CN112212890B - Image motion compensation method of high-dynamic star sensor - Google Patents
Image motion compensation method of high-dynamic star sensor Download PDFInfo
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Abstract
The image motion compensation method of the high-dynamic star sensor comprises the following steps: controlling a fast reflector to perform angle compensation on the high-dynamic star sensor according to the angle change of the high-dynamic star sensor acquired from the strapdown inertial navigation; judging the pixel dragging condition of the star point on the image sensor after the angle compensation according to the image acquired by the high-dynamic star sensor in real time; after pixel dragging data of star points on the image sensor are obtained, the angle of the fast reflector which needs to be further compensated is solved according to the relation between the angle change of the fast reflector and the pixel dragging length of the star points on the image sensor; and continuously utilizing a quick reflector to further compensate according to the dragging condition of the star point pixels on the image sensor until the imaging of the star point on the image sensor meets the requirement. The method is easy to realize, the compensation process is closed-loop, the pixel dragging problem of the star sensor under the high dynamic condition can be effectively solved, and the imaging quality of the star sensor under the high dynamic condition is improved.
Description
Technical Field
The invention relates to the technical field of astronomical navigation, in particular to an image motion compensation method of a high-dynamic star sensor.
Background
The star sensor is an attitude measuring instrument taking fixed stars as measuring objects, has the characteristics of light weight, small volume, low power consumption, high precision, strong anti-interference performance, capability of autonomous navigation without depending on other systems and the like, and is the first choice of various attitude measuring systems of space spacecrafts at present. The working principle of the star sensor is as follows: firstly, imaging a fixed star by using an optical lens and an image sensor, obtaining the position and brightness information of the star point on the image sensor through star point extraction and mass center positioning, then identifying the fixed star corresponding to the star point in a star table through a star map, finally obtaining the three-axis attitude of the star sensor through attitude calculation according to the identification result, and providing attitude data for a carrier control system to realize the navigation of a carrier. The star sensor usually works in the stage of stable flight of the carrier, when the star sensor works in high dynamic fields such as initial orbit entering, maneuvering and attitude adjustment of the carrier, a star point moves in a photosensitive area of the image sensor within integration time, and finally a track image is formed on the image sensor, so that the signal-to-noise ratio of the image and the accuracy of positioning the centroid of the star point are reduced. Therefore, how to improve the imaging quality of the star sensor under the high dynamic condition has become a key content in the research field of the star sensor.
At present, a plurality of research organizations at home and abroad have proposed methods for improving the imaging quality of the star sensor under the high dynamic condition. These methods can be mainly classified into hardware enhancement methods and software restoration methods. The hardware enhancement method reduces or inhibits the dragging degree of the star point pixels by improving the hardware circuit of the star sensor, thereby improving the precision of star point centroid positioning. However, such methods not only make the imaging circuit more complex, but also reduce the effective area of the image sensor, and in addition, such methods usually only can eliminate the pixel dragging in the vertical direction, and on this basis, a special image processing algorithm needs to be designed to further improve the signal-to-noise ratio. The software restoration method restores the fuzzy star map by using an image restoration algorithm, and eliminates or reduces the dragging degree of star point pixels. However, such algorithms are generally slow to recover and tend to lose star point energy.
Disclosure of Invention
Based on the method, the invention provides an image motion compensation method of a high-dynamic star sensor, which aims to solve the technical problems that the compensation algorithm in the prior art is slow in speed and easily causes the energy loss of star points.
In order to solve the technical problem, the application provides an image motion compensation method of a high dynamic star sensor, which comprises the following steps:
s1: controlling a fast reflector to perform angle compensation on the high-dynamic star sensor according to the angle change of the high-dynamic star sensor acquired from the strapdown inertial navigation system;
s2: judging the pixel dragging condition of the star point on the image sensor after the angle compensation according to the image acquired by the high-dynamic star sensor in real time;
s3: after pixel dragging data of a star point on the image sensor is obtained, an angle of the fast reflector which needs to be further compensated is calculated according to the relation between the angle change of the fast reflector and the pixel dragging length of the star point on the image sensor;
s4: and continuously utilizing a quick reflector to further compensate according to the dragging condition of the star point pixels on the image sensor until the imaging of the star point on the image sensor meets the requirement.
Preferably, in the step S1, when the star sensor operates under high dynamic conditions, the data processing board receives angle change data of the strapdown inertial navigation system.
Preferably, the x of the high-dynamic star sensor in the optical lens can be obtained through the coordinate system conversion of the high-dynamic star sensor and the strapdown inertial navigation system s ，y s Angular change of axis theta xs ，θ ys And varying the angle by θ xs ，θ ys And sending the angle change to a control mechanism of the fast reflector to control the fast reflector to compensate the angle change of the high-dynamic star sensor.
Preferably, the specific steps of step S2 are: an imaging plate of an image sensor performs real-time imaging and extracts star point data after the angle compensation of the quick reflector, and the coordinate of each star point on the image sensor is obtained { (x) 1 ,y 1 ),...,(x n ,y n ) And sending the extracted star point data to the data processing board, and counting the number of pixels occupied by each star point on the data processing board according to the coordinate of each star point so as to judge the pixel dragging conditions of the star points on the x axis and the y axis of the image sensor.
Preferably, the specific steps of step S3 are:
when the fast mirror is along x f Clockwise rotation of shaft θ f The incident angle or the exit angle of the fast reflector is defined by theta i Becomes theta 2 ＝θ i +θ f ，
Angle change delta theta of emergent ray of fast reflector before and after rotation o Comprises the following steps:
Δθ o ＝θ 2 -θ 1 ＝(θ i +θ f )-(θ i -θ f )＝2θ f 。
preferably, the pixel dragging length of the star point on the x-axis of the image sensor is L x During the process, the angle L of the emergent ray of the quick reflector on the x axis of the image sensor, which needs to be adjusted, can be obtained through calculation x θ x The fast mirror is at x f The angle of the shaft to be further compensated is
θ x And the resolution of the pixel angle of the image sensor of the high-dynamic star sensor on the x axis is shown.
Preferably, the pixel dragging length when the star point is on the y-axis of the image sensor is L y During the process, the angle L of the emergent ray of the quick reflector on the y axis of the image sensor, which needs to be adjusted, can be obtained through calculation y θ y Said fast mirror is at y f The angle of the shaft to be further compensated is
θ y The image sensor of the high-dynamic star sensor has the pixel angle resolution on the y axis.
Preferably, the step S4 includes the following specific steps:
after the fast reflector is further compensated, star point data extracted by an imaging plate of the image sensor in real time are sent to the data processing plate, pixel dragging conditions of star points on an x axis and a y axis of the image sensor are solved through the data processing plate, the fast reflector is utilized for further compensation, and the steps are repeated until star point coordinates extracted by the imaging plate are within 5 multiplied by 5 pixels.
The technical scheme of the application has the beneficial effects that: according to the image motion compensation method of the high-dynamic star sensor, the fast reflector is adopted to compensate the pixel dragging of the star point during imaging, and the fast reflector is continuously utilized to further compensate according to the imaging result until the conditions are met. The compensation method is easy to realize, the compensation process is closed-loop, the pixel dragging problem of the star sensor under the high dynamic condition can be effectively solved, and the imaging quality of the star sensor under the high dynamic condition is improved.
Drawings
FIG. 1 is a schematic structural diagram of a high dynamic star sensor in the image motion compensation method of the high dynamic star sensor of the present application;
FIG. 2 is a schematic diagram of pixel dragging of a star point on an image sensor in the image motion compensation method of the high dynamic star sensor of the present application;
fig. 3 is a relationship between the angle change of the fast reflector and the dragging length of the star point pixel on the image sensor in the image motion compensation method of the high dynamic star sensor.
The meaning of the reference symbols in the drawings is:
a strapdown inertial navigation data interface-1; a fast mirror-2; a data processing board-3; control means-4;
an image sensor-5; an optical lens-6.
Detailed Description
To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
Example 1:
an image motion compensation method of a high-dynamic star sensor comprises the following steps:
s1: controlling a fast reflector to carry out angle compensation on the high-dynamic star sensor according to the angle change of the high-dynamic star sensor obtained from the strapdown inertial navigation system;
s2: judging the pixel dragging condition of the star point on the image sensor 5 after the angle compensation according to the image acquired by the high-dynamic star sensor in real time;
s3: after obtaining pixel dragging data of a star point on the image sensor 5, solving an angle of the fast reflector 2 needing further compensation according to a relation between the angle change of the fast reflector 2 and the pixel dragging length of the star point on the image sensor 5;
s4: and continuously utilizing the fast reflector 2 to further compensate according to the dragging condition of the star point pixels on the image sensor 5 until the imaging of the star point on the image sensor 5 meets the requirement.
Specifically, in step S1, referring to fig. 1, fig. 1 is a schematic structural diagram of the high dynamic star sensor, when the star sensor operates under a high dynamic condition, the data processing board 3 receives angle change data of the strapdown inertial navigation system, and the high dynamic star sensor and the strapdown inertial navigation system are transformed to obtain a high dynamic star sensorThe star sensor is arranged on an optical lens 6x s ，y s Angular change of axis theta xs ，θ ys (typically, high dynamic star sensor edge z s The influence of the rotation of the shaft on the imaging quality is compared to x s ，y s The axis is small, so the invention does not consider the winding z of the high-dynamic star sensor s The movement of the axis) and sends data to the control mechanism 4 of the fast mirror 2 to control the fast mirror 2 to compensate the angular change of the star sensor, and the compensation relationship between the two is shown in table 1 (the invention defines that the negative direction of the coordinate axis viewed from the positive direction of the coordinate axis is a clockwise/counterclockwise reference direction):
TABLE 1 Angle Compensation relationship between high dynamic Star sensor and fast Reflector 2
Specifically, in step S2, referring to fig. 2, the imaging plate of the high dynamic star sensor images in real time and extracts the star point data after the angle compensation of the fast reflector 2, and obtains the coordinates { (x) of each star point on the image sensor 5 1 ,y 1 ),...,(x n ,y n ) And sending the extracted star point data to the data processing board 3, and counting the number of pixels occupied by each star point on the data processing board 3 according to the coordinate of the star point, so as to judge the pixel dragging conditions of the star point on the x axis and the y axis of the image sensor 5.
Specifically, in step S3, referring to fig. 3, fig. 3 shows the relationship between the angle change of the fast mirror 2 and the dragging length of the star pixel on the image sensor 5 when the fast mirror 2 moves along its x f Shaft clockwise rotation theta f The incident/exit angle of the fast mirror 2 is defined by θ i Become into
θ 2 ＝θ i +θ f
Angle change delta theta of emergent ray of fast reflector 2 before and after rotating o Is composed of
Δθ o ＝θ 2 -θ 1 ＝(θ i +θ f )-(θ i -θ f )＝2θ f
As can be seen from the above equation, when the fast mirror 2 rotates by θ f The angle change of the emergent ray of the fast reflector 2 on the image sensor 5 is 2 theta f 。
The resolution of the pixel angle of the image sensor 5 for defining the high-dynamic star sensor in the x axis and the y axis is theta x And theta y When the pixel of the star point on the x axis of the image sensor 5 is dragged by the length L x During the process, the angle L of emergent light of the quick reflector 2 on the x axis of the image sensor 5, which needs to be adjusted, can be obtained through calculation x θ x Fast mirror 2 at x f The angle of the shaft to be further compensated is
Similarly, when the pixel dragging length of the star point on the y axis of the image sensor 5 is L y During the process, the angle L of the emergent light of the quick reflector 2 on the y axis of the image sensor 5, which needs to be adjusted, can be obtained through calculation y θ y Fast mirror 2 at y f The angle of the shaft to be further compensated is
Specifically, in step S4, after the fast reflector 2 performs further compensation, star point data extracted by the imaging plate in real time is sent to the data processing plate 3, the pixel dragging conditions of the star point on the x axis and the y axis of the image sensor 5 are solved by the data processing plate 3, on this basis, the fast reflector 2 is continuously used for further compensation, and this step is repeated until the star point coordinate extracted by the imaging plate is within 5 × 5 pixels.
According to the image motion compensation method of the high-dynamic star sensor, the fast reflector 2 is adopted to compensate the pixel dragging of the star point during imaging, and the fast reflector 2 is continuously utilized to further compensate according to the imaging result until the conditions are met. The method is easy to realize, the compensation process is closed-loop, the problem of pixel dragging of the star sensor under the high dynamic condition can be effectively solved, and the imaging quality of the star sensor under the high dynamic condition is improved.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above examples only express preferred embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (5)
1. An image motion compensation method of a high-dynamic star sensor is characterized by comprising the following steps:
s1: controlling a fast reflector to carry out angle compensation on the high-dynamic star sensor according to the angle change of the high-dynamic star sensor obtained from the strapdown inertial navigation system;
s2: judging the pixel dragging condition of the star point on the image sensor after the angle compensation according to the image acquired by the high-dynamic star sensor in real time;
s3: after pixel dragging data of star points on the image sensor are obtained, the angle of the fast reflector which needs to be further compensated is solved according to the relation between the angle change of the fast reflector and the pixel dragging length of the star points on the image sensor;
s4: continuously utilizing a quick reflector to further compensate according to the dragging condition of star point pixels on the image sensor until the imaging of star points on the image sensor meets the requirement;
the specific steps of step S3 are:
when the fast mirror is along x f Shaft clockwise rotation theta f The incident angle or the exit angle of the fast reflector is determined by theta i Becomes theta 2 ＝θ i +θ f Angle change delta theta of emergent ray of fast reflector before and after rotation o Comprises the following steps:
Δθ o ＝θ 2 -θ 1 ＝(θ i +θ f )-(θ i -θ f )＝2θ f ；
when the pixel dragging length of the star point on the x axis of the image sensor is L x During the process, the angle L of the emergent ray of the quick reflector on the x axis of the image sensor, which needs to be adjusted, can be obtained through calculation x θ x Said fast mirror being in x f The angle of the shaft to be further compensated is
θ x The resolution of the pixel angle of the image sensor of the high-dynamic star sensor on the x axis is determined;
when the pixel dragging length of the star point on the y axis of the image sensor is L y During the process, the angle L of the emergent ray of the quick reflector on the y axis of the image sensor, which needs to be adjusted, can be obtained through calculation y θ y Said fast mirror is at y f The angle of the shaft to be further compensated is
θ y The image sensor of the high-dynamic star sensor has the pixel angle resolution on the y axis.
2. The method for compensating image motion of a high dynamic star sensor as claimed in claim 1, wherein in step S1, the angle variation data of the strapdown inertial navigation system is received by the data processing board when the star sensor is operating under high dynamic conditions.
3. The method for compensating image motion of a high-dynamic star sensor as claimed in claim 2, wherein the high-dynamic star sensor is obtained by transforming the coordinate system of the high-dynamic star sensor and the strapdown inertial navigation system s ，y s Of shaftsAngular variation theta xs ，θ ys And varying the angle by θ xs ，θ ys And sending the angle change to a control mechanism of the fast reflector to control the fast reflector to compensate the angle change of the high-dynamic star sensor.
4. The method for compensating image motion of a high dynamic star sensor as claimed in claim 2, wherein the step S2 comprises the following steps: an imaging plate of an image sensor performs real-time imaging and extracts star point data after the angle compensation of the quick reflector, and the coordinate of each star point on the image sensor is obtained { (x) 1 ,y 1 ),...,(x n ,y n ) And sending the extracted star point data to the data processing board, and counting the number of pixels occupied by each star point on the data processing board according to the coordinate of each star point so as to judge the pixel dragging condition of the star point on the x axis and the y axis of the image sensor.
5. The method for compensating image motion of a high dynamic star sensor as claimed in claim 2, wherein said step S4 comprises the following steps:
after the fast reflector is further compensated, star point data extracted by an imaging plate of the image sensor in real time are sent to the data processing plate, pixel dragging conditions of star points on an x axis and a y axis of the image sensor are solved through the data processing plate, the fast reflector is utilized for further compensation, and the steps are repeated until star point coordinates extracted by the imaging plate are within 5 multiplied by 5 pixels.
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