CN109655079B - Method for measuring coordinate system from star sensor to prism coordinate system - Google Patents
Method for measuring coordinate system from star sensor to prism coordinate system Download PDFInfo
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- CN109655079B CN109655079B CN201811517467.8A CN201811517467A CN109655079B CN 109655079 B CN109655079 B CN 109655079B CN 201811517467 A CN201811517467 A CN 201811517467A CN 109655079 B CN109655079 B CN 109655079B
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- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract
The invention relates to a method and a system for measuring a coordinate system from a star sensor to a prism coordinate system. The method for measuring the coordinate system of the star sensor to the coordinate system of the prism comprises the following steps: determining the direction of an optical axis of the single-star simulator through a plane mirror; determining the installation position of the photoelectric autocollimator; the plane reflector and the first direction and/or the second direction of the star sensor reference prism are/is subjected to auto-collimation through a photoelectric auto-collimator; and respectively acquiring a rotation angle of the first direction of the coordinate system around the first direction of the prism coordinate system, a rotation angle of the second direction of the coordinate system around the second direction of the prism coordinate system and a rotation angle of the third direction of the coordinate system around the third direction of the prism coordinate system. The measuring method and the measuring system are carried out by high-precision measuring equipment, so that the operation is simple and reliable, and the measuring precision is greatly improved.
Description
Technical Field
The invention relates to the technical field of aerospace star field detection, in particular to a method for measuring a coordinate system from a star sensor to a prism coordinate system.
Background
The star sensor is a weak-light photoelectric sensor taking star light as an observation object, the measurement precision of the high-precision star sensor can reach 3-5 angular seconds, and the very high precision can reach 1-3 angular seconds, so that great challenges are brought to the software algorithm, the calibration method and the optical system installation errors of the star sensor.
At the present stage, the installation deviation from the mechanical coordinate system of the star sensor to the prism coordinate system in China is controlled within 90 ″, the installation deviation from the measurement coordinate system to the prism coordinate system is within 300 ″, and the installation deviation is finally transmitted to the star mounting matrix to influence the optical axis direction of the star sensor after star mounting, so that the angle (from the measurement coordinate system to the prism coordinate system) needs to be measured before star mounting, and the star mounting precision of the optical axis of the star sensor is improved.
In the prior art, an electro-optic theodolite is used as a measurement reference, the error transmission precision is 0.5-2 ", and the measurement precision obtained by final measurement is 20" by combining the transmission of other error chains in the measurement process, and the process has the defects of human eye judgment, complicated operation process and unsuitability for high-precision batch measurement.
Therefore, how to effectively improve the measurement accuracy of the test becomes one of the problems to be solved by those skilled in the art.
Disclosure of Invention
The invention aims to provide a method for measuring a coordinate system from a star sensor to a prism coordinate system, so as to effectively improve the measurement precision.
In order to achieve the above object, the present invention provides a method for measuring a coordinate system from a star sensor to a prism coordinate system, the method comprising:
determining the direction of an optical axis of the single-star simulator through a plane mirror;
determining the installation position of the photoelectric autocollimator;
the plane reflector and the first direction and/or the second direction of the star sensor reference prism are/is subjected to auto-collimation through a photoelectric auto-collimator;
and respectively acquiring a rotation angle of the first direction of the coordinate system around the first direction of the prism coordinate system, a rotation angle of the second direction of the coordinate system around the second direction of the prism coordinate system and a rotation angle of the third direction of the coordinate system around the third direction of the prism coordinate system.
In some embodiments, the step of determining the pointing direction of the optical axis of the single star simulator by the plane mirror comprises:
disposing the planar mirror at a predetermined distance from the single-star simulator;
the working mode of the single-star simulator is switched to be self-collimated;
and adjusting the two-dimensional angle of the plane mirror to realize auto-collimation of the light beam output by the single-star simulator so as to introduce the optical axis of the single-star simulator into the plane mirror.
In some embodiments, the step of determining the mounting position of the photoelectric autocollimator comprises:
arranging the star sensor on a three-axis turntable;
aligning the first direction and/or the second direction of the star sensor reference prism with the optical axis of the single star simulator to point;
and arranging the photoelectric autocollimator at the aligned optical axis pointing position.
In some embodiments, the step of respectively obtaining the rotation angle of the first direction of the coordinate system around the first direction of the prism coordinate system and the rotation angle of the second direction of the coordinate system around the second direction of the prism coordinate system comprises:
keeping the third direction of the star sensor reference prism consistent with the photoelectric autocollimator;
recording coordinates (x) of imaging point on star sensor0，y0)；
Acquiring a rotation angle in a first direction and a rotation angle in a second direction according to a formula (1) and a formula (2);
in the formula: alpha is a second direction Y of the measuring coordinate systemMSecond direction Y around prism coordinate systemAThe angle of (d); beta is a first direction X of a measuring coordinate systemMFirst direction X around prism coordinate systemAAngle of (2)；x1，y1The star sensor is calibrated to obtain a principal point coordinate; s is the pixel size of the star sensor detector; f is the focal length obtained after the star sensor is calibrated.
In some embodiments, the step of respectively acquiring the rotation angles of the third directions of the coordinate system around the third direction of the prism coordinate system includes:
make the star sensor pick up points (x) at the two side boundaries2,y2)、(x3,y3)；
Obtaining a rotation angle in a third direction according to a formula (3);
in the formula: gamma is the third direction Z of the measuring coordinate systemMThird direction Z around prism coordinate systemAThe angle of rotation of (c).
In some embodiments, the star sensor measurement coordinate system to prism coordinate system measurement method further comprises: before the step of determining the direction of the optical axis of the single star simulator through the plane reflector, the precision of the plane reflector, the photoelectric autocollimator and the star sensor is determined, and a measuring reference is established.
In some embodiments, the star sensor measurement coordinate system to prism coordinate system measurement method further comprises: and after the rotation angles of the coordinate system around the prism in three directions are obtained, checking through at least two star sensors.
The invention also provides a system for measuring a coordinate system from a star sensor to a prism coordinate system, which comprises a single star simulator and the star sensor, and the system further comprises:
the plane reflector is used for determining the direction of an optical axis of the single-star simulator;
and the photoelectric autocollimator is used for autocollimating the reference prisms of the plane reflector and the star sensor.
In some embodiments, the star sensor is disposed on a three-axis turntable.
In summary, compared with the prior art, the method and the system for measuring the coordinate system from the star sensor to the prism coordinate system have the following advantages:
the measuring method and the system respectively self-calibrate towards the reflector and the star sensor prism through the high-precision photoelectric auto-collimator, so that the measuring precision is greatly improved, the operation is simple and convenient, and the repeatability is very good; meanwhile, the test equipment is standard equipment, so that the operation is convenient and the reliability is high; in addition, a target light source required in the test process is a single-star simulator, the test light source is stable (the 24h stability is not less than 99%), starlight imaging can be truly simulated, and test errors generated by the light source are reduced.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive labor.
FIG. 1 is a schematic flow chart of one implementation of a method for measuring a coordinate system of a star sensor to a coordinate system of a prism in accordance with the present invention;
FIG. 2 is a star sensor measurement coordinate system and a prism coordinate system definition according to the present invention;
FIG. 3 is a schematic structural diagram of one implementation of a star sensor measurement coordinate system to prism coordinate system measurement system of the present invention;
fig. 4 is a schematic structural diagram of an embodiment of the star sensor measuring coordinate system to prism coordinate system measuring system according to the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It is noted that, in this document, relational terms such as "first," "second," "third," and the like, if any, are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. It is to be understood that the terms so used are interchangeable under appropriate circumstances such that the embodiments of the invention described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," "includes," "including," "has," "having" or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrases "comprising … …" or "comprising … …" does not exclude the presence of additional elements in a process, method, article, or terminal that comprises the element. Further, herein, "greater than," "less than," "more than," and the like are understood to exclude the present numbers; the terms "above", "below", "within" and the like are to be understood as including the number.
In the following description, reference is made to the accompanying drawings that describe several embodiments of the invention. It is to be understood that other embodiments may be utilized and that mechanical, structural, electrical, and operational changes may be made without departing from the spirit and scope of the present disclosure. The following detailed description is not to be taken in a limiting sense, and the scope of embodiments of the present invention is defined only by the claims of the issued patent. Spatially relative terms, such as "upper," "lower," "left," "right," "lower," "below," "lower," "above," "upper," and the like, may be used herein to facilitate describing one element or feature's relationship to another element or feature as illustrated in the figures.
The technical solution of the present invention will be described in detail with reference to fig. 1 to 4 by specific examples. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments.
Fig. 1 is a schematic flow chart showing an implementation of the method for measuring coordinate system of star sensor to coordinate system of prism in the invention, and fig. 2 is a definition of the coordinate system of star sensor and coordinate system of prism in the invention; the method for measuring the coordinate system of the star sensor to the coordinate system of the prism according to the present invention will be described in further detail with reference to fig. 1 and 2. As shown in fig. 1, the method includes:
step S10, determining the direction of the optical axis of the single star simulator through the plane mirror;
in this embodiment, the step S10: the step of determining the pointing direction of the optical axis of the single star simulator by the plane mirror may comprise: disposing the planar mirror at a predetermined distance from the single-star simulator; the working mode of the single-star simulator is switched to be self-collimated; and adjusting the two-dimensional angle of the plane mirror to realize auto-collimation of the light beam output by the single-star simulator so as to introduce the optical axis of the single-star simulator into the plane mirror.
Specifically, the plane mirror may be a two-dimensional adjustable plane mirror, for example, the two-dimensional adjustable plane mirror may be placed near the front 3m of the single-star simulator, the working mode of the single-star simulator is switched (the single light source outputs the light beam to be converted into the light beam auto-collimation), and the two-dimensional angle of the plane mirror is adjusted, so that the light beam output by the single-star simulator can achieve the auto-collimation, and at this time, the optical axis of the single-star simulator has been introduced into the two-dimensional adjustable plane mirror.
With continued reference to fig. 1, step S20 is executed to determine the installation position of the photoelectric autocollimator;
in this embodiment, the step of determining the mounting position of the photoelectric autocollimator includes: arranging the star sensor on a three-axis turntable; aligning the first direction and/or the second direction of the star sensor reference prism with the optical axis of the single star simulator to point; and arranging the photoelectric autocollimator at the aligned optical axis pointing position.
Specifically, in the calibration process, the light transmission aperture of the single-star simulator can usually cover the view field of the star sensor, and the reference prism of the star sensor cannot be considered, so that the optical axis of the single-star simulator needs to be externalized by a photoelectric autocollimator in the measurement process.
In the step, the star sensor is required to be installed on a rotary table, and the star sensor reference prism X is arrangedA(or Y)ADirection) is directed towards the optical axis of the single-star simulator, and a photoelectric autocollimator is arranged at the position.
And (3) dismounting the star sensor from the three-axis turntable, keeping the two-dimensional adjustable plane mirrors different, and performing auto-collimation on the two-dimensional adjustable plane mirrors by using the photoelectric auto-collimator, wherein the deviation is 0.5', at the moment, the mounting position of the photoelectric auto-collimator is determined, and the photoelectric auto-collimator is kept still in subsequent measurement.
Continuing to refer to fig. 1, executing step S30, performing auto-collimation on the first direction and/or the second direction of the plane mirror and the star sensor reference prism through the photoelectric auto-collimator;
step S40 is executed to obtain a rotation angle of the first direction of the coordinate system around the first direction of the prism coordinate system, a rotation angle of the second direction of the coordinate system around the second direction of the prism coordinate system, and a rotation angle of the third direction of the coordinate system around the third direction of the prism coordinate system.
In this embodiment, the step of respectively obtaining a rotation angle of the first direction of the coordinate system around the first direction of the prism coordinate system and a rotation angle of the second direction of the coordinate system around the second direction of the prism coordinate system includes:
keeping the third direction of the star sensor reference prism consistent with the photoelectric autocollimator;
recording coordinates (x) of imaging point on star sensor0，y0)；
Acquiring a rotation angle in a first direction and a rotation angle in a second direction according to a formula (1) and a formula (2);
in the formula: alpha is a second direction Y of the measuring coordinate systemMSecond direction Y around prism coordinate systemAThe angle of (d); beta is a first direction X of a measuring coordinate systemMFirst direction X around prism coordinate systemAThe angle of (d); x is the number of1，y1The star sensor is calibrated to obtain a principal point coordinate; s is the pixel size of the star sensor detector; f is the focal length obtained after the star sensor is calibrated.
In this embodiment, the step of respectively acquiring the rotation angles of the third direction of the coordinate system around the third direction of the prism coordinate system includes:
make the star sensor pick up points (x) at the two side boundaries2,y2)、(x3,y3)；
Obtaining a rotation angle in a third direction according to a formula (3);
in the formula: gamma is the third direction Z of the measuring coordinate systemMThird direction Z around prism coordinate systemAThe angle of rotation of (c).
In this embodiment, the method for measuring the coordinate system of the star sensor to the coordinate system of the prism further includes: before the step of determining the direction of the optical axis of the single star simulator through the plane reflector, the precision of the plane reflector, the photoelectric autocollimator and the star sensor is determined, and a measuring reference is established.
In practical application, the star sensor measures a coordinate system (X)M、YM、ZM) To the prism coordinate system (X)A、YA、ZA) Before the calibration test is usually requiredPreparation work is as follows:
firstly, determining equipment to be tested and the precision; such as a photoelectric autocollimator (precision 0.2 "); two-dimensional adjustable plane mirror (
The face type PV value is better than 1/20 lambda); a single-star simulator (collimation precision is better than 0.2', aperture is better than 100 mm);
a three-axis turntable (the positioning precision is better than 1 'and the three-axis orthogonality is better than 2'); a dual zero order marble optical platform.
The accuracy and precision of measurement can be effectively improved by determining the precision of each piece of equipment.
Then, establishing a measuring reference;
firstly, establishing a single-star simulator reference;
(1) the horizontal reference of the lekame theodolite is adjusted to be parallel to the ground.
(2) The single-star simulator is aimed by the theodolite, and when a star point appears in the field range of the theodolite, the azimuth angle of the theodolite is adjusted to enable a star point light spot to fall on the center of the azimuth angle of the theodolite.
(3) The theodolite is kept still, and the pitching direction of the single-star simulator is adjusted to enable the star point to fall at the center of the pitching angle of the theodolite.
Secondly, establishing a three-axis turntable reference;
the electronic level meter is used for determining that the outer frame and the inner frame of the three-axis turntable are parallel to the ground, the precision range is 2 ', at the moment, the three-axis turntable and the single-star simulator are parallel to the ground, and the system error is 2.5'.
After the above work is completed, the star sensor measuring coordinate system (X) is providedM、YM、ZM) To the prism coordinate system (X)A、YA、ZA) And calibrating the test working conditions.
In this embodiment, the method for measuring the coordinate system of the star sensor to the coordinate system of the prism further includes: and after the rotation angles of the coordinate system around the prism in three directions are obtained, checking through at least two star sensors.
Is to testThe accuracy of the star sensor measuring coordinate system and the prism coordinate system installation matrix can be realized, and two star sensors can be installed on the same platform to carry out the test verification of the appearance observation of the star. The star sensor B adopts a standard star sensor, and the coordinate system of the prism B is consistent with the measurement coordinate system of the star sensor B, namely qiB→S＝qB→S. Before the test, the attitude quaternion deviation between the prism A and the prism B is measured to be qiA→iB。
After the star sensor is installed and measured, a star observation test is carried out:
the star observation test is carried out on two star sensors simultaneously, and the star sensor A outputs a quaternion which is an attitude quaternion Q of the star sensor A relative to an inertial systemA→SThe output quaternion of the star sensor B is the output quaternion Q of the star sensor B relative to the inertial systemB→S. Estimating prism measurement error x of star sensor A by calculating deviation of the two sets of output quaternionsiA→A，yiA→A，ziA→A(deviation between the star sensor a prism coordinate system and the measurement coordinate system).
It should be noted that the time references of the two star sensors are ensured to be consistent in the test process, so that quaternion interpolation is performed under the condition that the time stamps are inconsistent. Outputting quaternion Q according to the above two groupsA→SAnd QB→SAnd a previously measured attitude quaternion deviation q between the two prismsiA→iBAnd solving a group of quaternions reflecting the prism measurement error of the star sensor A. Wherein q isiB→BIs [ 0; 0; 0; 1]。
Will QiA→AInto three-axis Euler angle XiA→A，YiA→A，ZiA→A
The obtained group of data is inevitably influenced by measurement noise, and the group of data is averaged to estimate prism measurement error.
Note that: the above assumes that other errors are not present or can be ignored, if any, mean (X)iA→A)，mean(YiA→A)，mean(ZiA→A) That is, the superposition value of the measurement error of the star sensor A prism and other errors, if the prism A and the prism B are in the relative relationship qiA→iBThe measurement Error of (1) is Error _ xiA→iB，Error_yiA→iB，Error_ziA→iBThen
According to the method for measuring the coordinate system of the star sensor to the coordinate system of the prism, the high-precision photoelectric autocollimator is used for respectively autocollimating the reflector and the star sensor prism, so that the measuring precision is greatly improved, the operation is simple and convenient, and the repeatability is very good; meanwhile, the test equipment is standard equipment, so that the operation is convenient and the reliability is high; in addition, a target light source required in the test process is a single-star simulator, the test light source is stable (the 24h stability is not less than 99%), starlight imaging can be truly simulated, and test errors generated by the light source are reduced.
The present invention also provides a system for measuring a coordinate system from a star sensor to a prism coordinate system, as shown in fig. 3, the system includes a single star simulator 10 and a star sensor 20, and the system further includes:
the plane mirror 30 is used for determining the direction of the optical axis of the single-star simulator;
and the photoelectric autocollimator 40 is used for autocollimating the reference prisms of the plane reflector and the star sensor.
In the present embodiment, the star sensor 20 is disposed on a three-axis turntable.
Fig. 4 is a schematic structural diagram of an embodiment of the measuring system from the star sensor measuring coordinate system to the prism coordinate system according to the present embodiment, and the detailed operation principle of the measuring system according to the present invention will be further described with reference to fig. 3 and 4.
Before the measurement, the measurement system of this embodiment needs to perform a corresponding calibration test procedure, such as a star sensor measurement coordinate system (X)M、YM、ZM) To the prism coordinate system (X)A、YA、ZA) The preparation work before the calibration test includes:
firstly, determining equipment to be tested and the precision; such as a photoelectric autocollimator (precision 0.2 "); two-dimensional adjustable plane mirror (
The face type PV value is better than 1/20 lambda); a single-star simulator (collimation precision is better than 0.2', aperture is better than 100 mm);
a three-axis turntable (the positioning precision is better than 1 'and the three-axis orthogonality is better than 2'); a dual zero order marble optical platform.
The accuracy and precision of measurement can be effectively improved by determining the precision of each piece of equipment.
Then, establishing a measuring reference;
secondly, establishing a single-star simulator reference;
(1) the horizontal reference of the lekame theodolite is adjusted to be parallel to the ground.
(2) The single-star simulator is aimed by the theodolite, and when a star point appears in the field range of the theodolite, the azimuth angle of the theodolite is adjusted to enable a star point light spot to fall on the center of the azimuth angle of the theodolite.
(3) The theodolite is kept still, and the pitching direction of the single-star simulator is adjusted to enable the star point to fall at the center of the pitching angle of the theodolite.
Secondly, establishing a three-axis turntable reference;
the electronic level meter is used for determining that the outer frame and the inner frame of the three-axis turntable are parallel to the ground, the precision range is 2 ', at the moment, the three-axis turntable and the single-star simulator are parallel to the ground, and the system error is 2.5'.
After the above work is completed, the star sensor measuring coordinate system (X) is providedM、YM、ZM) To the prism coordinate system (X)A、YA、ZA) And calibrating the test working conditions.
In this embodiment, the specific measurement steps of the measurement system include:
1. optical axis pointing direction of leading-out single-star simulator
The two-dimensional adjustable plane mirror is placed near the front 3m of the single-star simulator, the working mode of the single-star simulator is switched (the single light source output is converted into light beam auto-collimation), the two-dimensional angle of the reflector is adjusted, so that the light beam output by the single-star simulator can realize auto-collimation, and at the moment, the optical axis of the single-star simulator is introduced into the two-dimensional adjustable plane mirror.
2. Determining the installation position of a photoelectric autocollimator
In the calibration process, the light transmission aperture of the single-star simulator can cover the view field of the star sensor and cannot give consideration to the reference prism of the star sensor, so that the optical axis of the single-star simulator needs to be externalized by the photoelectric autocollimator in the measurement process.
In the step, the star sensor is required to be installed on a rotary table, and the star sensor reference prism X is arrangedA(or Y)ADirection) is directed towards the optical axis of the single-star simulator, and a photoelectric autocollimator is arranged at the position.
And (3) dismounting the star sensor from the three-axis turntable, keeping the two-dimensional adjustable plane mirrors different, and performing auto-collimation on the two-dimensional adjustable plane mirrors by using the photoelectric auto-collimator, wherein the deviation is 0.5', at the moment, the mounting position of the photoelectric auto-collimator is determined, and the photoelectric auto-collimator is kept still in subsequent measurement.
3. Mounting star sensor
The star sensor is fixed on the three-axis turntable and connected with a cable.
Starting the three-axis turntable to enable the three-axis turntable to be in a working state, and enabling the middle frame to be in a plumb state, wherein the star sensor Z is arranged at the momentMPointing skyward.
Controlling the inner frame of the three-axis turntable to enable the photoelectric autocollimator to align with the star sensor reference prism XADirection (or Y)ADirection) was self-aligned with a deviation of 0.5 ".
4. Measuring coordinate system XM、YMAround the prism coordinate system XA、YARotation angle measurement
Controlling the pitching direction of the three-axis turntable to rotate 90 degrees, wherein the optical axis (Z) of the star sensor is at the momentMAxis) pointing to be consistent with the single star simulator (regardless of detector mounting variations).
Controlling the outer frame of the three-axis turntable to enable the star sensor ZAPointing is consistent with photoelectric auto-collimation.
Recording the coordinate (x) of the imaging point on the star sensor detector at the moment0，y0)。
And comprises the following components:
in the formula: alpha is the measurement coordinate system YMAround the prism coordinate system YAThe angle of (d);
beta is the measurement coordinate system XMAround the prism coordinate system XAThe angle of (d);
x1,y1the star sensor is calibrated to obtain a principal point coordinate;
s is the pixel size of the star sensor detector;
f is the focal length obtained after the star sensor is calibrated.
5. Measuring coordinate system ZMAround the prism coordinate system ZAAngle of rotation
After the work is finished, the middle frame of the rotary table is controlled to pick points (x) at the two side boundaries of the star sensor detector1,y1)、(x2,y2) And calculated using the following equation:
in the formula: gamma is a measurement coordinate system ZMAround the prism coordinate system ZAAnd (4) an angle.
And finally, in order to verify the correctness of the star sensor measuring coordinate system and the prism coordinate system installation matrix, the two star sensors are installed on the same platform, and the test verification of the appearance observation star is carried out. The star sensor B adopts a standard star sensor, and the coordinate system of the prism B is consistent with the measurement coordinate system of the star sensor B, namely qiB→S＝qB→S. Before the test, the attitude quaternion deviation between the prism A and the prism B is measured to be qiA→iB。
After the star sensor is installed and measured, a star observation test is carried out:
the star observation test is carried out on two star sensors simultaneously, and the star sensor A outputs a quaternion which is an attitude quaternion Q of the star sensor A relative to an inertial systemA→SThe output quaternion of the star sensor B is the output quaternion Q of the star sensor B relative to the inertial systemB→S. Estimating prism measurement error x of star sensor A by calculating deviation of the two sets of output quaternionsiA→A，yiA→A，ziA→A(deviation between the star sensor a prism coordinate system and the measurement coordinate system).
It should be noted that the time references of the two star sensors are ensured to be consistent in the test process, so that quaternion interpolation is performed under the condition that the time stamps are inconsistent. Outputting quaternion Q according to the above two groupsA→SAnd QB→SAnd a previously measured attitude quaternion deviation q between the two prismsiA→iBAnd solving a group of quaternions reflecting the prism measurement error of the star sensor A. Wherein q isiB→BIs [ 0; 0; 0; 1]。
Will QiA→AInto three-axis Euler angle XiA→A，YiA→A，ZiA→AThe obtained group of data is inevitably influenced by measurement noise, and the group of data is averaged to estimate prism measurement error.
Note that: the above assumes that other errors are not present or can be ignored, if any, mean (X)iA→A)，mean(YiA→A)，mean(ZiA→A) That is, the superposition value of the measurement error of the star sensor A prism and other errors, if the prism A and the prism B are in the relative relationship qiA→iBThe measurement Error of (1) is Error _ xiA→iB，Error_yiA→iB，Error_ziA→iBThen
Compared with the prior art, the method for measuring the coordinate system of the star sensor to the coordinate system of the prism has the following advantages: the high-precision photoelectric autocollimator is used for autocollimation towards the reflector and the star sensor prism respectively, so that the measurement precision is greatly improved, the operation is simple and convenient, and the repeatability is very good; meanwhile, the test equipment is standard equipment, so that the operation is convenient and the reliability is high; in addition, a target light source required in the test process is a single-star simulator, the test light source is stable (the 24h stability is not less than 99%), starlight imaging can be truly simulated, and test errors generated by the light source are reduced.
As will be appreciated by one skilled in the art, the above-described embodiments may be provided as a method, apparatus, or computer program product. These embodiments may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. All or part of the steps in the methods according to the embodiments may be implemented by a program instructing related hardware, where the program may be stored in a storage medium readable by a computer device and used to execute all or part of the steps in the methods according to the embodiments.
As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context indicates otherwise. It will be further understood that the terms "comprises," "comprising," "includes" and/or "including," when used in this specification, specify the presence of stated features, steps, operations, elements, components, items, species, and/or groups, but do not preclude the presence, or addition of one or more other features, steps, operations, elements, components, species, and/or groups thereof. The terms "or" and/or "as used herein are to be construed as inclusive or meaning any one or any combination. Thus, "A, B or C" or "A, B and/or C" means "any of the following: a; b; c; a and B; a and C; b and C; A. b and C ". An exception to this definition will occur only when a combination of elements, functions, steps or operations are inherently mutually exclusive in some way.
The various embodiments described above are described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a computer apparatus to produce a machine, such that the instructions, which execute via the processor of the computer apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While the present invention has been described in detail with reference to the preferred embodiments, it should be understood that the above description should not be taken as limiting the invention. Various modifications and alterations to this invention will become apparent to those skilled in the art upon reading the foregoing description. Accordingly, the scope of the invention should be determined from the following claims.
Claims (7)
1. A method for measuring a star sensor from a measurement coordinate system to a prism coordinate system is characterized by comprising the following steps:
determining the direction of an optical axis of the single-star simulator through a plane mirror;
determining the installation position of the photoelectric autocollimator;
the plane reflector and the first direction and/or the second direction of the star sensor reference prism are/is subjected to auto-collimation through a photoelectric auto-collimator;
and respectively acquiring a rotation angle of the first direction of the coordinate system around the first direction of the prism coordinate system, a rotation angle of the second direction of the coordinate system around the second direction of the prism coordinate system and a rotation angle of the third direction of the coordinate system around the third direction of the prism coordinate system.
2. The star sensor measurement coordinate system to prism coordinate system measurement method according to claim 1, wherein the step of determining the pointing direction of the optical axis of the single star simulator by the plane mirror comprises:
disposing the planar mirror at a predetermined distance from the single-star simulator;
the working mode of the single-star simulator is switched to be self-collimated;
and adjusting the two-dimensional angle of the plane mirror to realize auto-collimation of the light beam output by the single-star simulator so as to introduce the optical axis of the single-star simulator into the plane mirror.
3. The star sensor measuring coordinate system to prism coordinate system measuring method according to claim 1, wherein the step of determining the mounting position of the photoelectric autocollimator comprises:
arranging the star sensor on a three-axis turntable;
aligning the first direction and/or the second direction of the star sensor reference prism with the optical axis of the single star simulator to point;
and arranging the photoelectric autocollimator at the aligned optical axis pointing position.
4. The star sensor measuring coordinate system to prism coordinate system measuring method according to claim 1, wherein the step of obtaining the rotation angle of the coordinate system in the first direction around the prism coordinate system and the rotation angle of the coordinate system in the second direction around the prism coordinate system respectively comprises:
keeping the third direction of the star sensor reference prism consistent with the photoelectric autocollimator;
recording coordinates (x) of imaging point on star sensor0，y0)；
Acquiring a rotation angle in a first direction and a rotation angle in a second direction according to a formula (1) and a formula (2);
in the formula: alpha is a second direction Y of the measuring coordinate systemMSecond direction Y around prism coordinate systemAThe angle of (d); beta is a first direction X of a measuring coordinate systemMAround the prism coordinate systemDirection XAThe angle of (d); x is the number of1，y1The star sensor is calibrated to obtain a principal point coordinate; s is the pixel size of the star sensor detector; f is the focal length obtained after the star sensor is calibrated.
5. The star sensor measuring coordinate system to prism coordinate system measuring method according to claim 1, wherein the step of separately obtaining the rotation angle of the third direction of the coordinate system around the third direction of the prism coordinate system comprises:
make the star sensor pick up points (x) at the two side boundaries2,y2)、(x3,y3)；
Obtaining a rotation angle in a third direction according to a formula (3);
in the formula: gamma is the third direction Z of the measuring coordinate systemMThird direction Z around prism coordinate systemAThe angle of rotation of (c).
6. The star sensor measurement coordinate system to prism coordinate system measurement method according to claim 1, further comprising: before the step of determining the direction of the optical axis of the single star simulator through the plane reflector, the precision of the plane reflector, the photoelectric autocollimator and the star sensor is determined, and a measuring reference is established.
7. The star sensor measurement coordinate system to prism coordinate system measurement method according to claim 1, further comprising: and after the rotation angles of the coordinate system around the prism in three directions are obtained, checking through at least two star sensors.
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| CN110345970B (en) * | 2019-08-06 | 2024-03-19 | 西安中科微星光电科技有限公司 | Optical navigation sensor calibration method and device thereof |
| CN111006689A (en) * | 2019-11-11 | 2020-04-14 | 上海航天控制技术研究所 | Star observation test device and error measurement method |
| CN111637853B (en) * | 2020-06-16 | 2021-09-24 | 河北汉光重工有限责任公司 | Method for adjusting optical axis of large-span T-shaped rotary table |
| CN111811540B (en) * | 2020-07-17 | 2022-06-24 | 上海航天控制技术研究所 | Star sensor optical axis thermal stability testing system and method |
| CN111854803B (en) * | 2020-07-29 | 2022-05-24 | 中国科学院长春光学精密机械与物理研究所 | Star sensor thermal stability detection device and detection method thereof |
| CN112697140B (en) * | 2020-12-07 | 2023-10-13 | 华中光电技术研究所（中国船舶重工集团公司第七一七研究所） | Measuring device and measuring and calculating method for attitude angle of inertial navigation IMU (inertial measurement unit) component relative to inner ring frame |
| CN114264451A (en) * | 2021-11-25 | 2022-04-01 | 中国空间技术研究院 | Real-time monitoring system and method based on common-reference optical axis included angle |
| CN114440924A (en) * | 2021-12-22 | 2022-05-06 | 北京控制工程研究所 | Star sensor optical axis thermal drift evaluation method used in vacuum cryogenic environment |
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