CN111156992A - Miniature satellite-borne star sensor and working process time sequence thereof - Google Patents
Miniature satellite-borne star sensor and working process time sequence thereof Download PDFInfo
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- CN111156992A CN111156992A CN201911418634.8A CN201911418634A CN111156992A CN 111156992 A CN111156992 A CN 111156992A CN 201911418634 A CN201911418634 A CN 201911418634A CN 111156992 A CN111156992 A CN 111156992A
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Abstract
The invention discloses a miniature satellite-borne star sensor, which comprises a star sensor body, wherein a light shield is arranged at the front end of the star sensor body; an optical lens assembly and a front panel for mounting a CMOS detector are mounted in the star sensor body, and the optical lens assembly focuses parallel light on a target surface of the CMOS detector; a processing board, a power board and an interface board are also arranged in the star sensor body; the processing board is in communication connection with the CMOS detector and the interface board; the power panel supplies power to the internal electric devices. The micro satellite-borne star sensor has the advantages of high precision, small volume and weight and low cost and power consumption, effectively meets the precision requirement of attitude measurement and control of a micro-nano satellite, and can be applied to a micro-nano satellite platform.
Description
Technical Field
The invention belongs to the technical field of high-precision optical attitude sensor design, and particularly relates to a miniature star-based star sensor and a working process time sequence thereof.
Background
The micro-nano satellite is a satellite with the weight of 100KG or less, can be applied to various aspects such as communication, Internet, military, monitoring, scientific experiments and the like, and the research on the micro-nano satellite technology and the networking application technology thereof are hot spots of the research on the satellite technology at home and abroad in recent years. The high-precision attitude measurement information is the basis for completing mission tasks of the micro-nano satellite, and the star sensor is a high-precision optical attitude sensor taking a fixed star as a reference source and is a measurement component with the highest attitude measurement precision at present. In order to complete mission tasks, the micro-nano satellite needs to adopt a star sensor as an attitude measurement component, but the traditional high-precision star sensor is difficult to meet the requirements of the micro-nano satellite in the aspects of volume, weight, power consumption, cost and the like.
Disclosure of Invention
The invention provides a miniature satellite-borne star sensor aiming at the technical problems in the prior art, and the miniature satellite-borne star sensor has the characteristics of compact structure, low cost, stable and reliable performance and the like.
The technical scheme adopted by the invention for solving the technical problems is as follows:
a micro star-based star sensor comprises a star sensor body, wherein a light shield is arranged at the front end of the star sensor body; an optical lens assembly and a front panel for mounting a CMOS detector are mounted in the star sensor body, and the optical lens assembly focuses parallel light on a target surface of the CMOS detector; a processing board, a power board and an interface board are also arranged in the star sensor body; the processing board is in communication connection with the CMOS detector and the interface board; the power panel supplies power to the internal electric devices.
Preferably, the star sensor body comprises a star sensor shell and a star sensor body structure arranged inside the star sensor shell.
As a preferred embodiment of the present invention, the optical lens assembly, the front board for mounting the CMOS detector, and the processing board are mounted inside the star sensor body structure; the power panel and the interface board are arranged between the star sensor shell and the star sensor body structure.
Preferably, the light shield includes a light shield housing and a plurality of light shielding plates arranged in tandem inside the light shield housing.
Preferably, the light shield shell is of a tapered structure along the direction of light intake.
Preferably, the optical lens assembly includes a lens housing, and an optical lens and a protective lens are disposed in the lens housing, and the protective lens is disposed at a front end of the optical lens.
Preferably, a hexahedral reference mirror is mounted at the bottom of the star sensor body.
The embodiment of the invention also provides a working process time sequence of the miniature satellite-borne star sensor, which specifically comprises the following steps:
s1, triggering and controlling the exposure of the sensor by the star sensor according to the synchronous signal in timing;
s2, after exposure control is completed, the FPGA program simultaneously carries out image transfer and image star target extraction on the acquired image;
s3, after the star target is extracted, FPGA star detection interruption is generated in an ARM, the ARM program reads the position of the star target, the star light observation vector is calculated by combining the calibration parameters, and star map recognition is carried out by running a star map matching algorithm;
and S4, after the star map recognition is completed, determining a starlight inertia vector, calculating an inertia attitude matrix by adopting a QUEST algorithm according to the starlight observation vector and the inertia vector, and converting the inertia attitude matrix into an attitude quaternion.
Preferably, the star sensor exposure control, image transfer and image extraction processes are executed in an FPGA program, wherein the image transfer and the image extraction are synchronously executed, and star map matching and attitude quaternion calculation are executed in an ARM program.
The invention has the following beneficial effects:
(1) the micro satellite-borne star sensor has the advantages of high precision, small volume and weight and low cost and power consumption, effectively meets the precision requirement of attitude measurement and control of a micro-nano satellite, and can be applied to a micro-nano satellite platform.
(2) The micro satellite-borne star sensor disclosed by the invention adopts a single-chip processing platform, an autonomously designed high-reliability compact optical system structure and a low-cost anti-irradiation technology, can output triaxial inertial attitude information in real time, meets the requirement of a micro/nano satellite control system on angular-second-level attitude measurement precision, and simultaneously realizes the requirement of the low-cost and high-reliability micro satellite-borne star sensor.
(3) The micro satellite-borne star sensor can be applied to micro-nano satellite platforms and other platforms, can be popularized to medium and high orbit satellite platforms, and has high market value.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the miniature satellite-borne star sensor of the present invention;
FIG. 2 is a cross-sectional view of the micro star-based sensor according to the present invention;
fig. 3 is a structural sectional view of the optical lens assembly according to the present invention.
In the drawings, the components represented by the respective reference numerals are listed below:
1. the optical lens assembly comprises a light shield, 1.1, a light shield shell, 1.2, a light screen, 2, an optical lens assembly, 2.1, a lens shell, 2.2, an optical lens, 2.3, a protective lens 3, a front panel, 4, a processing panel, 5, a power panel, 6, an interface board, 7, a hexahedron reference mirror, 8, a star sensor body structure, 9, a star sensor shell, 10 and a star sensor body.
Detailed Description
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 only a part of the embodiments of the present invention, and not all of the embodiments. 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.
Referring to fig. 1 to 3, an embodiment of the invention provides a micro satellite-borne star sensor, which specifically includes a star sensor body 10, a light shield 1 is installed at a front end of the star sensor body 10, an optical lens assembly 2 and a front board 3 for installing a CMOS detector (not shown in the figures) are installed in the star sensor body 10, and the optical lens assembly 2 focuses parallel light on a target surface of the CMOS detector. In the present embodiment, the light shield 1 is used to suppress the probability of stray light from direct irradiation of non-target light sources such as ground light, stray light of atmospheric background, sun, moon, etc. to reach the CMOS imaging surface, so as to improve the signal-to-noise ratio (accuracy) of star detection and the star measurement capability. The optical lens assembly 2 focuses the infinity star parallel light onto the CMOS detector target surface. The CMOS detector (not labeled in the figure) converts the radiation optical signal in the field of view into an electrical signal through the optical lens assembly 2, so as to realize imaging of the star body on the target surface of the CMOS detector and digital image output. A processing board 4, a power board 5 and an interface board 6 are further installed in the star sensor body 10, the processing board 4 is in communication connection with the CMOS detector and the interface board 6, and the power board 5 supplies power to internal electric devices. In this embodiment, the processing board 4 is a micro-processing circuit with a single-chip SOC as a core, and mainly completes star map acquisition, image filtering, star target extraction, star vector calculation, and star recognition, attitude calculation, and other functions. In this embodiment, the star sensor 10 comprises a star sensor housing 9 and a star sensor structure 8 mounted inside said star sensor housing 9. The optical lens assembly 2, the front panel 3 for mounting the CMOS detector and the processing panel 4 are arranged inside the star sensor body structure 8, and the power panel 5 and the interface board 6 are arranged between the star sensor shell 9 and the star sensor body structure 8. In this embodiment, the optical lens component 2, the front board 3, the processing board 4, the power board 5 and the interface board 6 are all installed in the star sensor body 10 to realize high integration of the star sensor, wherein the processing board 4 adopts a monolithic processing platform, a self-designed high-reliability compact optical system structure (the optical lens component 2) and a low-cost anti-irradiation technology to realize the technical design of the low-cost and high-reliability satellite-borne micro star sensor, and has the advantages of high precision, small volume weight and low cost and power consumption, thereby effectively ensuring the precision requirement of attitude measurement and control of the micro-nano satellite.
Referring to fig. 2, in the present embodiment, the light shield 1 includes a light shield housing 1.1 and a plurality of light shielding plates 1.2 arranged in tandem and disposed inside the light shield housing 1.1. The lens hood housing 1.1 is of a tapering structure in the direction of light intake. The stray light radiated by non-target light sources such as atmosphere background stray light, sun, moon and the like can be effectively filtered through the plurality of orderly arranged light shielding plates 1.2. The optical lens assembly 2 includes a lens housing 2.1, an optical lens 2.2 and a protective lens 2.3 are disposed in the lens housing 2.1, and the protective lens 2.3 is disposed at a front end of the optical lens 2.2. The optical lens 2.2 and the protective lens 2.3 both adopt anti-radiation glass with the thickness of 3mmJGS1, and have better anti-radiation capability. The hexahedral reference mirror 7 is installed at the bottom of the star sensor body 10, and the star sensor measurement coordinate system is converted and derived through the hexahedral reference mirror 7.
In the embodiment of the invention, the micro star-based star sensor achieves the following main technical indexes:
(1) static attitude accuracy (3 σ): x, y direction 3 ", z direction 20";
(2) dynamic performance: is more than 2 degrees/s;
(3) sensitivity: 5.5 Mv;
(4) attitude output rate: 10 Hz;
(5) initial capture time: less than or equal to 0.2 s;
(6) the external dimension is as follows: 55mm (L) X55 mm (B) X150 mm (H);
(7) front end diameter of the light shield: 90mm
(8) Weight: 450g of the total weight of the mixture;
(9) sun avoidance angle: 35 degrees;
(10) power supply: 5.0V plus or minus 0.3V;
(11) power consumption: 2.6W +/-0.2W;
(12) a communication interface: RS422/CAN 2.0.
The working principle of the invention is as follows: the star sensor adopts a fixed-focus lens camera, the photoelectric sensor CMOS is arranged on the focal plane of the optical lens 2.2, the incident angle of parallel light can be directly measured, the star light removes most stray light through the light shield 1, photoelectric conversion is completed on the CMOS sensor through the optical lens, a digital star map is formed by driving down-sampling at a certain time sequence, and then the digital star map is sent to the microprocessor. And finally, calculating the carrier attitude of the current star sensor according to the position vector of the star point in the star sensor coordinate system and the position vector in the inertial system. The attitude solution model is as follows:
Wi＝AVii＝1，2，…，n
v is the vector of the star in the carrier coordinate system, W is the vector of the star in the inertial coordinate system, and A is the conversion matrix from the carrier coordinate system to the inertial coordinate system.
In this embodiment, the working flow sequence of the micro star-based sensor is as follows: the star sensor controls the exposure of the sensor according to the timing internal trigger of the synchronous signal; after exposure control is finished, simultaneously carrying out image transfer and image star target extraction on the acquired image by the FPGA program; after the star target is extracted, FPGA star detection interruption is generated in an ARM, an ARM program reads the position of the star target, a starlight observation vector is calculated by combining calibration parameters, and a star map matching algorithm is operated to identify a star map; and after the star map is identified, determining a starlight inertial vector, calculating an inertial attitude matrix by adopting a QUEST algorithm according to the starlight observation vector and the inertial vector, and converting the inertial attitude matrix into an attitude quaternion.
In the embodiment, the star sensor exposure control, image transfer and image extraction processes are executed in an FPGA program, wherein the image transfer and the image extraction are synchronously executed, and the star map matching and the attitude quaternion calculation are executed in an ARM program. The FPGA program and the ARM program can be executed in a pipeline form, the frame period of the star sensor is determined by the FPGA program with longer execution time in the pipeline, and the data update rate of the star sensor can reach over 10Hz by reasonably arranging the star sensor working pipeline.
In this embodiment, the star sensor has two modes of operation: the attitude measurement device comprises an attitude measurement mode and a standby mode, wherein the two working modes can be switched mutually.
Attitude measurement mode: the star sensor enters an attitude measurement mode after being powered on or restarted, and under the attitude measurement mode, the star sensor generates synchronous signals at regular time to trigger the CMOS sensor to expose, performs image filtering, star target detection, star target identification and attitude calculation on the acquired image, and can respond to an attitude data request of a satellite attitude control system, and the star sensor mainly works under the attitude measurement mode.
Standby mode: in the standby mode, the star sensor does not perform star map recognition, attitude calculation and other work, and can execute commands such as self-checking, parameter configuration, parameter upgrading, image transfer and the like.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (9)
1. A miniature star-based star sensor is characterized in that: the star sensor comprises a star sensor body (10), wherein a light shield (1) is arranged at the front end of the star sensor body (10); an optical lens assembly (2) and a front panel (3) for mounting a CMOS detector are mounted in the star sensor body (10), and the optical lens assembly (2) focuses parallel light on a target surface of the CMOS detector; a processing board (4), a power board (5) and an interface board (6) are also arranged in the star sensor body (10); the processing board (4) is in communication connection with the CMOS detector and the interface board (6); the power panel (5) supplies power to internal electric devices.
2. The miniature star-based star sensor of claim 1, wherein: the star sensor body (10) comprises a star sensor shell (9) and a star sensor body structure (8) arranged inside the star sensor shell (9).
3. The miniature star-based star sensor of claim 2, wherein: the optical lens assembly (2), the front panel (3) for mounting the CMOS detector and the processing panel (4) are mounted inside the star sensor body structure (8); the power panel (5) and the interface board (6) are arranged between the star sensor shell (9) and the star sensor body structure (8).
4. The miniature star-based star sensor of claim 1, wherein: the light shield (1) comprises a light shield shell (1.1) and a plurality of light shielding plates (1.2) which are arranged in the light shield shell (1.1) in a front-back manner.
5. The miniature star-based star sensor of claim 2, wherein: the shade housing (1.1) is of a tapered structure along the direction of light intake.
6. The miniature star-based star sensor according to any one of claims 1 to 3, wherein: the optical lens assembly (2) comprises a lens shell (2.1), an optical lens (2.2) and a protective lens (2.3) are arranged in the lens shell (2.1), and the protective lens (2.3) is arranged at the front end of the optical lens (2.2).
7. The miniature star-based star sensor of claim 1, wherein: the bottom of the star sensor body (10) is provided with a hexahedral reference mirror (7).
8. A working process time sequence of a micro satellite-borne star sensor is characterized by comprising the following steps:
s1, triggering and controlling the exposure of the sensor by the star sensor according to the synchronous signal in timing;
s2, after exposure control is completed, the FPGA program simultaneously carries out image transfer and image star target extraction on the acquired image;
s3, after the star target is extracted, FPGA star detection interruption is generated in an ARM, the ARM program reads the position of the star target, the star light observation vector is calculated by combining the calibration parameters, and star map recognition is carried out by running a star map matching algorithm;
and S4, after the star map recognition is completed, determining a starlight inertia vector, calculating an inertia attitude matrix by adopting a QUEST algorithm according to the starlight observation vector and the inertia vector, and converting the inertia attitude matrix into an attitude quaternion.
9. The method as claimed in claim 8, wherein the star sensor exposure control, image transfer and image extraction processes are performed in an FPGA program, wherein the image transfer and image extraction processes are performed synchronously, and the star atlas matching and the attitude quaternion calculation processes are performed in an ARM program.
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Cited By (2)
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| CN114295120A (en) * | 2021-11-24 | 2022-04-08 | 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） | Star sensor |
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Application publication date: 20200515 |