CN109855650A - A kind of restructural infrared earth sensor simulator on-line calibration device - Google Patents
A kind of restructural infrared earth sensor simulator on-line calibration device Download PDFInfo
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- CN109855650A CN109855650A CN201811248153.2A CN201811248153A CN109855650A CN 109855650 A CN109855650 A CN 109855650A CN 201811248153 A CN201811248153 A CN 201811248153A CN 109855650 A CN109855650 A CN 109855650A
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Abstract
The present invention relates to a kind of restructural infrared earth sensor simulator on-line calibration devices, it is characterized by comprising single-chip microcontrollers, single-chip microcontroller can reset orbit parameter by CAN bus, single-chip microcontroller controls FPGA, wherein main pulse signal gives infrared earth sensor simulator when FPGA exports SD and Ref, the chord width pulse signal of simulator output-response attitude of satellite information is to FPGA, single-chip microcontroller calculates simulation attitude value according to algorithm, provides simulator error after the FPGA reading chord width porch time.The calibrator (-ter) unit that the present invention is supported can be realized the dynamic to a kind of infraredly quick simulator, on-line calibration, raising efficiency and quality simultaneously, the device effectively reduces cost the flexibility for improving and using instead of the complicated calibration system being made of at present more all purpose instruments.
Description
Technical field
The invention belongs to instrument fields, and in particular to a kind of restructural infrared earth sensor simulator on-line calibration
Device.
Background technique
Widely used photo electricity collimation theodolite mainly includes sun sensor, star sensor in satellite attitude control system
And infrared earth sensor.Sun sensor enter earth's shadow area when be not available, although and star sensor precision compared with
It is high.But since the factors such as the characteristic of device itself make it be easy the interference by other light sources, also, cost is higher, makes
It is also long without earth sensor with the service life.Therefore, infrared earth sensor is indispensable photo electricity collimation theodolite on star.
Infrared earth sensor is used to measure satellite in the change in location of the posture relative to the earth in space.Earth sensor
Measured angle includes: satellite pitch angle and roll angle.Infrared earth sensor using moving mechanical part drive one or
Instantaneous field of view's inswept ground flat round of a small amount of several detection members, so that the earth/boundary space spatial distribution radiation image be converted
For the approximate square waves of Annual distribution, the width of the earth is detected by electronics means or phasometer calculates the round position of Horizon, from
And determine two axis postures.
The simulation test comprising earth sensor in the ground environment experiment of satellite, this just needs earth sensor to simulate
Device (quick simulator) effect and state of earth sensor under ground simulation space environment.Simulator output quick for ground
Pitch angle and roll angle calibration and than survey just be particularly important.
Quick simulator is the semi-physical simulation dress that satellite is converted to chord width signal with respect to the posture information of the earth infraredly
It sets, i.e. the posture information (roll angle, pitch angle) of reception dynamics sending, on the basis of time-base signal, output multi-channel has multiple
The pulse signal that miscellaneous logical relation, edge moment constantly convert.Its calibrating mode is using setting 3-5 kind particular job shape at present
State, while using a variety of instrument combinations such as signal source, digital table, timer, oscillographs, it is normal to edge time, pulse amplitude etc.
Rule parameter is calibrated, and further according to the corresponding specific chord width information of given value (roll angle, pitch angle), is carried out to chord width signal
Calibration.Wherein, as the generating device of signal SD signal and Ref signal occur for signal source, and timer carries out rising edge and decline
The triggering timing on edge, digital table carry out the monitoring of signal amplitude and frequency, the output CH signal of oscillograph quick simulator over the ground
(CH1~CH4) carries out the acquisition of waveform, is compared and is calibrated with SD the and Ref signal of setting.As shown in Figure 1.
However, the above-mentioned prior art have the shortcomings that it is as follows:
1) entire calibration system uses a variety of instrument combinations such as signal source, digital table, timer, oscillograph simultaneously, required
Device category, quantity are more；
2) its calibrating mode is using setting 3-5 kind particular job state at present, to the overall process of earth sensor simulator
Parameter measurement point is unable to reach all standing, can not verify to dynamic characteristic；
3) pass through counter and digital table and other instrument and equipment clock synchronization base (SD signal) signals and oscillograph read back waveform
Calibration is compared, can not achieve automatic measurement, needs to go out the corresponding theory of specified point by professional technician's calculated in advance
Numerical value, operability are poor.
Summary of the invention
The present invention in view of the above circumstances, provides a kind of on-line calibration device that can solve the above problem, specifically,
The present invention provides a kind of restructural infrared earth sensor simulator on-line calibration device, it is characterised in that: including single-chip microcontroller,
By monolithic processor controlled FPGA, wherein FPGA exports SD and Ref pulse signal and gives infrared earth sensor simulator, simulator
Satellite attitude signal is fed back to FPGA.
Further, it is characterised in that: it further include magnetic coupling isolation circuit and digital conditioning circuit, the FPGA output
SD and Ref pulse signal is successively transferred to infrared earth sensor simulation after magnetic coupling isolation circuit and digital conditioning circuit
Device.
Further, it is characterised in that: further include photoelectric coupled circuit, the simulator feedback satellite attitude signal passes through light
Enter FPGA after coupling circuit.
Further, it is characterised in that: earth sensor simulator has general-purpose interface case, SD the and Ref pulse letter
Number and satellite attitude signal pass through general-purpose interface case and input or export infrared earth sensor simulator.
Further, it is characterised in that: posture information square-wave signal CH1, CH2, CH3, CH4 of the satellite.
Further, it is characterised in that: FPGA judges CH signal type, and calculates the edge moment, calculates based on power
Learn the quick angle value in ground of setting.
Further, it is characterised in that: calibrating installation alternate power gives simulator emulation input information, the letter
Breath includes: pitch angle P, and roll angle R, width scanning WS/NS signal, pop one's head in output abnormality signal INH1~INH4, earth disk
Radius ρ.
Using the solution of the present invention, have the effect that
1) calibrator (-ter) unit supported of the present invention can not only raising efficiency and quality, moreover it is possible to which substitution is at present by multiple equipment
The calibration system of composition, effectively reduces cost.
2) optimization algorithm is used, measured value can be gone out according to the direct readback inverse of attitude of satellite information setting value and provide mistake
Difference supports the simulation process of satellite high rail and low orbit satellite whole posture.
3) model transmitting quantity rises year by year, and model detection calibration operating pressure increases suddenly, and the present invention program will be supported effectively
The quick of quick simulator, overall process, on-line calibration infraredly.
Detailed description of the invention
Fig. 1 is quick simulator calibration method in the prior art.
Fig. 2 is quick simulator calibrating installation signal connection figure.
Fig. 3 is quick simulator calibration block diagram.
Fig. 4 is quick signal source timing diagram.
Fig. 5 is the timing diagram of quick signal source Yu Ch1~Ch4.
Fig. 6 is waveform production principle block diagram
Specific embodiment
In order to make those skilled in the art better understand the present invention, the present invention is made with implementation method with reference to the accompanying drawing
It is described in further detail.
Fig. 2-6 shows restructural infrared earth sensor simulator on-line calibration device of the invention, quick to the earth
Sensor simulator is calibrated, and the earth sensor simulator has general-purpose interface case, and general-purpose interface case is to be used for quick ball
The conversion equipment of sensor simulator and test interface.The on-line calibration device include single-chip microcontroller (such as AVR), FPGA,
Digital conditioning circuit and photoelectric coupled circuit.Wherein the single-chip microcontroller control FPGA generates SD (time-base signal) and Ref pulse letter
Number, signal is passed to the general of earth sensor simulator after magnetic coupling isolation circuit and digital conditioning circuit by the signal
Interface box.The quick simulator in ground contains posture information square-wave signal CH1, CH2, CH3, CH4 of satellite, (earth wave differential letter
Number), and spread out of by general-purpose interface case, and then CH signal is passed to by FPGA by cable and photoelectric coupled circuit.FPGA is according to pulse
The information of signal, quick angular transition algorithm, anti-solution calculate quick angle information in combination.Specifically, FPGA judges that CH believes
(as shown in figure 5, CH signal is divided into 5 kinds of situations, the angle information that each case is included is different, it can be said that bright defend for number situation
Location information of the astrology for the earth), and the edge moment is calculated, calculate the quick angle value in ground based on dynamics setting.Calibration
Device calculates setting value and the difference of the angle value calculated evaluates quick simulator confidence level multiplied by weight coefficient.
Wherein single-chip microcontroller can reset orbit parameter by CAN bus.
Wherein it is preferred to which calibrating installation alternate power computer gives simulator emulation input information.Information includes:
Pitch angle P, roll angle R, width scan WS/NS signal, and pop one's head in output abnormality signal INH1~INH4, earth disk radius ρ.
Described device supports on-line tuning multiple parameters, outputting standard time-base signal, under the conditions of automatic collection multiple orbital attitudes, no
With the chord width signal of quick simulator output carries out on-line calibration infraredly under operational mode.
As shown in figure 3, the satellite pitch angle calibrated by the needs that calibrating installation host computer is arranged and roll angle information to
The quick simulator in ground is compared by the common matching of SD signal and Ref signal, so that the quick simulator in ground generates CH signal, calibration cartridge
Set by FPGA acquire CH signal and single-chip microcontroller control the anti-pitch angle for calculating the quick simulator output in ground for including in CH signal with
The information of roll angle and the operation that compares with the angle information for starting host computer setting, finally obtain model error and signal errors.
Model error: the setting value of calibrating installation and the readback value of the quick simulator in ground (are taken by what the quick simulator in ground issued
Single-chip microcontroller is counter calculates angle value through FPGA acquisition for CH signal with angle information) it is compared, two groups of angle values relatively make the difference
What is obtained is exactly the model error of system.
Signal errors: the CH signal rising edge and failing edge issued by the quick simulator of SD (time-base signal) signal and ground
Moment in time can lag or lead there are certain time order errors such as Δ t in figure is exactly the signal waveform in phase
Error.
The sequential relationship of the quick signal in ground is as shown in Figure 4 and Figure 5.In nominal track height, zero attitude, according to detector
Position is different, and waveform output is divided into five kinds of situations, and SD time-base signal and the waveform time chart that five kinds of situations generate are as shown in Figure 5.
As shown, CH signal condition 1: probe is always positioned in earth disk；Situation 2: probe is always positioned at cold space
It is interior；Situation 3: probe passes through earth disk right margin from West to East out of disk, and reversely passing through right margin again returns to ground later
In ball disk；Situation 4: probe passes through earth disk left margin from cold space from West to East, reversely passes through left margin again later
Into cold space；Situation 5: probe successively passes through earth disk left margin from cold space from West to East, right margin enters cold sky
Between, earth disk right margin is reversely successively passed through later, left margin enters cold space.
When infrared detector meets terrestrial time during the scanning process, output high level signal is on the contrary, output low level letter
Number, output low and high level moment and roll angle r, pitch angle p and orbit altitude q, the scan period, T was related.
The mathematic(al) representation of CH signal algorithm are as follows:
T is the scan period: 100ms
A is sweep amplitude, it is narrow when sweeping for A=6 ° wide sweep when A=11 °.
Timing initial time: T/4 is delayed as timing initial time using the failing edge of Re signal, is defined:
T1 is the first time rising edge time of each channel rectangular wave；
T2 is failing edge moment first time of each channel rectangular wave；
T3 is second of rising edge time of each channel rectangular wave；
T4 is second of failing edge moment of each channel rectangular wave.
Wherein the photoelectric coupled circuit is high speed photo coupling, and realization sampled signal is entirely electrical with the circuit in self-testing device
Isolation, lifting system safety.
Preferably level magnitudes of Ref pulse signal: 0~-5V；Pulse frequency: 20Hz；Pulse width: 200 μ s.
Preferably, SD pulse signal is the square-wave signal of 1:1, level magnitudes: 0~5V；Pulse frequency: 10Hz；
Preferably, the electrical characteristics of infrared earth sensor signal source output CH1~CH4 signal are as follows: voltage: high level
10V~12V, low level 0V~0.5V；Period: 100ms, ± 10%；Rising edge, failing edge :≤2s；
Wherein, SD and Ref waveform production principle are as follows:
Single-chip microcontroller sends the temporal information of rising edge of a pulse failing edge to FPGA using 100ms as the period, and FPGA is received
After END instruction, pulse condition is updated immediately.Contain in one cycle per pulse signal all the way: first rising time t1,
First failing edge time t2, second rising time t3, second failing edge time t4.Pulse shares eight tunnels, single every time
32 time values are written to FPGA in piece machine.Wherein, single-chip microcontroller uses AT90CAN128, FPGA to select Xillinx company
Spartan-6 series.
The definition of the address table 1FPGA
FPGA is Shi Ji with data transfer reception mark, timing is carried out, to control the time on each pulse rise and fall edge.
After one group of temporal information is written in each single-chip microcontroller, 0X55 is written to the 0X8000 of FPGA in single-chip microcontroller, and FPGA is detected in 0X8000
After data become 0X55, triggering timing device, and in next FPGA clock cycle by zeros data in 0X8000.
There is 0X55 as the period using data transmission end of identification in pulse, 100ms ± 0.1ms.The edge time t1 of setting~
T4 range is 0~10000, corresponding 0~100ms.
As shown in fig. 6, FPGA is Shi Ji with data transfer reception mark, timing is carried out, to control each pulse rise and fall
The time on edge.After one group of temporal information is written in each single-chip microcontroller, binary number, FPGA is written to the register of FPGA in single-chip microcontroller
After detecting that data become the binary number in the register, triggering timing device, and will be deposited in next FPGA clock cycle
Zeros data in device.There is binary number as the period using data transmission end of identification in pulse, 100ms ± 0.1ms.The side of setting
It is 0~10000 along time t1~t4 range, corresponding 0~100ms.
Illustrate the workflow of the present invention program with reference to the accompanying drawing:
When work, after starting test, base when FPGA generates SD and Ref is informed after the decoding of single-chip microcontroller progress host computer instruction
Signal, while informing by CAN bus the information of quick simulator satellite pitch angle and roll angle.To the quick simulator passback in ground
CH signal given after FPGA high speed acquisition, timer are to the timing of pulse signal edge single-chip microcontroller carry out signal decoding solution
The pitch angle and roll angle information that CH signal includes are calculated, is compared through single-chip microcontroller with the attitude of satellite information of initial setting up
Result is uploaded to host computer to show.
Present invention employs the frameworks of FPGA+MCU a kind of, and generation and the string of standard time-base signal are realized by FPGA
The accurate acquisition of bandwidth signals, devises that a kind of rapid data is read and affirmation mechanism, MCU run computation between FPGA and MCU
The real time datas such as roll angle, pitch angle, edge time are directly given, and compared with the setting value received, directly gives calibration
As a result, carrying out complicated calculations without the quick algorithm in base area again, not co-orbital attitude of satellite information can be simulated in this way, it can
To configure the pitch angle and roll angle of satellite arbitrarily high rail and low rail, good compatibility, generalization is strong.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications
It should be regarded as protection scope of the present invention.In addition, these terms are only although using some specific terms in this specification
Explanation merely for convenience, does not limit the present invention in any way.
Claims (7)
1. a kind of restructural infrared earth sensor simulator on-line calibration device, it is characterised in that: including single-chip microcontroller, by monolithic
The FPGA of machine control, wherein FPGA exports SD and Ref pulse signal and gives infrared earth sensor simulator, and simulator feedback is defended
Star attitude signal is to FPGA.
2. on-line calibration device according to claim 1, it is characterised in that: further include magnetic coupling isolation circuit and number conditioning
Circuit, SD the and Ref pulse signal of the FPGA output are successively transferred to after magnetic coupling isolation circuit and digital conditioning circuit
Infrared earth sensor simulator.
3. on-line calibration device according to claim 1 or 2, it is characterised in that: it further include photoelectric coupled circuit, the simulator
Satellite attitude signal is fed back by entering FPGA after photoelectric coupled circuit.
4. on-line calibration device according to claim 1-3, it is characterised in that: earth sensor simulator has
General-purpose interface case, SD the and Ref pulse signal and satellite attitude signal pass through general-purpose interface case and input or export infraredly
Ball sensor simulator.
5. on-line calibration device according to claim 1-3, it is characterised in that: the posture information square of the satellite
Shape wave signal CH1, CH2, CH3, CH4.
6. on-line calibration device according to claim 5, it is characterised in that: FPGA judges CH signal type, and calculates side
Along the moment, the earth sensor angle value based on dynamics setting is calculated.
7. on-line calibration device according to claim 1-3, it is characterised in that: calibrating installation alternate power is sent
Input information is emulated to simulator, the information includes: pitch angle P, roll angle R, width scanning WS/NS signal, probe output
Abnormal signal INH1~INH4, earth disk radius ρ.
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