CN112461508A - A camera boresight disturbance measurement device and method based on inertial reference unit - Google Patents
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Abstract
本发明公开了一种基于惯性参考单元的相机视轴扰动测量设备及方法。测量设备由高精度惯性参考单元、关联测量单元组成。惯性参考单元一般采用光纤陀螺、角位移传感器等，可精确测量安装位置处的绝对角位移信息；关联测量单元，可准确测量相机视轴与惯性参考单元之间相对角位移信息；上述两组角位移信息相结合，即可获得相机绝对角位移信息，即相机的视轴扰动量，该信息可用于像移模糊补偿，提高长焦距空间相机的成像质量。
The invention discloses a camera boresight disturbance measuring device and method based on an inertial reference unit. The measurement equipment consists of a high-precision inertial reference unit and an associated measurement unit. The inertial reference unit generally uses a fiber optic gyroscope, an angular displacement sensor, etc., which can accurately measure the absolute angular displacement information at the installation location; the associated measurement unit can accurately measure the relative angular displacement information between the camera boresight and the inertial reference unit; the above two sets of angles Combining the displacement information, the absolute angular displacement information of the camera, that is, the disturbance of the camera's boresight, can be obtained. This information can be used for image motion blur compensation to improve the imaging quality of the long focal length space camera.
Description
技术领域technical field
本发明涉及高分辨率空间光学遥感技术领域，尤其涉及是一种基于惯性参考单元的相机视轴扰动测量设备及方法。The invention relates to the technical field of high-resolution space optical remote sensing, in particular to a camera boresight disturbance measurement device and method based on an inertial reference unit.
背景技术Background technique
高分辨率空间相机，具有长焦距特点，微小的视轴扰动也会引起显著的图像模糊，影响成像质量。为了消除空间相机视轴扰动对像质影响，需要准确测量空间相机的视轴扰动，并通过图像处理或光机稳像等手段实现对视轴扰动的补偿校正。For high-resolution space cameras with long focal lengths, slight boresight disturbances can also cause significant image blur, affecting image quality. In order to eliminate the influence of the boresight disturbance of the space camera on the image quality, it is necessary to accurately measure the boresight disturbance of the space camera, and realize the compensation and correction of the boresight disturbance by means of image processing or opto-mechanical image stabilization.
传统的视轴扰动测量的方法主要是采用基于观测目标或辅助信标影像的视轴扰动测量方法，即通过观测目标或辅助信标在探测器上的位置偏移来计算相机的视轴扰动量。该方法适用于天文观测等容易获取点目标的场景；对于对地观测领域，由于难以获得点目标，需要利用地物目标纹理信息进行解算，且视场内的景物不断快速变化、气象条件影响较大，该方法存在很大的局限性。The traditional boresight disturbance measurement method mainly adopts the boresight disturbance measurement method based on the observation target or auxiliary beacon image, that is, the boresight disturbance amount of the camera is calculated by the position offset of the observation target or auxiliary beacon on the detector. . This method is suitable for astronomical observation and other scenes where point targets are easy to obtain; for the field of earth observation, since it is difficult to obtain point targets, it is necessary to use the texture information of ground objects to solve, and the scene in the field of view changes rapidly and the weather conditions affect larger, the method has great limitations.
传统基于地物目标影像的视轴扰动测量方法在对地观测相机视轴扰动测量应用中具有较大的局限性，主要在于：The traditional boresight disturbance measurement method based on ground object images has great limitations in the application of boresight disturbance measurement of earth observation cameras, mainly in:
1)传统基于地物目标影像的视轴扰动测量方法，对地物目标纹理信息、气象条件高度依赖的局限性，当地物对比度较差，有云雾干扰时，视轴扰动测量的精度较差甚至无法工作，可用性较差；1) The traditional boresight disturbance measurement method based on the image of the ground object has the limitation of being highly dependent on the texture information of the ground object and meteorological conditions, the contrast of the ground object is poor, and the accuracy of the boresight disturbance measurement is poor when there is cloud and fog interference. Not working, poor usability;
2)传统基于地物目标影像的视轴扰动测量方法，对于推扫成像空间相机，视轴扰动测量探测器的信噪比很低，影响视轴扰动测量精度；2) The traditional boresight disturbance measurement method based on the image of the ground object, for the push-broom imaging space camera, the boresight disturbance measurement detector has a very low signal-to-noise ratio, which affects the boresight disturbance measurement accuracy;
3)推扫成像空间相机，视轴扰动测量探测器获得的地物影像不断变化，关联性较差，影响视轴扰动测量效果；3) Push-broom imaging space camera, the ground object image obtained by the boresight disturbance measurement detector is constantly changing, and the correlation is poor, which affects the boresight disturbance measurement effect;
发明内容SUMMARY OF THE INVENTION
发明解决的技术问题是：克服现有技术的不足，提出了一种基于惯性参考单元的相机视轴扰动测量设备及方法，有效解决了高分辨率空间相机视轴扰动的高精度、高频率、高可靠测量问题，为视轴扰动补偿提供参考信息，保证高分辨率空间相机的成像质量。The technical problem solved by the invention is: to overcome the deficiencies of the prior art, a camera boresight disturbance measurement device and method based on an inertial reference unit is proposed, which effectively solves the high-precision, high-frequency, high-precision, high-frequency, and high-precision boresight disturbance of a high-resolution space camera. High-reliability measurement issues, provide reference information for boresight disturbance compensation, and ensure the imaging quality of high-resolution space cameras.
本发明目的通过以下技术方案予以实现：The object of the present invention is achieved through the following technical solutions:
一种基于惯性参考单元的相机视轴扰动测量设备，包括：惯性参考单元与关联测量单元；其中，A camera boresight disturbance measurement device based on an inertial reference unit, comprising: an inertial reference unit and an associated measurement unit; wherein,
惯性参考单元与相机的支撑结构固连在一起，用于测量安装位置处的角位移信息；The inertial reference unit is fixed with the support structure of the camera to measure the angular displacement information at the installation position;
关联测量单元用于测量相机视轴与惯性参考单元之间相对指向变化，包括发光组件、导光组件和光斑记录焦面；The associated measurement unit is used to measure the relative pointing change between the camera boresight and the inertial reference unit, including a light-emitting component, a light-guiding component and a spot recording focal plane;
发光组件包括光源与发射镜头，光源位于发射镜头焦面位置，发光组件与惯性参考单元固连在一起，发光组件与惯性参考单元之间的角度稳定性优于0.03倍相机角分辨率，光源发出的光经发射镜头准直后变为平行光，经过导光组件进行折转，进入相机镜头，并会聚于光斑记录焦面上；The light-emitting assembly includes a light source and an emission lens. The light source is located at the focal plane of the emission lens. The light-emitting assembly and the inertial reference unit are fixed together. The angular stability between the light-emitting assembly and the inertial reference unit is better than 0.03 times the angular resolution of the camera. The light is collimated by the emitting lens and becomes parallel light, which is folded by the light guide component, enters the camera lens, and converges on the recording focal plane of the spot;
光斑记录焦面与相机成像焦面固连在一起，光斑记录焦面对发光组件的光源成像，形成光斑，并记录光斑质心位置；光斑记录焦面的光斑质心位置提取精度优于0.05成像探测器像元；The spot recording focal plane and the camera imaging focal plane are fixed together. The spot recording focal plane images the light source of the light-emitting component to form a spot and record the spot centroid position; the extraction accuracy of the spot centroid position of the spot recording focal plane is better than 0.05 imaging detector pixel;
光斑记录焦面通过计算光斑质心位置偏移来计算相机视轴相对惯性参考单元的扰动量；结合惯性参考单元的角位移信息，获得相机视轴绝对角位移信息，即相机视轴扰动量。The spot recording focal plane calculates the disturbance of the camera boresight relative to the inertial reference unit by calculating the position offset of the spot centroid. Combined with the angular displacement information of the inertial reference unit, the absolute angular displacement information of the camera boresight is obtained, that is, the disturbance of the boresight of the camera.
进一步的，所述惯性参考单元为光纤陀螺或角位移传感器。Further, the inertial reference unit is a fiber optic gyroscope or an angular displacement sensor.
进一步的，惯性参考单元角位移测量精度优于0.03倍相机角分辨率，测量频率为相机视轴扰动频率的10倍以上，相机角分辨率是指像元与焦距之比。Further, the measurement accuracy of the angular displacement of the inertial reference unit is better than 0.03 times the angular resolution of the camera, and the measurement frequency is more than 10 times the disturbance frequency of the camera boresight. The angular resolution of the camera refers to the ratio of the pixel to the focal length.
进一步的，所述光斑记录焦面包括可开窗面阵探测器和处理电路；探测器像元不大于相机成像焦面的成像探测器像元尺寸，面阵探测器感光区域大于光斑直径与长周期温度变化引入的光斑最大偏移量之和；探测器感光开窗区域大于光斑直径与短周期振动引入的光斑最大偏移量之和；光斑记录焦面与成像焦面均位于相机镜头的像面位置，二者共面，相邻，安装与同一结构上，相机成像焦面单次成像时间内，两个焦面之间相对位置稳定性优于0.03成像探测器像元。Further, the spot recording focal plane includes a windowed area array detector and a processing circuit; the detector pixel is not larger than the imaging detector pixel size of the camera imaging focal plane, and the area array detector photosensitive area is larger than the diameter and length of the spot. The sum of the maximum light spot shifts caused by periodic temperature changes; the photosensitive window area of the detector is greater than the sum of the light spot diameter and the maximum light spot shifts caused by short-period vibration; Surface position, the two are coplanar, adjacent, and installed on the same structure, the relative position stability between the two focal planes during a single imaging time of the camera imaging focal plane is better than 0.03 imaging detector pixels.
进一步的，所述发光组件中光源尺寸为微米级，光源的谱段为窄谱段，谱段宽度≤30μm。Further, the size of the light source in the light-emitting assembly is in the order of micrometers, the spectral band of the light source is a narrow spectral band, and the spectral band width is less than or equal to 30 μm.
进一步的，所述导光组件为ULE或微晶材料制作的180度中空导光组件，导光组件两端的平面反射镜与导光组件中轴线成45度，导光组件两端的平面反射镜中心法线共面，且成90度，反光面面形精度优于1/30λ,λ为发射光的中心波长；导光组件两端的平面反射镜的夹角稳定性优于0.03倍相机角分辨率。。Further, the light guide assembly is a 180-degree hollow light guide assembly made of ULE or microcrystalline material, the plane reflectors at both ends of the light guide assembly are at 45 degrees to the central axis of the light guide assembly, and the center of the plane reflectors at both ends of the light guide assembly is 45 degrees. The normals are coplanar and at 90 degrees, and the surface shape accuracy of the reflective surface is better than 1/30λ, where λ is the central wavelength of the emitted light; the angle stability of the plane mirrors at both ends of the light guide assembly is better than 0.03 times the camera angular resolution . .
进一步的，本发明还提出一种相机视轴扰动测量方法，步骤如下：Further, the present invention also proposes a camera boresight disturbance measurement method, the steps are as follows:
(1)调整发光组件出光方向，令发光组件出光方向与光斑记录焦面的面阵探测器中心像元对应的主光线平行，方向相反；(1) Adjust the light-emitting direction of the light-emitting component, so that the light-emitting direction of the light-emitting component is parallel to the principal ray corresponding to the central pixel of the area array detector of the spot recording focal plane, and the direction is opposite;
(2)调整导光组件，将导光组件的反射面法线与发光组件出光方向成45±1度；(2) Adjust the light guide assembly so that the normal of the reflective surface of the light guide assembly and the light-emitting direction of the light-emitting assembly are 45±1 degrees;
(3)发光组件发射的光经导光组件、相机镜头后会聚于光斑记录焦面，光斑记录焦面进行光斑质心位置提取，并进行开窗；(3) The light emitted by the light-emitting assembly converges on the spot recording focal plane after passing through the light guide assembly and the camera lens, and the spot recording focal plane extracts the spot centroid position and opens the window;
光斑尺寸计算公式如下：The formula for calculating the spot size is as follows:
其中，Dx为X方向光斑尺寸，Dy为Y方向光斑尺寸；X方向、Y方向是过相机中心视场与像，且矩形成像探测器相邻两垂直边的方向；λ为发射光的中心波长，f为相机焦距，De为有效光束口径，ωx、ωy分别为光斑中心对应的X方向与Y方向视场角；d为光源发光面的尺寸，m为放大倍率。Among them, D x is the spot size in the X direction, Dy is the spot size in the Y direction; the X direction and the Y direction are the directions of the center field of view and the image of the camera, and the two adjacent vertical sides of the rectangular imaging detector; λ is the emitted light Center wavelength, f is the focal length of the camera, D e is the effective beam aperture, ω x and ω y are the X- and Y-direction field angles corresponding to the center of the spot, respectively; d is the size of the light-emitting surface of the light source, and m is the magnification.
最小开窗尺寸计算公式如下：The minimum window size calculation formula is as follows:
Dw＝Ds+2dm D w =D s +2d m
其中，Dw为探测器最小开窗尺寸，Ds为Dx和Dy之间的最大值，dm为振动引入的光斑位置最大变化量。Among them, Dw is the minimum window size of the detector, Ds is the maximum value between Dx and Dy , and dm is the maximum variation of the spot position caused by vibration.
(4)光斑记录焦面以测量设备工作后的第一个光斑的质心位置作为参考值，计算后续光斑质心位置相对参考位置的偏移量，进而得到相机视轴与发光组件之间的相对角位移；(4) The spot recording focal plane takes the centroid position of the first spot after the measuring device works as the reference value, calculates the offset of the centroid position of the subsequent spot relative to the reference position, and then obtains the relative angle between the camera boresight and the light-emitting component displacement;
其中，εx为沿X方向相对角位移，εy为沿Y方向相对角位移，Δx为沿X方向的光斑偏移量；Δy为沿Y方向的光斑偏移量。Among them, ε x is the relative angular displacement along the X direction, ε y is the relative angular displacement along the Y direction, Δx is the spot offset along the X direction; Δy is the spot offset along the Y direction.
(5)发光组件与惯性参考单元稳定地固连在一起，相机视轴与发光组件之间的相对角位移即为相机视轴与惯性参考单元之间的相对角位移；(5) The light-emitting component and the inertial reference unit are stably connected together, and the relative angular displacement between the camera boresight and the light-emitting assembly is the relative angular displacement between the camera boresight and the inertial reference unit;
(6)相机视轴相对角位移信息与惯性参考单元获得角位移信息相结合，即得到相机的绝对角位移信息，实现相机视轴扰动测量。(6) The relative angular displacement information of the camera boresight is combined with the angular displacement information obtained by the inertial reference unit, that is, the absolute angular displacement information of the camera is obtained, and the disturbance measurement of the boresight of the camera is realized.
本发明与现有技术相比具有如下有益效果：Compared with the prior art, the present invention has the following beneficial effects:
(1)本发明采用惯性参考单元作为扰动测量设备，不依赖观测目标特性，如观测目标的纹理信息和辐射亮度，不受观测区域气象条件限制，可以实现全天时、全天候应用，可用性高；(1) The present invention adopts the inertial reference unit as the disturbance measurement device, does not depend on the characteristics of the observation target, such as the texture information and radiance of the observation target, is not restricted by the meteorological conditions of the observation area, can realize all-day and all-weather applications, and has high availability;
(2)本发明采用高精度光学关联方法，有效消除惯性参考单元与相机视轴之间的随机夹角误差，提高相机视轴扰动测量精度；(2) The present invention adopts a high-precision optical correlation method, which effectively eliminates the random angle error between the inertial reference unit and the camera boresight, and improves the measurement accuracy of the boresight disturbance of the camera;
(3)本发明采用高精度高稳定性导光组件，可以将导光引入误差控制在很低的水平，保证关联测量精度和视轴扰动测量精度。(3) The present invention adopts high-precision and high-stability light-guiding components, which can control the light-guiding error to a very low level and ensure the correlation measurement accuracy and boresight disturbance measurement accuracy.
(4)本发明采用高稳定性发光组件，可以将发光组件引入误差控制在很低的水平，保证发射光束的高准直性，保证关联测量焦面上的光斑的高能量集中度，高信噪比，有利于提高光斑质心提取精度，保证关联测量精度和扰动测量精度。(4) The present invention adopts a high-stability light-emitting component, which can control the introduction error of the light-emitting component to a very low level, ensure high collimation of the emitted beam, ensure high energy concentration of the light spot on the associated measurement focal plane, and high reliability The noise ratio is beneficial to improve the extraction accuracy of the spot centroid and ensure the correlation measurement accuracy and disturbance measurement accuracy.
附图说明Description of drawings
图1为本发明基于惯性参考单元的相机视轴扰动测量设备的框图；1 is a block diagram of a camera boresight disturbance measuring device based on an inertial reference unit of the present invention;
图2为本发明基于惯性参考单元的相机视轴扰动测量设备结构示意图；2 is a schematic structural diagram of a camera boresight disturbance measurement device based on an inertial reference unit of the present invention;
图3为本发明光斑记录焦面与成像焦面布局示意图。FIG. 3 is a schematic diagram of the layout of the spot recording focal plane and the imaging focal plane of the present invention.
其中，1-惯性参考单元、2-发光组件、3-导光组件、4-相机镜头、5-成像焦面、6-光斑记录焦面、7-相机支撑结构、8-关联测量光线、9-成像光线。Among them, 1-inertial reference unit, 2-light-emitting component, 3-light guide component, 4-camera lens, 5-imaging focal plane, 6-spot recording focal plane, 7-camera support structure, 8-associated measurement light, 9- - Imaging rays.
具体实施方式Detailed ways
本发明提出一种基于惯性参考单元的高精度、高频率相机视轴扰动测量系统，有效解决传统基于地物目标影像的视轴扰动测量方法对地物目标纹理信息、气象条件高度依赖的局限性，实现惯性参考单元与相机视轴的准确关联，实现空间相机视轴扰动的精确测量，并高效可行。The present invention proposes a high-precision, high-frequency camera boresight disturbance measurement system based on an inertial reference unit, which effectively solves the limitation that the traditional boresight disturbance measurement method based on ground object images is highly dependent on ground object texture information and meteorological conditions , to realize the accurate association between the inertial reference unit and the camera boresight, and to realize the accurate measurement of the boresight disturbance of the space camera, which is efficient and feasible.
图1和图2分别是是本发明一种基于惯性参考单元的相机视轴扰动测量设备的框图和结构示意图。图中9为成像光线，入射到相机中的成像焦面5上。该相机视轴扰动测量设备包括：惯性参考单元1与关联测量单元；其中，1 and 2 are a block diagram and a schematic structural diagram of a camera boresight disturbance measurement device based on an inertial reference unit of the present invention, respectively. 9 in the figure is the imaging light, which is incident on the imaging
惯性参考单元与相机的支撑结构7固连在一起，用于测量安装位置处的角位移信息；惯性参考单元为光纤陀螺或角位移传感器。惯性参考单元角位移测量精度优于0.03倍相机角分辨率，测量频率为相机视轴扰动频率的10倍以上，相机角分辨率是指像元与焦距之比。The inertial reference unit is fixedly connected with the
关联测量单元用于测量相机视轴与惯性参考单元之间相对指向变化，包括发光组件2、导光组件3和光斑记录焦面6；The associated measurement unit is used to measure the relative pointing change between the camera boresight and the inertial reference unit, including the light-emitting
发光组件包括光源与发射镜头，光源位于发射镜头焦面位置，发光组件2与惯性参考单元1固连在一起，光源发出的光，即关联测量光线8，经发射镜头准直后变为平行光，经过导光组件3进行折转，进入相机镜头4，并会聚于光斑记录焦面6上；The light-emitting assembly includes a light source and an emission lens. The light source is located at the focal plane of the emission lens. The light-emitting
发光组件中光源尺寸为微米级，光源的谱段为窄谱段，谱段宽度≤30μm。The size of the light source in the light-emitting component is micron level, the spectral band of the light source is a narrow spectral band, and the spectral band width is less than or equal to 30 μm.
光斑记录焦面6与相机成像焦面5固连在一起，光斑记录焦面6对发光组件2的光源成像，形成光斑，并记录光斑质心位置；光斑记录焦面的光斑质心位置提取精度优于0.05成像探测器像元；The spot recording
导光组件为ULE或微晶材料制作的180度中空导光组件，导光组件两端的平面反射镜与导光组件中轴线成45度，导光组件两端的平面反射镜中心法线共面，且成90度，反光面面形精度优于1/30λ,λ为发射光的中心波长；导光组件两端的平面反射镜的夹角稳定性优于0.03倍相机角分辨率。The light guide component is a 180-degree hollow light guide component made of ULE or microcrystalline material. The plane mirrors at both ends of the light guide component are at 45 degrees to the central axis of the light guide component, and the center normals of the plane mirrors at both ends of the light guide component are coplanar. And at 90 degrees, the surface shape accuracy of the reflective surface is better than 1/30λ, where λ is the central wavelength of the emitted light; the angle stability of the plane mirrors at both ends of the light guide assembly is better than 0.03 times the camera angular resolution.
光斑记录焦面6通过计算光斑质心位置偏移来计算相机视轴相对惯性参考单元的扰动量；结合惯性参考单元的角位移信息，获得相机视轴绝对角位移信息，即相机视轴扰动量。The spot recording
光斑记录焦面包括可开窗面阵探测器和处理电路；探测器像元不大于相机成像焦面的成像探测器像元尺寸，面阵探测器感光区域大于光斑直径与长周期温度变化引入的光斑最大偏移量之和；探测器感光开窗区域大于光斑直径与短周期振动引入的光斑最大偏移量之和；光斑记录焦面与成像焦面均位于相机镜头的像面位置，二者共面，相邻，安装与同一结构上，相机成像焦面单次成像时间内，两个焦面之间相对位置稳定性优于0.03成像探测器像元。The spot recording focal plane includes a windowed area array detector and a processing circuit; the pixel of the detector is not larger than the image detector pixel size of the imaging focal plane of the camera, and the photosensitive area of the area array detector is larger than that caused by the spot diameter and long-period temperature changes. The sum of the maximum displacement of the light spot; the photosensitive window area of the detector is greater than the sum of the maximum displacement of the light spot caused by the diameter of the light spot and the short period vibration; the recording focal plane of the light spot and the imaging focal plane are both located at the image plane of the camera lens, and Coplanar, adjacent, and installed on the same structure, the relative position stability between the two focal planes is better than 0.03 imaging detector pixels within a single imaging time of the camera imaging focal plane.
基于上述测量设备，本发明还提出一种相机视轴扰动测量方法，步骤如下：Based on the above-mentioned measuring equipment, the present invention also proposes a method for measuring the disturbance of the camera boresight. The steps are as follows:
(1)调整发光组件出光方向，令发光组件出光方向与光斑记录焦面的面阵探测器中心像元对应的主光线平行，方向相反；(1) Adjust the light-emitting direction of the light-emitting component, so that the light-emitting direction of the light-emitting component is parallel to the principal ray corresponding to the central pixel of the area array detector of the spot recording focal plane, and the direction is opposite;
(2)调整导光组件，将导光组件的反射面法线与发光组件出光方向成45±1度；(2) Adjust the light guide assembly so that the normal of the reflective surface of the light guide assembly and the light-emitting direction of the light-emitting assembly are 45±1 degrees;
(3)发光组件发射的光经导光组件、相机镜头后会聚于光斑记录焦面，光斑记录焦面进行光斑质心位置提取，并进行开窗；(3) The light emitted by the light-emitting assembly converges on the spot recording focal plane after passing through the light guide assembly and the camera lens, and the spot recording focal plane extracts the spot centroid position and opens the window;
光斑尺寸计算公式如下：The formula for calculating the spot size is as follows:
其中，Dx为X方向光斑尺寸，Dy为Y方向光斑尺寸；X方向、Y方向分别是过相机中心视场与像面交点，且平行于矩形成像探测器相邻两垂直边的方向，如图3所示。λ为发射光的中心波长，f为相机焦距，De为有效光束口径，ωx、ωy分别为光斑中心对应的X方向与Y方向视场角；d为光源发光面的尺寸，m为放大倍率。Among them, D x is the spot size in the X direction, and Dy is the spot size in the Y direction; the X direction and the Y direction are the intersection points of the central field of view of the camera and the image plane, and are parallel to the directions of the two adjacent vertical sides of the rectangular imaging detector, As shown in Figure 3. λ is the central wavelength of the emitted light, f is the focal length of the camera, D e is the effective beam aperture, ω x and ω y are the X-direction and Y-direction field angles corresponding to the center of the light spot, respectively; d is the size of the light-emitting surface of the light source, and m is the Magnification.
最小开窗尺寸计算公式如下：The minimum window size calculation formula is as follows:
Dw＝Ds+2dm D w =D s +2d m
其中，Dw为探测器最小开窗尺寸，Ds为Dx和Dy之间的最大值，dm为振动引入的光斑位置最大变化量。Among them, Dw is the minimum window size of the detector, Ds is the maximum value between Dx and Dy , and dm is the maximum variation of the spot position caused by vibration.
(4)光斑记录焦面以测量设备工作后的第一个光斑的质心位置作为参考值，计算后续光斑质心位置相对参考位置的偏移量，进而得到相机视轴与发光组件之间的相对角位移；(4) The spot recording focal plane takes the centroid position of the first spot after the measuring device works as the reference value, calculates the offset of the centroid position of the subsequent spot relative to the reference position, and then obtains the relative angle between the camera boresight and the light-emitting component displacement;
其中，εx为沿X方向相对角位移，εy为沿Y方向相对角位移，Δx为沿X方向的光斑偏移量；Δy为沿Y方向的光斑偏移量。。Among them, ε x is the relative angular displacement along the X direction, ε y is the relative angular displacement along the Y direction, Δx is the spot offset along the X direction; Δy is the spot offset along the Y direction. .
(5)发光组件与惯性参考单元稳定地固连在一起，相机视轴与发光组件之间的相对角位移即为相机视轴与惯性参考单元之间的相对角位移；(5) The light-emitting component and the inertial reference unit are stably connected together, and the relative angular displacement between the camera boresight and the light-emitting assembly is the relative angular displacement between the camera boresight and the inertial reference unit;
(6)相机视轴相对角位移信息与惯性参考单元获得角位移信息相结合，即得到相机的绝对角位移信息，实现相机视轴扰动测量。(6) The relative angular displacement information of the camera boresight is combined with the angular displacement information obtained by the inertial reference unit, that is, the absolute angular displacement information of the camera is obtained, and the disturbance measurement of the boresight of the camera is realized.
惯性参考单元一般位于相机的承力结构上，可测量安装位置处的绝对角位移信息，即安装位置处相对惯性参考系的角位移；关联测量单元可以测量相机视轴与惯性参考单元之间的相对角度变化，即相机视轴相对惯性参考单元安装位置处的角位移信息。关联测量单元获得的相机视轴相对角位移信息与惯性参考单元获得的安装位置绝对角位移信息相结合，即得到相机视轴相对惯性参考系的绝对角位移信息，实现相机视轴扰动测量。The inertial reference unit is generally located on the load-bearing structure of the camera, and can measure the absolute angular displacement information at the installation position, that is, the angular displacement relative to the inertial reference frame at the installation position; the associated measurement unit can measure the camera boresight and the inertial reference unit. Relative angle change, that is, the angular displacement information of the camera boresight relative to the installation position of the inertial reference unit. The relative angular displacement information of the camera boresight obtained by the associated measurement unit is combined with the absolute angular displacement information of the installation position obtained by the inertial reference unit, that is, the absolute angular displacement information of the camera boresight relative to the inertial reference system is obtained, and the disturbance measurement of the boresight of the camera is realized.
实施例：Example:
对于焦距f为20m，成像探测器像元为7微米的空间相机，其角分辨率为0.35μrad。为了实现优于0.1倍角分辨率的相机视轴扰动测量精度，惯性参考单元的角位移测量精度应优于0.01μrad，发光组件惯性参考单元之间的角度稳定性优于0.01μrad，导光组件反射镜的夹角稳定性优于0.01μrad；光斑质心提取精度优于0.05像元；光斑记录焦面与成像探测器的位置稳定性优于0.03像元。For a space camera with a focal length f of 20 m and an imaging detector pixel of 7 μm, the angular resolution is 0.35 μrad. In order to achieve the camera boresight disturbance measurement accuracy better than 0.1 times the angular resolution, the angular displacement measurement accuracy of the inertial reference unit should be better than 0.01μrad, the angular stability between the inertial reference units of the light-emitting component should be better than 0.01μrad, and the reflection of the light guide component should be better than 0.01μrad. The angle stability of the mirror is better than 0.01μrad; the extraction accuracy of the spot centroid is better than 0.05 pixel; the position stability of the spot recording focal plane and the imaging detector is better than 0.03 pixel.
如果相机视轴扰动的频率为20Hz，则视轴扰动测量频率一般应≥200Hz。If the frequency of the camera boresight disturbance is 20Hz, the boresight disturbance measurement frequency should generally be ≥200Hz.
相机焦距f为20m，导光组件有效光束口径De为0.02m，X方向与Y方向视场角ωx为2°、Y方向视场角ωy为0.2°，中心波长为0.65μm，发射镜头焦距为0.2m，放大倍率为20/0.2，光源尺寸4μm，则X光斑尺寸Dx为1984μm，则X光斑尺寸Dx为1985μm。The focal length f of the camera is 20m, the effective beam diameter D e of the light guide component is 0.02m, the field angle ω x in the X direction and the Y direction is 2°, the field angle ω y in the Y direction is 0.2°, the center wavelength is 0.65μm, and the emission The lens focal length is 0.2m, the magnification is 20/0.2, and the light source size is 4μm, then the X-ray spot size D x is 1984μm, and the X-ray spot size D x is 1985μm.
如果振动引入的光斑位置最大变化量dm为10μm，则最小开窗尺寸(窗口边长)Dw≥2005μm。If the maximum variation d m of the spot position caused by vibration is 10 μm, the minimum window size (window side length) D w ≥2005 μm.
Dw＝1985+2×10＝2005D w =1985+2×10=2005
沿X方向的光斑偏移量Δx为6μm；沿Y方向的光斑偏移量Δy为5μm，沿X方向相对角位移εx为0.3μrad，沿Y方向相对角位移εy为0.25μrad。The spot offset Δx along the X direction is 6 μm; the spot offset Δy along the Y direction is 5 μm, the relative angular displacement ε x along the X direction is 0.3 μrad, and the relative angular displacement ε y along the Y direction is 0.25 μrad.
以上所述的实施例只是本发明较优选的具体实施方式，本领域的技术人员在本发明技术方案范围内进行的通常变化和替换都应包含在本发明的保护范围内。The above-mentioned embodiments are only preferred specific implementations of the present invention, and general changes and substitutions made by those skilled in the art within the scope of the technical solutions of the present invention should be included in the protection scope of the present invention.
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