer special type is pitch-dark.Arc track external heat sink is made of cold plate and internal liquid nitrogen pipeline,
Therefore, three-dimensional motion simulator of the invention passes through the spin motion mechanism, pitching movement mechanism and yaw of design Movement mechanism series system realizes extraterrestrial target spin, pitching and the simulation for yawing three dimension attitude motions.Due to using Liquid nitrogen cooling system has been blocked motion motor heat preservation bring heat radiation interference, can satisfy in the height with optical emitter The infrared signature measurement demand of three-dimensional compound motion target under vacuum low-temperature environment.Pass through setting for arc track luffing mechanism Counting makes tested target effective avoid top simulated solar irradiation is blocked by movement simulation mechanism, it is ensured that simulated target is in sunlight Authenticity under irradiation.By the use of the present apparatus, pitching movement trolley and wherein motor pair will be effectively avoided in infrared test The interference of the true infrared characteristic of extraterrestrial target, the accuracy of room for promotion target radiation measurement result.
The present invention further correspondingly provides a kind of space optics detection geometric scene multi-angle dynamic simulation test method, the party Method can be realized based on aforesaid space optical detection geometric scene multi-angle dynamic simulation test system.This method includes following step It is rapid:
1) by be mounted on three-dimensional motion simulator inside spherical container carry target and simulated target pitching, yaw and Spin attitude motion;
2) the optical emitter simulated target place space environment light radiation by being mounted at the top of spherical container;
3) optical characteristics data of target multi-angle, institute are obtained by the measuring device being mounted on spherical container meridian plane Measuring device is stated to be installed in omnidirectional's test tracks of spherical container meridian plane and move along warp direction.
The method also includes: pass through the multiple optical characteristics observation windows being located in spherical container equatorial plane different direction And the measuring device being arranged in each optical characteristics observation window obtains the optical characteristics data of target multi-angle.Side of the present invention The optical characteristics data obtained in method includes but is not limited to: visible light, infrared and uv measurement data.
Preferably, this method further include: carried out at coordinate conversion according to preset optical emitter and observed bearing pitch angle Reason, obtain three-dimensional motion simulator turntable rotation angle be sent to the three-dimensional motion simulator control its simulated target pitching, Yaw and spin attitude motion.
Preferably, the coordinate conversion process in the method is as previously described.
Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations;Although Present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: it still may be used To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features; And these are modified or replaceed, technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution spirit and Range.

Claims (10)

1. a kind of space optics detects geometric scene multi-angle dynamic simulation test method, which is characterized in that the described method includes:
Target and simulated target pitching, yaw and spin appearance are carried by being mounted on the three-dimensional motion simulator inside spherical container State movement;
Pass through the optical emitter simulated target place space environment light radiation being mounted at the top of spherical container;
The optical characteristics data of target multi-angle, the measurement are obtained by the measuring device being mounted on spherical container meridian plane Equipment is installed in omnidirectional's test tracks of spherical container meridian plane and moves along warp direction.
2. space optics according to claim 1 detects geometric scene multi-angle dynamic simulation test method, feature exists In, the method also includes:
It is seen by the multiple optical characteristics observation windows being located in spherical container equatorial plane different direction and each optical characteristics Survey the optical characteristics data that the measuring device being arranged in window obtains target multi-angle.
3. space optics according to claim 1 detects geometric scene multi-angle dynamic simulation test method, feature exists In the three-dimensional motion simulator includes: spin motion mechanism, pitching movement mechanism and yawing rotation mechanism;
The yawing rotation mechanism includes installation pedestal, arc track pillar, teeth arc gear transmission mechanism and yaw motor; The yaw motor drives arc track pillar to be rotated using gravity axis Z as shaft by the teeth arc gear transmission mechanism;
The pitching movement mechanism includes: arc track, pitching movement trolley, pitching motor and rack and pinion drive mechanism;Institute It states arc track to be mounted on the arc track pillar, the pitching movement trolley is mounted on the arc track, described Pitching motor realizes the fortune up and down of pitching movement trolley arcuately track by gear and the rack gear that is fixed among arc track It is dynamic, it is rotated using the Y-axis perpendicular with the longitudinally asymmetric axis X of target itself and the constituted plane of arc track as shaft;
The spin motion mechanism includes: spin mechanics pedestal, target installation floral disc, gear drive combination and spin motor; The spin mechanics pedestal is fixedly mounted on the pitching movement trolley, is realized and is connected with pitching movement mechanism, target installation Floral disc is mounted on spin mechanics pedestal, target be fixed on the spin motion mechanism target installation floral disc on, by it is described from It revolves motor and drive is combined by the gear drive, rotated using the longitudinally asymmetric axis X of target itself as axle center.
4. space optics according to claim 3 detects geometric scene multi-angle dynamic simulation test method, feature exists In the three-dimensional rotation simulator further include: liquid nitrogen cooling system;
The liquid nitrogen cooling system includes the cold plate positioned at arc track outer surface, and is attached at the liquid nitrogen pipe of the cold plate Road;The liquid nitrogen pipes include interconnected input duct and liquid outlet pipe.
5. space optics according to claim 4 detects geometric scene multi-angle dynamic simulation test method, feature exists In, the method also includes:
Coordinate conversion process is carried out according to preset optical emitter and observed bearing pitch angle, obtains turning for three-dimensional motion simulator Platform rotation angle is sent to the three-dimensional motion simulator and controls its simulated target pitching, yaw and spin attitude motion.
6. space optics according to claim 5 detects geometric scene multi-angle dynamic simulation test method, feature exists In the coordinate conversion process in the method includes:
If the azimuth of the measuring device is θx, pitch angle θyWhen, then direction vector indicates are as follows:
It is assumed that the radius of the spherical container is R, coordinate representation of the turntable center in fixed coordinate system isIt is assumed that Incident orientation angle of the measuring device under turntable coordinate system, pitch angle are (α1, β1), then measuring device is in fixed coordinate system Coordinate St0, coordinate S in turntable coordinate systemz0It is respectively as follows:
It is assumed that azimuth of the measuring device in fixed coordinate system, pitch angle θ4、θ5, azimuth, pitching under turntable coordinate system Angle is (α2, β2), then coordinate O of the observation position in fixed coordinate systemt0, coordinate O in turntable coordinate systemz0Are as follows:
Wherein,
If the azimuth of turntable is θ1, pitch angle θ2, angle of rotation θ3, according to turntable rotation mode: enabling
In formula, ci=cos θi、si=sin θi,
In view of coordinate translation, then have:
Then had according to above-mentioned two formula,
Had according to coordinate transformation relation:
Wherein, if θ014, c0=cos (θ0)、s0=sin (θ0), then have:
Device location measurement and observation position that (7), (8) formula obtain are normalized, then solved according to formula (1) Its azimuth and pitch angle in turntable coordinate system;
Again under turntable coordinate system, the orientation of observation position and device location measurement, pitch angle are converted into turntable rotation angle:
Solve θ2、θ3
From formula (7):
According to formula (9), (3), direction is calculated at this time and does not consider R, T, can be obtained:
(1) work as θ2When [- 150,0] ∈, θ2=-cos-1(t3), θ at this time2There is unique solution;
(2) work as θ3When [- 180,180] ∈, have
Special case, s2When=0, θ3For arbitrary value, it may be assumed that be θ3=0
θ3There is unique solution;
Solve θ5、θ0
It can be obtained by formula (8):
It can obtain:
A[k3c2-(k1c3-k2s3)s2]=(Rs5-T) (10)
Enable k0=k3c2-(k1c3-k2s3)s2, then have
The S as T=05For the first inspection surface (i.e. the equatorial plane), as T ≠ 0, S5On non-equatorial face, s is solved by above formula5? Find out θ5, θ is acquired according to the following formula0:
7. a kind of space optics detects geometric scene multi-angle dynamic simulation test system, which is characterized in that the system comprises:
Spherical container;
The optical emitter being placed at the top of the spherical container, for space environment light radiation where simulated target;
The three-dimensional motion simulator being placed in inside the spherical container, for carry target and simulated target pitching, yaw and from Revolve attitude motion;
Omnidirectional's test tracks on spherical container meridian plane, and be mounted in omnidirectional's test tracks for along warp The measuring device of direction movement.
8. space optics according to claim 7 detects geometric scene multi-angle dynamic simulation test system, feature exists In, the system also includes:
Multiple optical characteristics observation windows in spherical container equatorial plane different direction, wherein each optical characteristics observation window At least one measuring device is provided in mouthful.
9. space optics according to claim 7 detects geometric scene multi-angle dynamic simulation test system, feature exists In the three-dimensional motion simulator includes: spin motion mechanism, pitching movement mechanism and yawing rotation mechanism;
The yawing rotation mechanism includes installation pedestal, arc track pillar, teeth arc gear transmission mechanism and yaw motor; The yaw motor drives arc track pillar to be rotated using gravity axis Z as shaft by the teeth arc gear transmission mechanism;
The pitching movement mechanism includes: arc track, pitching movement trolley, pitching motor and rack and pinion drive mechanism;Institute It states arc track to be mounted on the arc track pillar, the pitching movement trolley is mounted on the arc track, described Pitching motor realizes the fortune up and down of pitching movement trolley arcuately track by gear and the rack gear that is fixed among arc track It is dynamic, it is rotated using the Y-axis perpendicular with the longitudinally asymmetric axis X of target itself and the constituted plane of arc track as shaft;
The spin motion mechanism includes: spin mechanics pedestal, target installation floral disc, gear drive combination and spin motor; The spin mechanics pedestal is fixedly mounted on the pitching movement trolley, is realized and is connected with pitching movement mechanism, target installation Floral disc is mounted on spin mechanics pedestal, target be fixed on the spin motion mechanism target installation floral disc on, by it is described from It revolves motor and drive is combined by the gear drive, rotated using the longitudinally asymmetric axis X of target itself as axle center.
10. space optics according to claim 7 detects geometric scene multi-angle dynamic simulation test system, feature exists In, the system also includes:
Control device is connected with the three-dimensional motion simulator and measuring device, for according to preset observation and optical emitter Azimuth pitch angle carries out coordinate conversion process, and the turntable rotation angle for obtaining three-dimensional motion simulator is sent to the three-dimensional motion mould Quasi- device controls its operating.
CN201811615671.3A 2018-12-27 2018-12-27 Space optics detects geometric scene multi-angle dynamic simulation test method and system Active CN109459799B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201811615671.3A CN109459799B (en) 2018-12-27 2018-12-27 Space optics detects geometric scene multi-angle dynamic simulation test method and system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201811615671.3A CN109459799B (en) 2018-12-27 2018-12-27 Space optics detects geometric scene multi-angle dynamic simulation test method and system

Publications (2)

Publication Number Publication Date
CN109459799A true CN109459799A (en) 2019-03-12
CN109459799B CN109459799B (en) 2019-08-23

Family

ID=65615320

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201811615671.3A Active CN109459799B (en) 2018-12-27 2018-12-27 Space optics detects geometric scene multi-angle dynamic simulation test method and system

Country Status (1)

Country Link
CN (1) CN109459799B (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111585647A (en) * 2020-05-27 2020-08-25 Oppo广东移动通信有限公司 Device, method and system for testing optical communication performance

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101698433A (en) * 2009-10-23 2010-04-28 北京航空航天大学 Motion simulator for simulation experiments on target characteristic ground
CN105511500A (en) * 2015-12-07 2016-04-20 中国科学院光电研究院 Target and light source control simulation system and method in space target dynamic optical property ground-based simulation
CN106644960A (en) * 2016-12-14 2017-05-10 中国运载火箭技术研究院 Space target characteristic measuring system
CN108802754A (en) * 2018-04-17 2018-11-13 北京环境特性研究所 A kind of optical property measurement system and its application process

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101698433A (en) * 2009-10-23 2010-04-28 北京航空航天大学 Motion simulator for simulation experiments on target characteristic ground
CN105511500A (en) * 2015-12-07 2016-04-20 中国科学院光电研究院 Target and light source control simulation system and method in space target dynamic optical property ground-based simulation
CN106644960A (en) * 2016-12-14 2017-05-10 中国运载火箭技术研究院 Space target characteristic measuring system
CN108802754A (en) * 2018-04-17 2018-11-13 北京环境特性研究所 A kind of optical property measurement system and its application process

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111585647A (en) * 2020-05-27 2020-08-25 Oppo广东移动通信有限公司 Device, method and system for testing optical communication performance

Also Published As

Publication number Publication date
CN109459799B (en) 2019-08-23

Similar Documents

Publication Publication Date Title
US10665012B2 (en) Augmented reality camera for use with 3D metrology equipment in forming 3D images from 2D camera images
US10165255B2 (en) Indoor navigation via multi-beam laser projection
CN103578117B (en) Determine the photographic head method relative to the attitude of environment
US6196081B1 (en) Systems and methods employing a rotary track for machining and manufacturing
EP2010941B1 (en) Camera based six degree-of-freedom target measuring and target tracking device with rotatable mirror
CN107543495B (en) Spacecraft equipment autocollimation measuring system, alignment method and measurement method
Chan et al. GRay: A massively parallel GPU-based code for ray tracing in relativistic spacetimes
CN105928467B (en) Large Spacecraft malformation measures pilot system under vacuum low-temperature environment
Gfrerrer Geometry and kinematics of the Mecanum wheel
CN103759669B (en) A kind of monocular vision measuring method of heavy parts
CN104215258B (en) Method and system for measuring precision of angle measurement of vehicle theodolite
CN106625573B (en) A kind of series parallel robot in five degrees of freedom direct error compensation technique
CN105572692B (en) Satellite image navigates and registering full physical test device and method of testing
CN105157725A (en) Hand-eye calibration method employing two-dimension laser vision sensor and robot
Nahm et al. Light-scattering models for spheres on a conducting plane: comparison with experiment
Hezaveh et al. Effects of strong gravitational lensing on millimeter-wave galaxy number counts
Jux et al. Robotic volumetric PIV of a full-scale cyclist
Mužić et al. First proper motions of thin dust filaments at the Galactic center
CN104858870A (en) Industrial robot measurement method based on tail end numbered tool
Bretz et al. The drive system of the major atmospheric gamma-ray imaging Cherenkov telescope
CN104462776B (en) A kind of low orbit earth observation satellite is to moon absolute radiation calibration method
CN103308028B (en) Binocular stereovision measuring device and method for attitude angle of triaxial air floating platform
Latimer Light scattering by ellipsoids
CN102706277B (en) Industrial robot online zero position calibration device based on all-dimensional point constraint and method
CN106052555B (en) A kind of industrial robot pedestal coordinate measuring method

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant