CN109655079A - Star sensor measures coordinate system to prism coordinate system measurement method and system - Google Patents
Star sensor measures coordinate system to prism coordinate system measurement method and system Download PDFInfo
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- CN109655079A CN109655079A CN201811517467.8A CN201811517467A CN109655079A CN 109655079 A CN109655079 A CN 109655079A CN 201811517467 A CN201811517467 A CN 201811517467A CN 109655079 A CN109655079 A CN 109655079A
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract
The present invention relates to a kind of star sensors to measure coordinate system to prism coordinate system measurement method and system.It includes: to determine that single star simulator optical axis is directed toward by plane mirror that the star sensor, which measures coordinate system to prism coordinate system measurement method,；Determine the installation site of photoelectric auto-collimator；Auto-collimation is carried out by first direction and/or second direction of the photoelectric auto-collimator to the plane mirror and star sensor benchmark prism；Obtain respectively coordinate system first direction around the rotational angle of prism coordinate system first direction, coordinate system second direction around prism coordinate system second direction rotational angle and coordinate system third direction around prism coordinate system third direction rotational angle.Measurement method and system of the invention is carried out by high-precision measuring device, and not only operation is simple and reliable, and substantially increases the precision of measurement.
Description
Technical field
The present invention relates to aerospace class starry sky detection technology fields more particularly to a kind of star sensor to measure coordinate system to prism
Coordinate system measurement method and system.
Background technique
Star sensor is the dim light photoelectric sensor using fixed star starlight as observation object, for high-precision star sensor its
Measurement accuracy can achieve 3~5 rads, very can achieve 1~3 rad in high precision, this is to star sensor software algorithm, calibration side
Method, optical system installation error bring are greatly challenged.
At this stage, the installation deviation of domestic star sensor mechanical coordinate system to prism coordinate system is controlled 90 " within, measurement
Coordinate system then can be 300 to prism coordinate system installation deviation " within, the above installation deviation can all be eventually transferred to dress star installation square
Battle array, the optical axis after influencing star sensor dress star are directed toward, it is therefore desirable to by above-mentioned angle (measurement coordinate system to lens seat before filling star
Mark system) it measures, it improves star sensor optical axis and fills star precision.
Prior art means be using electro-optic theodolite as measuring basis, error propagation precision between 0.5 " to 2 ",
It is incorporated in the transmitting of other error chains in measurement process, finally measuring the measurement accuracy obtained is 20 ", and there are human eyes for the process
Judgement, operating process are complicated, are not suitable for high-precision measure batch.
Therefore, how effectively to improve test measurement accuracy just become those skilled in the art's urgent problem to be solved it
One.
Summary of the invention
Coordinate system is measured to prism coordinate system measurement method and system the object of the present invention is to provide a kind of star sensor, with
The effective precision for improving measurement.
To achieve the above object, the present invention provides a kind of star sensor and measures coordinate system to prism coordinate system measurement method,
The described method includes:
Determine that single star simulator optical axis is directed toward by plane mirror；
Determine the installation site of photoelectric auto-collimator；
By photoelectric auto-collimator to the first direction of the plane mirror and star sensor benchmark prism and/or
Two directions carry out auto-collimation；
Obtain respectively coordinate system first direction around the rotational angle of prism coordinate system first direction, coordinate system second direction around
Angle of rotation of the rotational angle and coordinate system third direction of prism coordinate system second direction around prism coordinate system third direction
Degree.
In certain embodiments, described to determine that the step of single star simulator optical axis is directed toward includes: by plane mirror
The plane mirror is set at the preset distance of the single star simulator；
The operating mode of the single star simulator is switched into light beam auto-collimation；
The two dimension angular for adjusting the plane mirror makes the light beam of the single star simulator output realize auto-collimation, with
The optical axis of single star simulator is introduced into the plane mirror.
In certain embodiments, the step of installation site of the determining photoelectric auto-collimator includes:
Star sensor is set on three-axle table；
Star sensor benchmark prism first direction and/or second direction alignment single star simulator optical axis are directed toward；
Photoelectric auto-collimator is set at the optical axis direction of alignment.
In certain embodiments, the coordinate system first direction that obtains respectively is around the angle of rotation of prism coordinate system first direction
Degree, coordinate system second direction include: around the step of rotational angle of prism coordinate system second direction
It is consistent the third direction of star sensor benchmark prism with photoelectric auto-collimator；
It is recorded in the coordinate (x of imaging point on star sensor0, y0)；
The rotational angle of first direction and the rotational angle of second direction are obtained according to formula (1) and formula (2)；
In formula: α is measurement coordinate system second direction YMAround prism coordinate system second direction YAAngle；β is measurement coordinate system
First direction XMAround prism coordinate system first direction XAAngle；x1, y1For the principal point coordinate obtained after star sensor calibration；S is
Star sensor detector pixel dimension；F is the focal length obtained after star sensor is demarcated.
In certain embodiments, the coordinate system third direction that obtains respectively is around the angle of rotation of prism coordinate system third direction
The step of spending include:
Star sensor both sides boundary is set to take point (x1,y1)、(x2,y2)；
The rotational angle of third direction is obtained according to formula (3)；
In formula: γ is measurement coordinate system third direction ZMAround prism coordinate system third direction ZARotational angle.
In certain embodiments, the star sensor measures coordinate system to prism coordinate system measurement method further include: logical
Cross plane mirror determine single star simulator optical axis be directed toward the step of before, determine the plane mirror, photoelectric auto-collimator,
The precision of star sensor and the step of establish measuring basis.
In certain embodiments, the star sensor measures coordinate system to prism coordinate system measurement method further include: is obtaining
Take coordinate system after the rotational angle on three directions of prism, the step of verification by least two star sensors.
The present invention also provides a kind of star sensors to measure coordinate system to prism coordinate system measuring system, including single star simulator
And star sensor, the system also includes:
Plane mirror, for determining that single star simulator optical axis is directed toward；
Photoelectric auto-collimator carries out auto-collimation for the benchmark prism to the plane mirror, star sensor.
In certain embodiments, the star sensor is set on three-axle table.
It is and existing in conclusion star sensor of the invention measures coordinate system to prism coordinate system measurement method and system
Technology is compared, and is had the advantage that
Measurement method and system of the invention is by high precision photoelectric autocollimator respectively to reflecting mirror, star sensor prism
Autocollimatic not only substantially increases the precision of measurement but also easy to operate, has extraordinary repeatability；Meanwhile the test is set
Standby is all standard device, easy to operate, with a high credibility；In addition, required target light source is Dan Xingmo in the test process
Quasi- device, testing light source stablize (stability is no less than 99% for 24 hours), can really simulate starlight imaging, and reduction is generated by light source
Test error.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description simply to be introduced, it is clear that, the accompanying drawings in the following description is the present invention
Some embodiments for those of ordinary skill in the art without any creative labor, can be with root
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is the process that star sensor of the invention measures an implementation of the coordinate system to prism coordinate system measurement method
Schematic diagram；
Fig. 2 is that star sensor of the invention measures coordinate system and prism coordinate system defines；
Fig. 3 is the structure that star sensor of the invention measures an implementation of the coordinate system to prism coordinate system measuring system
Schematic diagram；
Fig. 4 is the structure that star sensor of the invention measures specific embodiment of the coordinate system to prism coordinate system measuring system
Schematic diagram.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
It should be noted that, in this document, the relational terms (if present) such as " first ", " second ", " third " is only
Only it is used to distinguish one entity or operation from another entity or operation, without necessarily requiring or implying these realities
There are any actual relationship or orders between body or operation.It should be understood that the term used in this way is in the appropriate case
Can be interchanged, so as to the embodiment of the present invention described herein, such as can in addition to those of illustrate or describe herein with
Outer sequence is implemented.In addition, the terms "include", "comprise", " having " or its any other variant are intended to nonexcludability
Include so that include a series of elements process, method, article or terminal device not only include those elements, and
It and further include other elements that are not explicitly listed, or further include for this process, method, article or terminal device institute
Intrinsic element.In the absence of more restrictions, the element limited by sentence " including ... " or " including ... ", not
There is also other elements in process, method, article or the terminal device for including the element for exclusion.In addition, herein
In, " being greater than ", " being less than ", " being more than " etc. are interpreted as not including this number；" more than ", " following ", " within " etc. be interpreted as including this
Number.
In described below, with reference to attached drawing, attached drawing describes several embodiments of the invention.It should be appreciated that also can be used
Other embodiments, and can be carried out without departing substantially from spirit and scope of the present disclosure mechanical composition, structure, electrically with
And operational change.Following detailed description should not be considered limiting, and the scope of embodiments of the invention
Only limited by the claims for the patent announced.Term used herein is merely to describe specific embodiment, and be not
Be intended to limit the term of space correlation of the present invention, for example, "upper", "lower", "left", "right", " following ", " lower section ", " lower part ",
" top ", " top " etc. can be used in the text in order to an elements or features and another element or spy shown in explanatory diagram
The relationship of sign.
Below in conjunction with FIG. 1 to FIG. 4, technical solution of the present invention is described in detail with specifically embodiment.Below this
Several specific embodiments can be combined with each other, may be no longer superfluous in some embodiments for the same or similar concept or process
It states.
Fig. 1 show star sensor of the invention measure coordinate system to prism coordinate system measurement method an implementation
Flow diagram, Fig. 2 shows star sensor measurement coordinate systems in the present invention and prism coordinate system to define；Below in conjunction with Fig. 1 and
Fig. 2 is described in further details star sensor measurement coordinate system of the invention to prism coordinate system measurement method.Such as Fig. 1 institute
Show, which comprises
Step S10 determines that single star simulator optical axis is directed toward by plane mirror；
In the present embodiment, the step S10: determine that the step of single star simulator optical axis is directed toward can by plane mirror
To include: that the plane mirror is set at the preset distance of the single star simulator；By the work of the single star simulator
Operation mode switches light beam auto-collimation；The two dimension angular for adjusting the plane mirror makes the light beam of the single star simulator output
It realizes auto-collimation, the optical axis of single star simulator is introduced into the plane mirror.
Specifically, the plane mirror can transfer plane mirror for two dimension, such as two dimension can be transferred plane mirror
It is placed on before single star simulator near 3m, switching single star simulator operating mode (is changed into light beam autocollimatic by single light source output
Directly), reflecting mirror two dimension angular is adjusted, the light beam for being allowed to single star simulator output can realize auto-collimation, at this time simulate single star
The optical axis of device, which is introduced into two dimension, can transfer plane mirror.
It continues to refer to figure 1, executes step S20, determine the installation site of photoelectric auto-collimator；
In the present embodiment, the step of installation site of the determining photoelectric auto-collimator includes: that star sensor is arranged
In on three-axle table；Star sensor benchmark prism first direction and/or second direction alignment single star simulator optical axis are directed toward；It will
Photoelectric auto-collimator is set at the optical axis direction of alignment.
Specifically, in the calibration process, single star simulator clear aperture usually can cover the same of star sensor visual field
When, star sensor benchmark prism cannot be taken into account, so being needed single star simulator in measurement process through photoelectric auto-collimator
Optical axis carries out alienation.
In this step, it needs for star sensor to be mounted on turntable, by star sensor benchmark prism XA(or YADirection) it is right
Quasi- single star simulator optical axis is directed toward, in this position of sound production photoelectric auto-collimator.
Star sensor is unloaded from three-axle table, keeps two dimension that can transfer plane mirror difference, with photoelectric auto-collimator to two
Dimension can transfer plane mirror and carry out auto-collimation, and deviation is 0.5 ", photoelectric auto-collimator installation site has been had determined that at this time, and subsequent
In measurement, keep the photoelectric auto-collimator motionless.
It continues to refer to figure 1, step S30 is executed, by photoelectric auto-collimator to the plane mirror and star sensor base
The first direction and/or second direction of quasi- prism carry out auto-collimation；
Step S40 is executed, obtains rotational angle, coordinate of the coordinate system first direction around prism coordinate system first direction respectively
Be second direction around prism coordinate system second direction rotational angle and coordinate system third direction around prism coordinate system third party
To rotational angle.
In the present embodiment, the coordinate system first direction that obtains respectively is around the angle of rotation of prism coordinate system first direction
Degree, coordinate system second direction include: around the step of rotational angle of prism coordinate system second direction
It is consistent the third direction of star sensor benchmark prism with photoelectric auto-collimator；
It is recorded in the coordinate (x of imaging point on star sensor0, y0)；
The rotational angle of first direction and the rotational angle of second direction are obtained according to formula (1) and formula (2)；
In formula: α is measurement coordinate system second direction YMAround prism coordinate system second direction YAAngle；β is measurement coordinate system
First direction XMAround prism coordinate system first direction XAAngle；x1, y1For the principal point coordinate obtained after star sensor calibration；S is
Star sensor detector pixel dimension；F is the focal length obtained after star sensor is demarcated.
In the present embodiment, the coordinate system third direction that obtains respectively is around the rotational angle of prism coordinate system third direction
The step of include:
Star sensor both sides boundary is set to take point (x1,y1)、(x2,y2)；
The rotational angle of third direction is obtained according to formula (3)；
In formula: γ is measurement coordinate system third direction ZMAround prism coordinate system third direction ZARotational angle.
In the present embodiment, the star sensor measures coordinate system to prism coordinate system measurement method further include: is passing through
Before plane mirror determines the step of single star simulator optical axis is directed toward, the plane mirror, photoelectric auto-collimator, star are determined
The precision of sensor and the step of establish measuring basis.
In practical applications, star sensor measures coordinate system (XM、YM、ZM) arrive prism coordinate system (XA、YA、ZA) calibration test
It is preceding to usually require preparation:
Firstly, determining equipment and precision to be tested；Such as photoelectric auto-collimator (precision 0.2 ")；Two dimension can transfer plane mirror
(Face type PV value is better than 1/20 λ)；Single star simulator (alignment precision is better than 0.2 ", bore is better than 100mm)；
Three-axle table (positioning accuracy is better than 1 ", three axis intercepts are better than 2 ")；Double zero level marble optical platforms.
By determining that the precision of items of equipment can effectively improve the accuracy and accuracy of measurement.
Then, measuring basis is established；
The first, single star simulator benchmark is established；
(1) Lycra theodolite horizontal reference is adjusted, is allowed to parallel with the earth.
(2) single star simulator is aimed at theodolite, when asterism appears in theodolite field range, adjusts theodolite side
Parallactic angle makes asterism hot spot fall in theodolite azimuth center.
(3) theodolite remains stationary, and adjusts single star simulator pitch orientation, falls in asterism in theodolite pitch angle
The heart.
The second, three-axle table benchmark is established；
Three-axle table outline border and inside casing and the earth keeping parallelism are determined with electrolevel, and accuracy rating is 2 ", at this time three
All with the earth keeping parallelism, systematic error is 2.5 for axis turntable and single star simulator ".
After the completion of the above work, then has star sensor measurement coordinate system (XM、YM、ZM) arrive prism coordinate system (XA、YA、ZA)
Calibration test operating condition.
In the present embodiment, the star sensor measures coordinate system to prism coordinate system measurement method further include: is obtaining
Coordinate system is after the rotational angle on three directions of prism, the step of verification by least two star sensors.
Coordinate system is measured for verifying star sensor and prism coordinate system installs the correctness of matrix, it can be by two star sensitivities
Device is mounted in identical platform, carries out the verification experimental verification that star is seen in outfield.The quick B of star use standard star sensor, prism B coordinate system and
The quick B measurement coordinate system of star is consistent, i.e. qiB→S=qB→S.The attitude quaternion deviation between prism A and prism B is measured before test
For qiA→iB。
After finishing to star sensor installation measurement, sight satellite experiment is carried out:
Sight satellite experiment is carried out simultaneously to two star sensors, the quick A output quaternary number of star is appearance of the quick A of star relative to inertial system
State quaternary number QA→S, the quick B output quaternary number of star is output quaternary number Q of the quick B of star relative to inertial systemB→S.By calculating this two groups
Export the prism measurement error x of the quick A of estimation of deviation star of quaternary numberiA→A, yiA→A, ziA→A(the quick A prism coordinate system of star and measurement are sat
Deviation between mark system).
It should be noted that guarantee that the time reference of two star sensors is consistent, during the test so as in the time
Stab it is inconsistent in the case where carry out quaternion interpolation.According to above two groups of output quaternary number QA→SAnd QB→SAnd measure in advance
Attitude quaternion deviation q between two prismsiA→iB, find out the quaternary number of the prism measurement error of one group of quick A of reflection star.Its
Middle qiB→BIt is [0；0；0；1].By QiA→ATurn to three axis Eulerian angles XiA→A,
YiA→A, ZiA→A
The inevitably influence by measurement noise in this group of data obtained, takes the average value of this group of data to estimate rib
Mirror measurement error.
Note: other errors assumed above are not present or can ignore, if there is other errors, mean (XiA→A),
mean(YiA→A), mean (ZiA→A) be exactly star quick A prism measurement error and other errors superposition value, if prism A and prism B phase
To relationship qiA→iBMeasurement error be Error_xiA→iB, Error_yiA→iB, Error_ziA→iBThen
The star sensor measurement coordinate system of the present embodiment passes through high precision photoelectric auto-collimation to prism coordinate system measurement method
Instrument not only substantially increases the precision of measurement but also easy to operate, has very respectively to reflecting mirror, star sensor prism autocollimatic
Good repeatability；Meanwhile the test equipment is all standard device, it is easy to operate, with a high credibility；In addition, in the test process
In required target light source be single star simulator, testing light source stablize (stability is no less than 99% for 24 hours), being capable of true mould
Quasi- starlight imaging, reduces the test error generated by light source.
The present invention also provides a kind of star sensor measurement coordinate systems to prism coordinate system measuring system, as shown in figure 3, described
System includes single star simulator 10 and star sensor 20, the system also includes:
Plane mirror 30, for determining that single star simulator optical axis is directed toward；
Photoelectric auto-collimator 40 carries out auto-collimation for the benchmark prism to the plane mirror, star sensor.
In the present embodiment, the star sensor 20 is set on three-axle table.
Fig. 4 shows that the star sensor for issuing the present embodiment measures a specific implementation of coordinate system to prism coordinate system measuring system
The structural schematic diagram of example, does further specifically below with reference to concrete operating principle of the Fig. 3 and Fig. 4 to measuring system of the invention
It is bright.
The measuring system of the present embodiment before carrying out the measurements, need to carry out corresponding calibration test step, such as star sensitivity
Device measures coordinate system (XM、YM、ZM) arrive prism coordinate system (XA、YA、ZA) preparation includes: before calibration test
Firstly, determining equipment and precision to be tested；Such as photoelectric auto-collimator (precision 0.2 ")；Two dimension can transfer plane mirror
(Face type PV value is better than 1/20 λ)；Single star simulator (alignment precision is better than 0.2 ", bore is better than 100mm)；
Three-axle table (positioning accuracy is better than 1 ", three axis intercepts are better than 2 ")；Double zero level marble optical platforms.
By determining that the precision of items of equipment can effectively improve the accuracy and accuracy of measurement.
Then, measuring basis is established；
The second, single star simulator benchmark is established；
(1) Lycra theodolite horizontal reference is adjusted, is allowed to parallel with the earth.
(2) single star simulator is aimed at theodolite, when asterism appears in theodolite field range, adjusts theodolite side
Parallactic angle makes asterism hot spot fall in theodolite azimuth center.
(3) theodolite remains stationary, and adjusts single star simulator pitch orientation, falls in asterism in theodolite pitch angle
The heart.
The second, three-axle table benchmark is established；
Three-axle table outline border and inside casing and the earth keeping parallelism are determined with electrolevel, and accuracy rating is 2 ", at this time three
All with the earth keeping parallelism, systematic error is 2.5 for axis turntable and single star simulator ".
After the completion of the above work, then has star sensor measurement coordinate system (XM、YM、ZM) arrive prism coordinate system (XA、YA、ZA)
Calibration test operating condition.
In the present embodiment, the specific measuring process of the measuring system includes:
1. drawing single star simulator optical axis to be directed toward
Two dimension can be transferred plane mirror to be placed on before single star simulator near 3m, switch single star simulator operating mode (by list
One light source output is changed into light beam auto-collimation), reflecting mirror two dimension angular is adjusted, the light beam for being allowed to single star simulator output can be realized
Auto-collimation, the optical axis of single star simulator, which is introduced into two dimension, at this time can transfer plane mirror.
2. determining photoelectric auto-collimator installation site
In the calibration process, single star simulator clear aperture, cannot usually while can cover star sensor visual field
Star sensor benchmark prism is taken into account, so needing single star simulator optical axis to be carried out by photoelectric auto-collimator in measurement process
Alienation.
In this step, it needs for star sensor to be mounted on turntable, by star sensor benchmark prism XA(or YADirection) it is right
Quasi- single star simulator optical axis is directed toward, in this position of sound production photoelectric auto-collimator.
Star sensor is unloaded from three-axle table, keeps two dimension that can transfer plane mirror difference, with photoelectric auto-collimator to two
Dimension can transfer plane mirror and carry out auto-collimation, and deviation is 0.5 ", photoelectric auto-collimator installation site has been had determined that at this time, and subsequent
In measurement, keep the photoelectric auto-collimator motionless.
3. installing star sensor
Star sensor is fixed on three-axle table, and connecting cable.
Three-axle table is opened, is allowed in running order, and center is in vertical state, at this time star sensor ZMIt is directed toward
Sky.
Three-axle table inside casing is controlled, is allowed to photoelectric auto-collimator to star sensor benchmark prism XADirection (or YADirection) into
Row auto-collimation, deviation is 0.5 ".
4. measuring coordinate system XM、YMAround prism coordinate system XA、YARotational angle measurement
Three-axle table pitch orientation is controlled, is allowed to rotate 90 °, at this time star sensor optical axis (ZMAxis) it is directed toward and is simulated with single star
Device is consistent and (does not consider detector installation deviation).
Three-axle table outline border is controlled, star sensor Z is madeADirection is consistent with photoelectric auto-collimation.
Record the coordinate (x of the imaging point on star sensor detector at this time0, y0)。
And have:
In formula: α is measurement coordinate system YMAround prism coordinate system YAAngle；
β is measurement coordinate system XMAround prism coordinate system XAAngle；
x1,y1For the principal point coordinate obtained after star sensor calibration；
S is star sensor detector pixel dimension；
F is the focal length obtained after star sensor is demarcated.
5. measuring coordinate system ZMAround prism coordinate system ZAAngle
After the completion of above-mentioned work, turntable center is controlled in star sensor detector both sides boundary and takes point (x1,y1)、
(x2,y2), and calculated using following formula:
In formula: γ is measurement coordinate system ZMAround prism coordinate system ZAAngle.
Finally, the correctness of coordinate system and prism coordinate system installation matrix is measured for verifying star sensor, two stars are quick
Sensor is mounted in identical platform, carries out the verification experimental verification that star is seen in outfield.The quick B of star uses standard star sensor, prism B coordinate system
It is consistent with the quick B measurement coordinate system of star, i.e. qiB→S=qB→S.The attitude quaternion measured between prism A and prism B before test is inclined
Difference is qiA→iB。
After finishing to star sensor installation measurement, sight satellite experiment is carried out:
Sight satellite experiment is carried out simultaneously to two star sensors, the quick A output quaternary number of star is appearance of the quick A of star relative to inertial system
State quaternary number QA→S, the quick B output quaternary number of star is output quaternary number Q of the quick B of star relative to inertial systemB→S.By calculating this two groups
Export the prism measurement error x of the quick A of estimation of deviation star of quaternary numberiA→A, yiA→A, ziA→A(the quick A prism coordinate system of star and measurement are sat
Deviation between mark system).
It should be noted that guarantee that the time reference of two star sensors is consistent, during the test so as in the time
Stab it is inconsistent in the case where carry out quaternion interpolation.According to above two groups of output quaternary number QA→SAnd QB→SAnd measure in advance
Attitude quaternion deviation q between two prismsiA→iB, find out the quaternary number of the prism measurement error of one group of quick A of reflection star.Its
Middle qiB→ BIt is [0；0；0；1].By QiA→ATurn to three axis Eulerian angles XiA→A,
YiA→A, ZiA→AThe inevitably influence by measurement noise, takes the average value of this group of data to estimate in this group of data obtained
Prism measurement error.
Note: other errors assumed above are not present or can ignore, if there is other errors, mean (XiA→A),
mean(YiA→A), mean (ZiA→A) be exactly star quick A prism measurement error and other errors superposition value, if prism A and prism B phase
To relationship qiA→iBMeasurement error be Error_xiA→iB, Error_yiA→iB, Error_ziA→iBThen
Star sensor measurement coordinate system of the invention is to prism coordinate system measurement method, compared with prior art, with
Lower advantage: by high precision photoelectric autocollimator respectively to reflecting mirror, star sensor prism autocollimatic, measurement is not only substantially increased
Precision and easy to operate, there is extraordinary repeatability；Meanwhile the test equipment is all standard device, easy to operate,
It is with a high credibility；In addition, required target light source is single star simulator in the test process, testing light source stabilization is (stable for 24 hours
No less than 99%) degree, can really simulate starlight imaging, reduce the test error generated by light source.
It should be understood by those skilled in the art that, the various embodiments described above can provide as method, apparatus or computer program production
Product.Complete hardware embodiment, complete software embodiment or embodiment combining software and hardware aspects can be used in these embodiments
Form.The all or part of the steps in method that the various embodiments described above are related to can instruct relevant hardware complete by program
At the program can store in the storage medium that computer equipment can be read, for executing the various embodiments described above method
The all or part of the steps.
As used in herein, singular " one ", "one" and "the" are intended to also including plural form, unless
There is opposite instruction in context.It will be further understood that term "comprising", " comprising " show there are the feature, step,
Operation, element, component, project, type, and/or group, but it is not excluded for one or more other features, step, operation, element, group
Presence, appearance or the addition of part, project, type, and/or group.Term "or" and "and/or" used herein are interpreted as including
Property, or mean any one or any combination.Therefore, " A, B or C " or " A, B and/or C " mean " it is following any one:
A；B；C；A and B；A and C；B and C；A, B and C ".Only when element, function, step or the combination of operation under certain modes inherently
When mutually exclusive, it just will appear the exception of this definition.
The various embodiments described above are referring to the method according to embodiment, equipment (system) and computer program product
Flowchart and/or the block diagram describes.It should be understood that can be realized by computer program instructions every in flowchart and/or the block diagram
The combination of process and/or box in one process and/or box and flowchart and/or the block diagram.It can provide these computers
Program instruction generates a machine to the processor of computer equipment, so that the finger executed by the processor of computer equipment
It enables and generates to specify in one or more flows of the flowchart and/or one or more blocks of the block diagram
The device of function.
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 (9)
1. a kind of star sensor measures coordinate system to prism coordinate system measurement method characterized by comprising
Determine that single star simulator optical axis is directed toward by plane mirror；
Determine the installation site of photoelectric auto-collimator；
By photoelectric auto-collimator to the first direction and/or second party of the plane mirror and star sensor benchmark prism
To progress auto-collimation；
Coordinate system first direction is obtained respectively around the rotational angle of prism coordinate system first direction, coordinate system second direction around prism
Rotational angle of the rotational angle and coordinate system third direction of coordinate system second direction around prism coordinate system third direction.
2. star sensor according to claim 1 measures coordinate system to prism coordinate system measurement method, which is characterized in that institute
It states and determines that the step of single star simulator optical axis is directed toward includes: by plane mirror
The plane mirror is set at the preset distance of the single star simulator；
The operating mode of the single star simulator is switched into light beam auto-collimation；
The two dimension angular for adjusting the plane mirror makes the light beam of the single star simulator output realize auto-collimation, will be single
The optical axis of star simulator is introduced into the plane mirror.
3. star sensor according to claim 1 measures coordinate system to prism coordinate system measurement method, which is characterized in that institute
The step of stating the installation site of determining photoelectric auto-collimator include:
Star sensor is set on three-axle table；
Star sensor benchmark prism first direction and/or second direction alignment single star simulator optical axis are directed toward；
Photoelectric auto-collimator is set at the optical axis direction of alignment.
4. star sensor according to claim 1 measures coordinate system to prism coordinate system measurement method, which is characterized in that institute
It states and obtains coordinate system first direction respectively around the rotational angle of prism coordinate system first direction, coordinate system second direction around lens seat
The step of rotational angle of mark system second direction includes:
It is consistent the third direction of star sensor benchmark prism with photoelectric auto-collimator；
It is recorded in the coordinate (x of imaging point on star sensor0, y0)；
The rotational angle of first direction and the rotational angle of second direction are obtained according to formula (1) and formula (2)；
In formula: α is measurement coordinate system second direction YMAround prism coordinate system second direction YAAngle；β is measurement coordinate system first
Direction XMAround prism coordinate system first direction XAAngle；x1, y1For the principal point coordinate obtained after star sensor calibration；S is that star is quick
Sensor detector pixel dimension；F is the focal length obtained after star sensor is demarcated.
5. star sensor according to claim 1 measures coordinate system to prism coordinate system measurement method, which is characterized in that institute
It states and obtains coordinate system third direction respectively and around the step of rotational angle of prism coordinate system third direction include:
Star sensor both sides boundary is set to take point (x1,y1)、(x2,y2)；
The rotational angle of third direction is obtained according to formula (3)；
In formula: γ is measurement coordinate system third direction ZMAround prism coordinate system third direction ZARotational angle.
6. star sensor according to claim 1 measures coordinate system to prism coordinate system measurement method, which is characterized in that also
It include: to determine the plane mirror, photoelectricity before determining the step of single star simulator optical axis is directed toward by plane mirror
Autocollimator, the precision of star sensor and the step of establish measuring basis.
7. star sensor according to claim 1 measures coordinate system to prism coordinate system measurement method, which is characterized in that also
It include: to carry out school by least two star sensors after obtaining the rotational angle on three directions of the coordinate system around prism
The step of testing.
8. a kind of star sensor measures coordinate system to prism coordinate system measuring system, including single star simulator and star sensor,
It is characterized in that, further includes:
Plane mirror, for determining that single star simulator optical axis is directed toward；
Photoelectric auto-collimator carries out auto-collimation for the benchmark prism to the plane mirror, star sensor.
9. star sensor according to claim 1 measures coordinate system to prism coordinate system measuring system, which is characterized in that institute
Star sensor is stated to be set on three-axle table.
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