CN109738855A - A kind of measuring system in the Inter-satellite Baseline direction of satellites formation - Google Patents
A kind of measuring system in the Inter-satellite Baseline direction of satellites formation Download PDFInfo
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- CN109738855A CN109738855A CN201811620588.5A CN201811620588A CN109738855A CN 109738855 A CN109738855 A CN 109738855A CN 201811620588 A CN201811620588 A CN 201811620588A CN 109738855 A CN109738855 A CN 109738855A
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Abstract
The present invention relates to a kind of measuring systems in the Inter-satellite Baseline direction of satellites formation, for measuring intersatellite base direction, the system comprises the pseudolite sources (1) being mounted at least on a satellite A and the angular instrument (2) being mounted at least on a satellite B；The pseudolite source (1), for emitting laser；The angular instrument (2), for acquiring pseudolite source (1) and background starry sky PSF image, bright star is chosen according to preset threshold value from PSF image, then according to the positional relationship of bright star celestial sphere absolute coordinate, bright star and pseudolite source PSF image, and then the absolute celestial coordinate in pseudolite source is calculated.
Description
Technical field
The invention belongs to Inter-satellite Baseline orientation measurements and Aerospace Satellite Formation Technology field, and in particular to a kind of satellites formation
Inter-satellite Baseline direction measuring system.
Background technique
With the development of international space technology, microsatellite is to minimize, lightweight, low-power consumption, the advantages such as low cost obtain
To fast development.In recent years, distributed microsatellite is rapidly developed, distributed microsatellite refer to by two or two with
On microsatellite complete a certain task in same track or a variety of orbital flights collaboration.Distributed microsatellite on the one hand can be with
The sophisticated functions for completing traditional large satellite, on the other hand can reduce the cost and risk of space tasks to a certain extent, because
This, is more and more paid attention to.
Important component of the satellites formation technology as distributed microsatellite technology, since it is able to satisfy specific sky
Between mission requirements, be used widely in recent years.In satellites formation, the measurement problem in Inter-satellite Baseline direction is that various applications need
Want urgent problem.The measurement scheme in traditional Inter-satellite Baseline direction all relies on the posture and satellite body coordinate of satellite
System.Space low-frequency radio array, interference SAR etc. are applied, interfere the high-acruracy survey of base direction to meeting practical application
Demand is of great significance.
Summary of the invention
It is an object of the present invention to solve existing measuring system, there are drawbacks described above, and the invention proposes one kind to defend
Pseudolite source is combined angular instrument, and utilizes pseudolite source Differential positioning by the measuring system in the Inter-satellite Baseline direction that star is formed into columns, in conjunction with phase
Algorithm is closed, it can be with the absolute celestial coordinate of the base direction between any two satellites of precise measurement satellites formation；With low function
Consumption lightweight, minimizes, does not depend on the advantages that attitude of satellite and body coordinate system.
To achieve the goals above, the present invention provides a kind of measuring systems in the Inter-satellite Baseline direction of satellites formation, use
In measuring intersatellite base direction, the system comprises the pseudolite source 1 being mounted at least on a satellite A and it is mounted at least
Angular instrument 2 on one satellite B；
The pseudolite source 1, for emitting laser；
The angular instrument 2, for acquiring point spread function (the Point Spread in pseudolite source 1 and background starry sky
Function, PSF) image, i.e. the PSF image in pseudolite source 1 and background starry sky, it is chosen from PSF image according to preset threshold value
Bright star then according to the positional relationship of bright star celestial sphere absolute coordinate, bright star and pseudolite source PSF image, and then calculates pseudolite source
Absolute celestial coordinate.
One of improvement as above system, the Sine Modulated laser diode pseudolite source 1 is light coupling light source, single
Color wavelength is 808nm, spread angle range 20-50.
One of improvement as above system, the Sine Modulated laser diode pseudolite source 1 include: laser diode 3,
Laser periodic modulation module 10 and output optical fibre 8；
The laser diode 3, for generating laser；
The laser periodic modulation module 10, the laser for generating to laser diode 3 carry out periodic modulation, output week
Phase modulated laser；
The output optical fibre 8, the laser for exporting laser periodic modulation module 10 couples, and is carried out defeated
Out；Light source as pseudolite source used in offer importance in star map recognition.
Structural support is used to support and fix laser diode 3, output optical fibre 8, provides stable mechanics and supports.
One of improvement as above system, the APS celestial sphere absolute coordinate angular instrument 2 includes: APS sensor 5, low abnormal
Become camera lens 6, veiling glare suppression module 7 and celestial sphere absolute coordinate resolve module 9；Wherein, APS sensor 5 is active pixel sensor
(Active Pixel Sensor,APS)；
The low distortion camera lens 6 surveys position caused by optical distortion for pseudolite source and Celestial Background to be imaged
Amount error is preferably minimized；
The veiling glare suppression module 7, for inhibiting the stray light of each reflecting surface, scattering surface in entire optical path；It reduces spuious
The picture noise that light generates improves signal-to-noise ratio；
The APS sensor 5 forms PSF temporal image for collecting several pseudolite source images according to collection period
Sequence；
The celestial sphere absolute coordinate resolves module 9, quasi- for carrying out SIN function to pseudolite source time sequence obtained
It closes, chooses pseudolite；Threshold value setting is carried out to the PSF temporal sequence of images of the background starry sky of acquisition, chooses bright star；It is fixed by difference
Position method, the bright star of acquisition is matched with GAIA star catalogue, obtains bright star celestial sphere absolute coordinate；According to the bright star celestial sphere of acquisition
Absolute coordinate, the positional relationship of bright star and pseudolite source PSF image, and then calculate the absolute celestial coordinate in pseudolite source.Wherein, described
It is preferably ARM (Advanced RISCMachine, ARM) processor that celestial sphere absolute coordinate, which resolves module 9,.
One of improvement as above system, the collection period are according to Sine Modulated laser diode pseudolite source (1)
The Sine Modulated period determine；The collection period is at least 2 periods, it is ensured that the reliability of sine streak fitting.
One of improvement as above system, low distortion camera lens (6) visual field is between 12-18 degree.
One of improvement as above system, the celestial sphere absolute coordinate resolve module (9) and specifically include:
Amending unit, for the PSF picture number to Sine Modulated laser diode pseudolite source 1 and background starry sky obtained
According to divided by flat field, cut dark field, carry out flat field and dark field amendment；Wherein, which includes: pseudolite source images and background star
Null images；Flat field is that APS celestial sphere absolute coordinate angular instrument 2 points into the sky the image of a certain region acquisition；Dark field is that APS celestial sphere is exhausted
The image data that coordinate angular instrument 2 is inputted without any light radiation；
Superpositing unit, for the time series and background starry sky to Sine Modulated laser diode pseudolite source 1 obtained
PSF temporal sequence of images every width figure gray value be added；
Fitting unit obtains the fitting period for carrying out SIN function fitting to pseudolite source time sequence obtained；
Comparing unit, for the modulation period to the fitting period and Sine Modulated laser diode pseudolite source 1 obtained
It is compared；If the fitting period is compared the range allowed less than error with 1 period of Sine Modulated laser diode pseudolite source,
So determine the star for pseudolite；
Matching unit, the PSF temporal sequence of images for the background starry sky to acquisition carry out threshold value setting, choose bright star；
The bright star of acquisition is matched with GAIA star catalogue, obtains bright star celestial sphere absolute coordinate；It is absolutely sat according to the bright star celestial sphere of acquisition
Mark, the positional relationship of bright star and pseudolite source PSF image, and then calculate the absolute celestial coordinate in pseudolite source；Wherein, preset
It is bright star that threshold value, which is greater than 5,.The GAIA star catalogue is the high-precision background star place star catalogue of the newest publication of ESA.
Through the optical system (i.e. low aberration optical lens 6) of APS celestial sphere absolute coordinate angular instrument 2 on APS sensor
Imaging, and by APS sensor backend electronics system (i.e. arm processor) internal algorithm to pseudolite source PSF and stellar light
PSF Difference Imaging (obtains the relative spacing between pseudolite source PSF and stellar light PSF), passes through narrow angle uranometry algorithm
The star spacing (i.e. spacing between pseudolite source PSF and stellar light PSF) of pseudolite source PSF and stellar light PSF is obtained, last benefit
The absolute celestial coordinate in pseudolite source is obtained with the absolute celestial coordinate of background star that GAIA star catalogue provides to get one of baseline is arrived
Direction；Utilize the base direction between available any two satellites of same method.
The present invention has the advantages that
System of the invention high, low in energy consumption, light-weight, small in size, the Inter-satellite Baseline orientation measurement with pseudolite identifing source rate
The attitude of satellite and body coordinate system, Inter-satellite Baseline orientation measurement precision height etc. are not depended on.
Detailed description of the invention
Fig. 1 be the Satellite Formation Flying in a kind of measuring system in the Inter-satellite Baseline direction of satellites formation of the invention star between base
Line schematic diagram；
Fig. 2 is a kind of measurement in the Inter-satellite Baseline direction of the measuring system in the Inter-satellite Baseline direction of satellites formation of the invention
The structural schematic diagram of system.
Specific embodiment
Now in conjunction with attached drawing, the invention will be further described.
As illustrated in fig. 1 and 2, the present invention provides a kind of measuring systems in the Inter-satellite Baseline direction of satellites formation, for surveying
Intersatellite base direction is measured, system of the invention is based on star chart Differential positioning method, realizes Inter-satellite Baseline orientation measurement, it is contemplated that
Precision at least up to Asia rad magnitude, the measurement accuracy compared to the rad magnitude of existing star sensor will want height.The system
System includes the pseudolite source 1 being mounted at least on a satellite A and the angular instrument 2 being mounted at least on a satellite B；
The pseudolite source 1, for emitting laser；For pseudolite identification and star chart Differential positioning.
The angular instrument 2, for acquiring point spread function (the Point Spread in pseudolite source 1 and background starry sky
Function, PSF) image, i.e. the PSF image in pseudolite source 1 and background starry sky, it is chosen from PSF image according to preset threshold value
Bright star then according to the positional relationship of bright star celestial sphere absolute coordinate, bright star and pseudolite source PSF image, and then calculates pseudolite source
Absolute celestial coordinate.
One of improvement as above system, the Sine Modulated laser diode pseudolite source 1 is light coupling light source, single
Color wavelength is 808nm, spread angle range 20-50.
One of improvement as above system, the Sine Modulated laser diode pseudolite source 1 include: laser diode 3,
Laser periodic modulation module 10 and output optical fibre 8；
The laser diode 3, for generating laser；
The laser periodic modulation module 10, the laser for generating to laser diode 3 carry out periodic modulation, output week
Phase modulated laser；
The output optical fibre 8, the laser for exporting laser periodic modulation module 10 couples, and is carried out defeated
Out；Light source as pseudolite source used in offer importance in star map recognition.
Structural support is used to support and fix laser diode 3, output optical fibre 8, provides stable mechanics and supports.
One of improvement as above system, the APS celestial sphere absolute coordinate angular instrument 2 includes: APS sensor 5, low abnormal
Become camera lens 6, veiling glare suppression module 7 and celestial sphere absolute coordinate resolve module 9；Wherein, APS sensor 5 is active pixel sensor
(Active Pixel Sensor,APS)；
The low distortion camera lens 6 surveys position caused by optical distortion for pseudolite source and Celestial Background to be imaged
Amount error is preferably minimized；
The veiling glare suppression module 7, for inhibiting the stray light of each reflecting surface, scattering surface in entire optical path；It reduces spuious
The picture noise that light generates improves signal-to-noise ratio；
The APS sensor 5 forms PSF temporal image for collecting several pseudolite source images according to collection period
Sequence；
The celestial sphere absolute coordinate resolves module 9, quasi- for carrying out SIN function to pseudolite source time sequence obtained
It closes, chooses pseudolite；Threshold value setting is carried out to the PSF temporal sequence of images of the background starry sky of acquisition, chooses bright star；It is fixed by difference
Position method, the bright star of acquisition is matched with GAIA star catalogue, obtains bright star celestial sphere absolute coordinate；According to the bright star celestial sphere of acquisition
Absolute coordinate, the positional relationship of bright star and pseudolite source PSF image, and then calculate the absolute celestial coordinate in pseudolite source.Wherein, described
It is preferably ARM (Advanced RISCMachine, ARM) processor that celestial sphere absolute coordinate, which resolves module 9,.
One of improvement as above system, the collection period are according to Sine Modulated laser diode pseudolite source (1)
The Sine Modulated period determine；The collection period is at least 2 periods, it is ensured that the reliability of sine streak fitting.
One of improvement as above system, low distortion camera lens (6) visual field is between 12-18 degree.
One of improvement as above system, the celestial sphere absolute coordinate resolve module (9) and specifically include:
Amending unit, for the PSF picture number to Sine Modulated laser diode pseudolite source 1 and background starry sky obtained
According to divided by flat field, cut dark field, carry out flat field and dark field amendment；Wherein, which includes: pseudolite source images and background star
Null images；Flat field is that APS celestial sphere absolute coordinate angular instrument 2 points into the sky the image of a certain region acquisition；Dark field is that APS celestial sphere is exhausted
The image data that coordinate angular instrument 2 is inputted without any light radiation；
Superpositing unit, for the time series and background starry sky to Sine Modulated laser diode pseudolite source 1 obtained
PSF temporal sequence of images every width figure gray value be added；
Fitting unit obtains the fitting period for carrying out SIN function fitting to pseudolite source time sequence obtained；
Comparing unit, for the modulation period to the fitting period and Sine Modulated laser diode pseudolite source 1 obtained
It is compared；If the fitting period is compared the range allowed less than error with 1 period of Sine Modulated laser diode pseudolite source,
So determine the star for pseudolite；
Matching unit, the PSF temporal sequence of images for the background starry sky to acquisition carry out threshold value setting, choose bright star；
The bright star of acquisition is matched with GAIA star catalogue, obtains bright star celestial sphere absolute coordinate；It is absolutely sat according to the bright star celestial sphere of acquisition
Mark, the positional relationship of bright star and pseudolite source PSF image, and then calculate the absolute celestial coordinate in pseudolite source；Wherein, preset
It is bright star that threshold value, which is greater than 5,.The GAIA star catalogue is the high-precision background star place star catalogue of the newest publication of ESA.
Through the optical system (i.e. low aberration optical lens 6) of APS celestial sphere absolute coordinate angular instrument 2 on APS sensor
Imaging, and by APS sensor backend electronics system (i.e. arm processor) internal algorithm to pseudolite source PSF and stellar light
PSF Difference Imaging (obtains the relative spacing between pseudolite source PSF and stellar light PSF), passes through narrow angle uranometry algorithm
The star spacing (i.e. spacing between pseudolite source PSF and stellar light PSF) of pseudolite source PSF and stellar light PSF is obtained, last benefit
The absolute celestial coordinate in pseudolite source is obtained with the absolute celestial coordinate of background star that GAIA star catalogue provides to get one of baseline is arrived
Direction；Utilize the base direction between available any two satellites of same method.
As shown in Figure 1, every satellite in satellite 1- satellite N in Satellite Formation Flying is respectively mounted between the star of the satellites formation
The measuring system of base direction, i.e. every satellite are respectively mounted a Sine Modulated laser diode pseudolite source 1 and an APS celestial sphere
Absolute coordinate angular instrument 2.Base line measurement between any two satellites of Satellite Formation Flying is bidirectional measurement and mutually verifies.
The threshold size for choosing background fixed star is finally selected according to number of stars and brightness decision in visual field
The bright star quantity for Differential positioning out is 6~8.Wherein, the fixed star is the bright star in the present embodiment.
It should be noted last that the above examples are only used to illustrate the technical scheme of the present invention and are not limiting.Although ginseng
It is described the invention in detail according to embodiment, those skilled in the art should understand that, to technical side of the invention
Case is modified or replaced equivalently, and without departure from the spirit and scope of technical solution of the present invention, should all be covered in the present invention
Scope of the claims in.
Claims (7)
1. a kind of measuring system in the Inter-satellite Baseline direction of satellites formation, for measuring intersatellite base direction, feature exists
In pseudolite source (1) and the angle measurement that is mounted at least on a satellite B the system comprises what is be mounted at least on a satellite A
Instrument (2)；
The pseudolite source (1), for emitting laser；
The angular instrument (2), for acquiring pseudolite source (1) and background starry sky PSF image, according to default from PSF image
Threshold value choose bright star, then according to the positional relationship of bright star celestial sphere absolute coordinate, bright star and pseudolite source PSF image, Jin Erji
Calculate the absolute celestial coordinate in pseudolite source.
2. the measuring system in the Inter-satellite Baseline direction of satellites formation according to claim 1, which is characterized in that the sine
Modulating laser diode pseudolite source (1) is light coupling light source, monochromatic wave a length of 808nm, spread angle range 20-50.
3. the measuring system in the Inter-satellite Baseline direction of satellites formation according to claim 2, which is characterized in that the sine
Modulating laser diode pseudolite source (1) includes: laser diode (3), laser periodic modulation module (10) and output optical fibre (8)；
The laser diode (3), for generating laser；
The laser periodic modulation module (10), the laser for generating to laser diode (3) carry out periodic modulation, output week
Phase modulated laser；
The output optical fibre (8) for coupling the laser that laser periodic modulation module (10) exports, and is carried out defeated
Out.
4. the measuring system in the Inter-satellite Baseline direction of satellites formation according to claim 1, which is characterized in that the angle measurement
Instrument (2) includes: APS sensor (5), low distortion camera lens (6), and veiling glare suppression module (7) and celestial sphere absolute coordinate resolve module
(9)；
The low distortion camera lens (6), for pseudolite source and Celestial Background to be imaged；
The veiling glare suppression module (7), for inhibiting the stray light of each reflecting surface, scattering surface in entire optical path；
The APS sensor (5) forms PSF temporal image sequence for collecting several pseudolite source images according to collection period
Column；
The celestial sphere absolute coordinate resolves module (9), for carrying out SIN function fitting to pseudolite source time sequence obtained,
Choose pseudolite；Threshold value setting is carried out to the PSF temporal sequence of images of the background starry sky of acquisition, chooses bright star；Pass through Differential positioning
Method matches the bright star of acquisition with GAIA star catalogue, obtains bright star celestial sphere absolute coordinate；It is exhausted according to the bright star celestial sphere of acquisition
To coordinate, the positional relationship of bright star and pseudolite source PSF image, and then calculate the absolute celestial coordinate in pseudolite source.
5. the measuring system in the Inter-satellite Baseline direction of satellites formation according to claim 4, which is characterized in that the acquisition
Period was determined according to the Sine Modulated period in Sine Modulated laser diode pseudolite source (1)；The collection period is at least 2
Period.
6. the measuring system in the Inter-satellite Baseline direction of satellites formation according to claim 4, which is characterized in that described low abnormal
Become camera lens (6) visual field between 12-18 degree.
7. the measuring system in the Inter-satellite Baseline direction of satellites formation according to claim 4, which is characterized in that the celestial sphere
Absolute coordinate resolves module (9) and specifically includes:
Amending unit is removed for the PSF image data to Sine Modulated laser diode pseudolite source 1 obtained and background starry sky
With flat field, dark field is cut, carries out flat field and dark field amendment；Wherein, which includes: pseudolite source images and background stellar map
Picture；
Superpositing unit, for the time series of Sine Modulated laser diode pseudolite source (1) obtained and background starry sky
Every width figure gray value of PSF temporal sequence of images is added；
Fitting unit obtains the fitting period for carrying out SIN function fitting to pseudolite source time sequence obtained；
Comparing unit, for it is obtained fitting the period and Sine Modulated laser diode pseudolite source (1) modulation period into
Row compares；If the fitting period is compared the range allowed less than error with 1 period of Sine Modulated laser diode pseudolite source, that
Determine that the star is pseudolite；
Matching unit, the PSF temporal sequence of images for the background starry sky to acquisition carry out threshold value setting, choose bright star；To obtaining
The bright star obtained is matched with GAIA star catalogue, obtains bright star celestial sphere absolute coordinate；It is bright according to the bright star celestial sphere absolute coordinate of acquisition
The positional relationship of star and pseudolite source PSF image, and then calculate the absolute celestial coordinate in pseudolite source；Wherein, preset threshold value
It is bright star greater than 5.
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Cited By (1)
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