CN109682395A - The equivalent angle appraisal procedure of star sensor dynamic noise and system - Google Patents
The equivalent angle appraisal procedure of star sensor dynamic noise and system Download PDFInfo
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- CN109682395A CN109682395A CN201811525346.8A CN201811525346A CN109682395A CN 109682395 A CN109682395 A CN 109682395A CN 201811525346 A CN201811525346 A CN 201811525346A CN 109682395 A CN109682395 A CN 109682395A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
Abstract
The present invention relates to a kind of equivalent angle appraisal procedure of star sensor dynamic noise and systems.The equivalent angle appraisal procedure of star sensor dynamic noise includes: the magnitude for adjusting single star simulator；The star sensor is controlled with pre-set velocity and predetermined movement, to obtain asterism mass center bag data；Sing data is seen according to the asterism mass center bag data combination turntable movement velocity, motion profile and the outfield that get, obtains the equivalent angle of star sensor dynamic noise.The equivalent angle appraisal procedure of star sensor dynamic noise of the invention and system, are calculated using single star simulator, to substantially increase the precision of data；Star sensor field of view center and field of view edge are taken into account using desired guiding trajectory simultaneously, therefore the noise equivalent angle of horizontal direction and vertical direction can be measured respectively；Control turntable with friction speed move to obtain the equivalent angle of dynamic noise and due to the equivalent angular data analysis method of dynamic noise using the method for fitting of a polynomial to substantially increase its precision and reliability.
Description
Technical field
The present invention relates to satellite control technology field more particularly to a kind of equivalent angle appraisal procedures of star sensor dynamic noise
And system.
Background technique
Critical component of the star sensor as satellite attitude control system has highly important meaning to the assessment of its error
Justice.The error of star sensor includes low frequency aberration and noise equivalent angle two parts.Low frequency aberration is mainly by focal length, principal point coordinate
Deviation, the factors such as lens distortion cause, and compensation can be measured by rating test.Noise equivalent angle is mainly by dark current
Noise, the Electronics noice for reading noise, detector etc., fixed pattern noise, sensitivity inhomogeneities, charge response are uneven
The factors such as even property cause, and noise equivalent angle can be divided into the equivalent angle of static noise and the equivalent angle of dynamic noise.
Existing star sensor noise equivalent angle appraisal procedure mainly has outfield to see star method and multi- star simulator Evaluation Method.Outside
Field sees star method and uses portable turntable and data acquisition computer continuous acquisition star sensor attitude data, and difference is calculated
Star sensor noise equivalent angle under angular speed.Multi- star simulator Evaluation Method uses multi- star simulator analog starry sky, and evaluation star is quick
Sensor noise equivalent angle.Two methods can assess the equivalent angle of static noise well, but deposit to the assessment at the equivalent angle of dynamic noise
In following problems:
A) precision of portable turntable is lower in outfield sight star method and does not fix ground, therefore it is equivalent to assess dynamic noise
It is larger that equipment error is introduced when angle；
B) it is affected by environment big to see the star method assessment equivalent angle of star sensor dynamic noise for outfield: including atmospheric refraction, steam,
The factors such as veiling glare pollution, earth shock；
C) multi- star simulator cannot simulate true starry sky in multi- star simulator Evaluation Method, especially optical mode in the dynamic case
Quasi- difficulty is higher, therefore multi- star simulator method can only be used to assess the equivalent angle of star sensor static noise, but cannot assess star
The equivalent angle of the dynamic noise of sensor.
Therefore, how improving the assessment precision at the equivalent angle of dynamic noise, just to become those skilled in the art urgently to be resolved
One of problem.
Summary of the invention
The object of the present invention is to provide a kind of equivalent angle appraisal procedure of star sensor dynamic noise and systems, effectively to mention
The assessment precision at high dynamic noise equivalent angle.
To achieve the above object, the present invention provides a kind of equivalent angle appraisal procedure of star sensor dynamic noise, the method
It include: the magnitude for adjusting single star simulator；It controls the star sensor to move with pre-set velocity and track, to obtain asterism matter
Pericardium data；Star number is seen according to the asterism mass center bag data combination turntable movement velocity, motion profile and the outfield that get
According to obtaining the equivalent angle of star sensor dynamic noise.
In certain embodiments, the step of magnitude for adjusting single star simulator includes: and obtains star sensor outfield to see
Sing data；Sing data is seen based on the outfield, adjusts the magnitude of single star simulator.
In certain embodiments, the step of sing data is seen based on the outfield, adjusts the magnitude of single star simulator packet
It includes:
By star sensor vertically to day, carries out outfield and see satellite experiment；
A frame asterism barycenter data bag data is acquired, all star catalogue ID numbers for determining appearance star are counted；
Navigational star table is searched according to star catalogue ID number, obtains all magnitude Mi for determining appearance star of the frame data；
When it is n that the frame data, which determine appearance star number, the mean magnitude for determining appearance star is obtained；
The magnitude of single star simulator is adjusted with the mean magnitude got.
In certain embodiments, the step of control star sensor is moved with pre-set velocity and track include: by
The star sensor is set to three-axle table；The three-axle table is controlled to move with preset angular speed along desired guiding trajectory to draw
Interlude.
In certain embodiments, the asterism mass center bag data that the basis is got sees sing data into outfield, obtains institute
The step of stating star sensor noise equivalent angle include:
The asterism mass center bag data got is analyzed；
Sing data acquisition star sensor, which is seen, according to the outfield averagely determines appearance star number；
Appearance star number is averagely determined according to the analysis result of the asterism mass center bag data, the star sensor got and star is sensitive
The motion profile and speed of device obtain the star sensor noise equivalent angle under different angular speed.
The present invention also provides a kind of equivalent angle assessment system of star sensor dynamic noise, the star sensor is installed through tooling
In on three-axle table, the system comprises:
Magnitude adjustment equipment, for adjusting the magnitude of single star simulator；
Data acquisition facility is moved for controlling the three-axle table with pre-set velocity and track, to obtain asterism mass center
Bag data；
Noise equivalent angle obtains equipment, for according to the asterism mass center bag data combination Action of Three-axis Motion Turntable speed got
Sing data is seen in degree, motion profile and outfield, obtains star sensor noise equivalent angle.
In conclusion the equivalent angle appraisal procedure of star sensor dynamic noise of the invention and system, compared with prior art,
It has the advantage that
Appraisal procedure and system of the invention, is simulated by single star simulator, to greatly improve the precision of equipment；And
And the method for the present invention and system see sing data by asterism mass center bag data and turntable movement velocity, motion profile and outfield
The equivalent angle of star sensor dynamic noise is obtained, so as to greatly improve the precision of data.
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
It obtains other drawings based on these drawings.
Fig. 1 is the flow diagram of an implementation of the equivalent angle appraisal procedure of star sensor dynamic noise of the invention；
Fig. 2 is the structural schematic diagram of an implementation of the equivalent angle assessment system of star sensor dynamic noise of the invention；
Fig. 3 is the schematic diagram of the motion profile of star sensor of the invention；
Fig. 4 is the fitting schematic diagram at the equivalent angle of star sensor dynamic noise of the invention.
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, ordinary skill people
Member's 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
There are any actual relationship or orders between entity or operation.It should be understood that the term used in this way is in appropriate feelings
It can be interchanged under condition, so as to the embodiment of the present invention described herein, such as can be with that in addition to illustrating or describing herein
Sequence other than a little is implemented.In addition, the terms "include", "comprise", " having " or its any other variant are intended to non-row
His property includes, so that including that process, method, article or the terminal device of 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 terminal
The intrinsic element of equipment.In the absence of more restrictions, being wanted by what sentence " including ... " or " including ... " limited
Element, it is not excluded that there is also other elements in process, method, article or the terminal device for including the element.This
Outside, herein, " being greater than ", " being less than ", " being more than " etc. are interpreted as not including this number；" more than ", " following ", " within " etc. reason
Solution be include 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 mechanical composition, structure, electrical can be carried out without departing substantially from spirit and scope of the present disclosure
And operational change.Following detailed description should not be considered limiting, and the model of the embodiment of the present invention
It encloses and is only limited by the claims for the patent announced.Term used herein is merely to description specific embodiment, and simultaneously
Be not intended to be limiting the term of space correlation of the present invention, for example, "upper", "lower", "left", "right", " following ", " lower section ", " under
Portion ", " top ", " top " etc. can be used in the text in order to an elements or features and another element shown in explanatory diagram
Or the relationship of feature.
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, for the same or similar concept or process may some embodiments no longer
It repeats.
Fig. 1 shows the process signal of an implementation of the equivalent angle appraisal procedure of star sensor dynamic noise of the present invention
Figure, as shown in Figure 1, the method may include:
Step S10 adjusts the magnitude of single star simulator；
Step S20 is controlled the star sensor and is moved with pre-set velocity and track, to obtain asterism mass center bag data；
Step S30 is seen according to the asterism mass center bag data combination turntable movement velocity, motion profile and the outfield that get
Sing data obtains the equivalent angle of star sensor dynamic noise.
In the present embodiment, the measurement experiment of star sensor elements of interior orientation is carried out in optical dark room, utilizes fixed star simulated light
Source, dimensional turntable cooperation data acquisition process computer carry out the acquisition and resolving of data.
The appraisal procedure of the present embodiment can be used assessment system as shown in Figure 2 and realize, as shown in Fig. 2, the assessment is
System includes: that the equivalent angle assessment system of star sensor dynamic noise includes: single star simulator 1, light source controller 2, DC voltage-stabilizing
Power supply 3, star sensor 4, three-axle table 5, turning table control cabinet 6 and measuring and calculation machine 7.
Light source controller adjusts the brightness of single star simulator output asterism；Star sensor is powered and is pacified by D.C. regulated power supply
Loaded on three-axle table；Measuring and calculation is moved through turning table control cabinet control three-axle table along desired guiding trajectory；Meanwhile tester
Calculation machine is connected with star sensor through RS422 serial ports, sends instruction and carries out that operations, to receive and process star quick to star sensor
The data that sensor returns.
In the present embodiment, the step S10: the step of adjusting the magnitude of single star simulator includes: acquisition star sensor
See sing data in outfield；Sing data is seen based on the outfield, adjusts the magnitude of single star simulator.
In a particular application, the realization step of the step S10 may include:
A) it carries out outfield and sees satellite experiment, star sensor is fixed on plate tooling, vertically to day.Measuring and calculation machine and star are sensitive
Device is connected by communication serial port, from master record star sensor star point barycenter data bag data；
B) a frame asterism barycenter data bag data is intercepted, statistics determines the star catalogue ID number of appearance star, leads according to the lookup of star catalogue ID number
Navigate star catalogue, obtains all magnitude Mi for determining appearance star of the frame data；
C) frame data are set and determine appearance star number as n, solve the mean magnitude M for determining appearance star, calculation formula is as follows；
D) light source controller is adjusted, so that single star simulator output asterism magnitude is M.
In the present embodiment, the step of control star sensor is moved with pre-set velocity and track includes: by institute
It states star sensor and is set to three-axle table；The three-axle table is controlled to move with preset angular speed along desired guiding trajectory to streak
?.
Specifically, star sensor is installed on three-axle table and is initially aligned:
A) star sensor is installed on turntable, when installation makes star sensor measurement coordinate system and turntable coordinate system polarity
Unanimously (turntable α axis and star sensor x-axis direction are almost the same, and turntable β axis and star sensor y-axis direction are almost the same)；
B) star sensor test cable, star sensor power-up are connected.The star sensor ground surface opened on measuring and calculation machine is surveyed
Software is tried, sends instruction so that acquiring asterism center-of-mass coordinate (x0, y0) into test pattern；
C) the star sensor calibration software on measuring and calculation machine is opened, turning table control cabinet is connected, manually adjusts asterism matter
Heart coordinate falls within field of view center and (sets star sensor detector image planes size as m × m, then the asterism center-of-mass coordinate of field of view center
(x0, y0) should meet m/2-1≤x0≤m/2+1 and m/2-1≤y0≤m/2+1)；
D) revolving table position is reset, and turntable is opposite zero-bit (α=0, β=0) at this time.
Then, control turntable, which is moved with different angular speed v along desired guiding trajectory, streaks visual field, records asterism barycenter data packet number
According to turntable motion profile is as shown in Figure 3:
A) the star sensor ground surface test software on measuring and calculation machine is opened, instruction request asterism barycenter data packet is sent,
Collect and record asterism center-of-mass coordinate (x, y)；
B) star sensor visual field of participating in the experiment is set as the square visual field of s × s, and turntable movement velocity is v；
C) control turntable move in the horizontal direction, turntable track (α, β) be (- (s-1)/2~(s-1)/2 ,-(s-1)/
2), three groups of (- (s-1)/2~(s-1)/2,0), (- (s-1)/2~(s-1)/2, (s-1)/2)；
D) control turntable it is vertically moving, turntable track (α, β) be (- (s-1)/2 ,-(s-1)/2~(s-1)/
2), three groups of (0 ,-(s-1)/2~(s-1)/2), ((s-1)/2 ,-(s-1)/2~(s-1)/2)；
E) turntable speed v is adjusted, is repeated c), d) track movement；
F) close star sensor ground surface test software, star sensor power-off, close measuring and calculation machine, single star simulator and
Turning table control cabinet, off-test.
In the present embodiment, the asterism mass center bag data that the basis is got sees sing data into outfield, described in acquisition
The step of star sensor noise equivalent angle includes:
The asterism mass center bag data got is analyzed；
Sing data acquisition star sensor, which is seen, according to the outfield averagely determines appearance star number；
Appearance star number is averagely determined according to the analysis result of the asterism mass center bag data, the star sensor got and star is sensitive
The motion profile of device obtains the star sensor noise equivalent angle under different angle.
Specifically, the equivalent angular data processing method of the star sensor dynamic noise:
A) it is calculated when satellite experiment is seen in star sensor outfield and averagely determines appearance star number N；
It b) is defeated with x coordinate as shown in figure 4, taking turntable track is one group of data of (- (s-1)/2~(s-1)/2,0)
Enter, single order fitting of a polynomial is carried out to y-coordinate, obtains the matched curve yr of y；
yr=kx+b
C) y and yr are obtained into yc as difference；
yc=y-yr
D) the radius Ryc_0 of 3 σ (3 times of standard deviations) as confidence interval is solved to yc；
E) take turntable track be (- (s-1)/2~(s-1)/2 ,-(s-1)/2), (- (s-1)/2~(s-1)/2, (s-1)/
2) two groups of data acquire Ryc_- (s-1)/2 and Ryc_ (s-1)/2 according to step b)~d)
F) three groups of data are averaged to obtain single star noise equivalent angle NEA-single of y-axis；
G) y-axis NEA-single divided byObtain y-axis NEA；
H) α=- (s-1)/2, three groups of α=0, α=(s-1)/2 data is taken, respectively with step b)~g) acquire X-axis
NEA。
The present invention also provides a kind of equivalent angle assessment system of star sensor dynamic noise, the star sensor is installed through tooling
In on three-axle table, the system comprises:
Magnitude adjustment equipment, for adjusting the magnitude of single star simulator；
Data acquisition facility is moved for controlling the three-axle table with pre-set velocity and track, to obtain asterism mass center
Bag data；
Noise equivalent angle obtains equipment, for according to the asterism mass center bag data combination Action of Three-axis Motion Turntable speed got
Sing data is seen in degree, motion profile and outfield, obtains the equivalent angle of star sensor dynamic noise.
In the present embodiment, the measurement experiment of star sensor elements of interior orientation optical dark room carry out, using fixed star analog light source,
Dimensional turntable cooperates the acquisition and resolving of data acquisition process computer progress data.As shown in Fig. 2, star sensor dynamic is made an uproar
The equivalent angle assessment system of sound includes: single star simulator 1, light source controller 2, D.C. regulated power supply 3, star sensor 4, three axis turn
Platform 5, turning table control cabinet 6 and measuring and calculation machine 7.Light source controller adjusts the brightness of single star simulator output asterism；Star is quick
Sensor is powered by D.C. regulated power supply and is installed on three-axle table；Measuring and calculation controls three-axle table through turning table control cabinet
It is moved along desired guiding trajectory；Meanwhile measuring and calculation machine is connected with star sensor through RS422 serial ports, send instruction to star sensor into
Row operations, the data for receiving and processing star sensor return.
The working principle of the equivalent angle assessment system of the star sensor dynamic noise of the present embodiment can refer to quick previously with regard to star
The detailed description of the equivalent angle appraisal procedure of sensor dynamic noise, details are not described herein.
In the present embodiment, the magnitude of single star simulator is seen star by outfield and is calculated, and tests the star point brightness used and meets
Actual Astronomical Condition；Also, it is tested using single star simulator substitution multi- star simulator, the equipment essence of single star simulator
Degree is much higher than multi- star simulator；Further, the three-axis accurate turntable that laboratory uses has independent ground and turntable precision is aobvious
It writes and sees star turntable better than portable outfield；In addition, desired guiding trajectory takes into account star sensor field of view center and field of view edge, while can
The equivalent angle of dynamic noise to measure horizontal direction and vertical direction respectively；Finally, the equivalent angular data analysis method of dynamic noise
It can reduce the error introduced by turntable oblique movement using the method for fitting of a polynomial.
The equivalent angle appraisal procedure of star sensor dynamic noise of the invention and assessment system have compared with prior art
Following advantages:
The equivalent angle appraisal procedure of star sensor dynamic noise of the invention and system, are calculated using single star simulator,
To substantially increase the precision of data；Star sensor field of view center and field of view edge are taken into account using desired guiding trajectory simultaneously, therefore
The equivalent angle of dynamic noise of horizontal direction and vertical direction can be measured respectively；And due to the equivalent angular data of dynamic noise point
Analysis method substantially increases its precision and reliability using the method for fitting of a polynomial.
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 implementation combining software and hardware aspects can be used in these embodiments
The form of example.The all or part of the steps in method that the various embodiments described above are related to can be instructed relevant hard by program
Part is completed, and the program can store in the storage medium that computer equipment can be read, for executing the various embodiments described above
All or part of the steps described in method.
As used in herein, singular " one ", "one" and "the" are intended to also remove including plural form
There is opposite instruction in non-context.It will be further understood that term "comprising", " comprising " show that there are the features, step
Suddenly, operation, element, component, project, type, and/or group, but it is not excluded for one or more other features, step, operation, member
Presence, appearance or the addition of part, component, project, type, and/or group.Term "or" and "and/or" used herein are explained
It is inclusive, or means any one or any combination.Therefore, " A, B or C " or " A, B and/or C " means " 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 are in certain modes
Under it is inherently mutually exclusive when, 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 in flowchart and/or the block diagram
The combination of process and/or box in each flow and/or block and flowchart and/or the block diagram.It can provide these meters
Calculation machine program instruction generates a machine to the processor of computer equipment, so that the processor by computer equipment is held
Capable instruction generates for realizing in one or more flows of the flowchart and/or one or more blocks of the block diagram
In specify function device.
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 by the attached claims
It is fixed.
Claims (6)
1. a kind of equivalent angle appraisal procedure of star sensor dynamic noise characterized by comprising
Adjust the magnitude of single star simulator；
It controls the star sensor to move with pre-set velocity and track, to obtain asterism mass center bag data；
Sing data is seen according to the asterism mass center bag data combination turntable movement velocity, motion profile and the outfield that get, is obtained
The equivalent angle of star sensor dynamic noise.
2. the equivalent angle appraisal procedure of star sensor dynamic noise according to claim 1, which is characterized in that the adjusting is single
The step of magnitude of star simulator includes: to obtain star sensor outfield to see sing data；Sing data is seen based on the outfield, is adjusted single
The magnitude of star simulator.
3. the equivalent angle appraisal procedure of star sensor dynamic noise according to claim 2, which is characterized in that described to be based on institute
Stating the step of outfield sees sing data, adjusts the magnitude of single star simulator includes:
By star sensor vertically to day, carries out outfield and see satellite experiment；
A frame asterism barycenter data bag data is acquired, all star catalogue ID numbers for determining appearance star are counted；
Navigational star table is searched according to star catalogue ID number, obtains all magnitude Mi for determining appearance star of the frame data；
When it is n that the frame data, which determine appearance star number, the mean magnitude for determining appearance star is obtained；
The magnitude of single star simulator is adjusted with the mean magnitude got.
4. the equivalent angle appraisal procedure of star sensor dynamic noise according to claim 1, which is characterized in that control the star
The step of sensor is moved with pre-set velocity and track include:
The star sensor is installed on three-axle table through tooling；
The three-axle table is controlled to move with preset angular speed along desired guiding trajectory to streak visual field.
5. the equivalent angle appraisal procedure of star sensor dynamic noise according to claim 1, which is characterized in that the basis obtains
Sing data is seen in asterism mass center bag data combination turntable movement velocity, track and the outfield got, and it is dynamic to obtain the star sensor
The step of state noise equivalent angle includes:
The asterism mass center bag data got is analyzed；
Sing data acquisition star sensor, which is seen, according to the outfield averagely determines appearance star number；
Appearance star number and turntable movement speed are averagely determined according to the analysis result of the asterism mass center bag data, the star sensor got
Degree and track, obtain the star sensor noise equivalent angle under different angular speed.
6. a kind of equivalent angle assessment system of star sensor dynamic noise, the star sensor are installed on three-axle table through tooling,
It is characterised by comprising:
Magnitude adjustment equipment, for adjusting the magnitude of single star simulator；
Data acquisition facility is moved for controlling the three-axle table with pre-set velocity and track, to obtain asterism mass center packet number
According to；
Noise equivalent angle obtains equipment, for according to the movement velocity of the asterism mass center bag data combination three-axle table that gets,
Sing data is seen in motion profile and outfield, obtains the equivalent angle of star sensor dynamic noise.
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| CN110702098A (en) * | 2019-10-14 | 2020-01-17 | 中国科学院新疆理化技术研究所 | Star sensor radiation damage laboratory evaluation method based on star diagonal distance measurement precision |
| CN114001756A (en) * | 2021-11-03 | 2022-02-01 | 中国科学院光电技术研究所 | Outfield ground star finding method of small-view-field star sensor |
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