CN112985458B - Star sensor pointing measuring instrument and method for imaging under deformation loading - Google Patents
Star sensor pointing measuring instrument and method for imaging under deformation loading Download PDFInfo
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- CN112985458B CN112985458B CN202110169722.XA CN202110169722A CN112985458B CN 112985458 B CN112985458 B CN 112985458B CN 202110169722 A CN202110169722 A CN 202110169722A CN 112985458 B CN112985458 B CN 112985458B
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Abstract
The embodiment of the invention provides a star sensor pointing measuring instrument for imaging under deformation loading, wherein the central lines of a light source (10), a star simulator, a collimator (20) and an optical imager (40) are positioned on the same axis; the deformation loading device (60) is used for generating or detecting stress strain generated by deformation caused by interference factors and loading the stress strain on the optical imager (40) through the test fixture (50), and the direction of the stress strain generated by deformation comprises: at least one of an X direction, a Y direction, a Z direction of the three-dimensional coordinate system and directions forming predetermined included angles with the X direction, the Y direction and the Z direction respectively; the optical imaging instrument (40) is provided with an angular displacement sensor (401) and a force, moment and displacement sensor (402) and is used for measuring the magnitude of the moment, the displacement and the angular displacement of the stress strain and imaging under the action of the stress strain to obtain imaging information.
Description
Technical Field
The invention relates to the technical field of imaging, in particular to a star sensor pointing measuring instrument and a star sensor pointing measuring method for imaging under deformation loading.
Background
The space extremely high precision pointing measurement instrument is an important component or working effective load of a high-performance spacecraft, and can observe a space target, such as a star, a planet (such as the earth) and other celestial bodies in a specific optical wave band so as to obtain high-quality remote sensing information, evolution information of the target celestial body and the like.
The milli-second-level extremely high-precision pointing measuring instrument has higher precision and the system is more sensitive. When experiencing a large number of levels of mechanical conditions, and when environmental conditions change significantly, such as gravity release, thermal radiation, temperature changes, assembly errors, etc., to ensure optical system performance, a very high precision pointing gauge must have sufficient precision and stability.
Disclosure of Invention
The embodiment of the invention provides a star sensor pointing measurement instrument and a star sensor pointing measurement method for imaging under deformation loading, so as to realize extremely high-precision pointing measurement.
The purpose of the invention is realized by the following technical scheme:
a star sensor pointing measurement instrument for imaging under deformation loading comprises:
the system comprises a light source, a star simulator, a collimator tube, a test fixture, an optical imager and deformation loading equipment, wherein the light source, the star simulator, the collimator tube and the test fixture are sequentially fixed on an air floatation vibration isolation platform;
the central lines of the light source, the star simulator, the collimator and the optical imager are positioned on the same axis;
the deformation loading equipment is used for generating or detecting stress strain generated by deformation caused by interference factors and loading the stress strain on the optical imager through the test fixture, and the direction of the stress strain generated by deformation comprises: at least one of an X direction, a Y direction, a Z direction of the three-dimensional coordinate system and directions forming predetermined included angles with the X direction, the Y direction and the Z direction respectively;
the optical imager is provided with an angular displacement sensor and force, moment and displacement sensors, and is used for measuring the magnitude of the moment, the displacement and the angular displacement of the stress strain and imaging under the action of the stress strain to obtain imaging information.
The pointing measurement instrument further includes: and the data acquisition and processing device is used for receiving and storing the imaging information from the optical imager.
The resolution of the angular displacement of the optical imager is more than 3 milli-angular seconds, and the resolution of the displacement is more than 2 microns.
The directional measuring instrument is placed in an ultra-clean laboratory with million-level cleanliness, and the noise is lower than 20 dB.
The three-direction first-order frequency of the test fixture is not less than 2 KHz.
The air pressure of the air floatation vibration isolation platform is adjustable.
The aperture of the star simulator and the collimator is 300mm, and the focal length is 3000 mm; the number of the star points of the dense star field is 2000, and the number of the star points of the common star field is 700; the working spectrum is 400 nm-900 nm; transmittance change value: tpv is less than or equal to 8 percent.
The transverse natural frequency of the air flotation vibration isolation platform is not more than 1Hz, the vibration reduction efficiency is more than 85 percent, the amplitude is not more than 1um, the repeated positioning precision is not more than +/-0.01 mm, the roughness is not more than 5um, and the roughness is not more than 0.8 um.
The repeated positioning precision of a gear transmission mechanism and a turbine worm mechanism of the deformation loading equipment is not more than C7 level, and the bearing capacity is not less than 20 KN; the repeated positioning precision of a driving motor of the deformation loading equipment is not more than 5um, and an angular contact ball bearing is adopted as a bearing of the deformation loading equipment.
And the deformation loading equipment is provided with a loading closed-loop feedback sensor and is further used for adjusting the stress strain loaded on the optical imager according to the information fed back by the closed-loop feedback sensor.
The embodiment of the invention provides a method for imaging a pointing measuring instrument under deformation loading, which comprises the following steps:
the optical imager receives stress strain loaded on the optical imager from a deformation loading device, wherein the stress strain is stress strain generated by deformation caused by interference factors, and the direction of the stress strain generated by the deformation is generated or detected by the deformation loading device and comprises: at least one of an X direction, a Y direction, a Z direction of the three-dimensional coordinate system and directions forming predetermined included angles with the X direction, the Y direction and the Z direction respectively;
the optical imager measures the magnitude of the moment, the displacement and the angular displacement in the direction of the stress strain by utilizing an angular displacement sensor and a force, moment and displacement sensor which are arranged on the optical imager;
under the action of the stress strain, the optical imager images a star map obtained by irradiating the star simulator and the collimator with the light source according to the torque, the displacement and the angular displacement;
the light source, the star simulator, the collimator tube, the test fixture, the optical imager and the deformation loading equipment which are fixed on the test fixture are sequentially fixed on the air floatation vibration isolation platform; the central lines of the light source, the star simulator, the collimator and the optical imager are positioned on the same axis.
The resolution of the angular displacement of the optical imager is more than 3 milli-angular seconds, and the resolution of the displacement is more than 2 microns.
The directional measuring instrument is placed in an ultra-clean laboratory with million-level cleanliness, and the noise is lower than 20 dB.
The three-direction first-order frequency of the test fixture is not less than 2 KHz.
The aperture of the star simulator and the collimator is 300mm, and the focal length is 3000 mm; the number of the star points of the dense star field is 2000, and the number of the star points of the common star field is 700; the working spectrum is 400 nm-900 nm; transmittance change value: tpv is less than or equal to 8 percent.
The transverse natural frequency of the air floatation vibration isolation platform is not more than 1Hz, the vibration reduction efficiency is more than 85 percent, the amplitude is not more than 1um, the repeated positioning precision is not more than +/-0.01 mm, the planeness of the table top is not more than 5um, and the roughness is not more than 0.8 um.
The repeated positioning precision of a gear transmission mechanism and a turbine worm mechanism of the deformation loading equipment is not more than C7 level, and the bearing capacity is not less than 20 KN; the repeated positioning precision of a driving motor of the deformation loading equipment is not more than 5um, and an angular contact ball bearing is adopted as a bearing of the deformation loading equipment.
In the pointing measuring instrument in the embodiment of the invention, a light source, a star simulator, a collimator and a test fixture which are sequentially fixed on an air floatation vibration isolation platform, an optical imager and deformation loading equipment which are fixed on the test fixture are adopted; the central lines of the light source, the star simulator, the collimator and the optical imager are positioned on the same axis; the deformation loading equipment is used for generating or detecting stress strain generated by deformation caused by interference factors and loading the stress strain on the optical imager through the test fixture, and the direction of the stress strain generated by deformation comprises: at least one of an X direction, a Y direction, a Z direction of the three-dimensional coordinate system and directions forming predetermined included angles with the X direction, the Y direction and the Z direction respectively; the optical imager is provided with an angular displacement sensor and force, moment and displacement sensors, and is used for measuring the magnitude of the moment, the displacement and the angular displacement of the stress strain and imaging under the action of the stress strain to obtain imaging information. By utilizing the technical scheme provided by the embodiment of the invention, on one hand, the working scene of the star sensor pointing measuring instrument in the operation in the orbit is simulated, namely, the force generated by the interference factors in the stress strain directions is generated by the deformation loading equipment to simulate the operation environment in the orbit, images formed under the influence of the interference factors in the stress strain directions can be obtained, extremely high-precision pointing measurement can be obtained, and in addition, the method can also be used for guiding the star sensor pointing measuring instrument to perform subsequent calibration work, so that the measurement precision of the star sensor pointing measuring instrument in the operation in the orbit is ensured. On the other hand, the star sensor pointing measuring instrument can be directly used for on-orbit measurement, and the deformation loading equipment is used for detecting stress strain generated by deformation caused by interference factors, so that imaging is carried out according to the direction and the magnitude of the stress strain, images formed under the influence of the interference factors in a plurality of stress strain directions are obtained, and extremely high-precision on-orbit pointing measuring information is obtained.
Drawings
Fig. 1 is a schematic structural diagram of a star sensor pointing measurement instrument for imaging under deformation loading according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a deformation loading device according to an embodiment of the present invention;
FIG. 3 is a schematic view of an angular displacement sensor and the mounting of force, torque and displacement sensors of an embodiment of the present invention;
fig. 4 is a schematic flowchart of a method for imaging a pointing instrument under a deformation load according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
In the embodiment of the invention, in order to improve the precision of the space pointing measurement, how to simulate the stress strain of an extremely high precision instrument under the influence factors of gravity release, thermal radiation, temperature change, assembly error, adhesive and the like through system deformation loading is vital to perform single-degree-of-freedom or multi-degree-of-freedom deformation loading, such as six-degree-of-freedom deformation loading, on the space extremely high precision pointing measurement instrument, and complete response measurement and data storage of a sensitive position through a high precision data acquisition system.
An embodiment of the invention provides a star sensor pointing measurement instrument for imaging under deformation loading, as shown in fig. 1, and fig. 1 is a schematic structural diagram of the star sensor pointing measurement instrument for imaging under deformation loading according to the embodiment of the invention. The direction measuring instrument includes: the device comprises a light source 10, a star simulator, a parallel light pipe 20, an air floatation vibration isolation platform 30, an optical imager 40, a test fixture 50 and deformation loading equipment 60.
Wherein, the light source 10, the star simulator, the parallel light pipe 20 and the test fixture 50 are sequentially fixed on the air-flotation vibration isolation platform 30. The optical imager 40 and the deformation loading device 60 are fixed on the test fixture 50;
the central lines of the light source 10, the star simulator, the parallel light pipe 20 and the optical imager 40 are positioned on the same axis;
the deformation loading device 60 is configured to generate or detect a stress strain caused by deformation due to an interference factor, and load the stress strain on the optical imager 40 through the test fixture 50, where the direction of the stress strain caused by deformation includes: at least one of an X direction, a Y direction, a Z direction of the three-dimensional coordinate system and directions forming predetermined included angles with the X direction, the Y direction and the Z direction respectively;
the optical imager 40 is provided with an angular displacement sensor 401 and a force, moment and displacement sensor 402, and is configured to measure the magnitude of the moment, the displacement and the angular displacement of the stress strain, and perform imaging under the action of the stress strain to obtain imaging information.
In the embodiment of the present invention, the direction of the stress strain generated by the deformation may be one or more of six directions, i.e., six degrees of freedom. The stress strain in each direction includes stress strain generated by disturbance factors from the direction, such as gravity release, heat radiation, temperature change, assembly error, and the like. The technical scheme of the invention can simulate or detect the deformation generated by interference factors from multiple directions, and images the measured object under the deformation loading. Furthermore, interference factors from the directions can be quantified in subsequent calibration, and compensation, calibration and the like are carried out on the interference factors so as to improve the detection accuracy of the star sensor.
The pointing measurement instrument further includes: a data acquisition and processing device 70. The deformation loading device 60 comprises an actuator and a signal control device, and is connected by a cable. The optical imager 40 and the data acquisition and processing device 70 are connected by cables for signal transmission. The data acquisition and processing device 70 is used for receiving and storing the imaging information from the optical imager 40.
The strain loading device 60 has a loading closed-loop feedback sensor for adjusting the stress strain loaded on the optical imager 40 according to the information fed back by the closed-loop feedback sensor.
Fig. 2 is a schematic structural diagram of a deformation loading apparatus 60 according to an embodiment of the present invention. The deformation loading device 60 comprises a gear transmission mechanism 601, a turbine worm mechanism (602, 603 and 605), a driving motor 604, a bearing 606, a signal feedback device 607 and a signal control device 608. As shown in fig. 2, all are connected and fixed by titanium alloy screws to ensure ultrahigh stability.
The central lines of the light source 10, the star simulator light pipe 20 and the optical imager 40 are located on the same axis.
The spatial ultra-high precision pointing measurement instrument 40 is respectively provided with a force sensor, a moment sensor and a displacement sensor 402; the angular displacement sensor 401 is arranged on the optical element of the spatial extremely high precision pointing measurement instrument 40; the test fixture 50 is provided with force, moment and displacement sensors (501 and 502), respectively, as shown in fig. 3, and fig. 3 is a schematic view of the installation of the angular displacement sensor and the force, moment and displacement sensors according to the embodiment of the present invention.
The mass of the angular displacement sensor 401 is not more than 10 g, the resolution is better than 3 milli-arcsec, namely more than 3 milli-arcsec, and the measuring range is 0-100 milli-arcsec; the resolution of the displacement sensor is better than 2 microns.
The three-direction first-order frequency of the test fixture 50 is not less than 2 KHz; air supporting vibration isolation platform 30 possess air supporting vibration isolation ability, atmospheric pressure is adjustable, and horizontal natural frequency is not more than 1Hz, damping efficiency is greater than 85%, the amplitude is not more than 1um, repeated positioning accuracy is not more than 0.01mm, the mesa plane degree is not more than 5um, the roughness is not more than 0.8 um. In the embodiment of the invention, the light source 10, the star simulator, the parallel light pipe 20, the optical imager 40, the test fixture 50 and the deformation loading device 60 are all fixed on the air floatation vibration isolation platform 30, and the zero-rigidity support component ensures the pointing direction maintenance and the stability of the pointing direction measuring instrument during the attitude maneuver of the spacecraft.
The star simulator and the collimator 20 mm in caliber, 3000mm in focal length and the number of star points: dense star field: 2000, common starfield: 700 particles; working spectrum section: 400 nm-900 nm; transmittance change value: tpv is less than or equal to 8 percent;
the deformation loading equipment 60 has the deformation loading capacity with six degrees of freedom, the repeated positioning precision of the gear transmission mechanism 601 and the turbine worm mechanism (602, 603 and 605) is more than C7 level, and the bearing capacity is not less than 20 KN; the repeated positioning precision of the driving motor 604 is not more than 5um, and the bearings 606 are all angular contact ball bearings to ensure the axial stability.
The pointing instrument is placed in an ultraclean laboratory, for example, with millions of degrees of cleanliness and with noise below 20 dB.
Fig. 4 is a schematic flowchart of a method for imaging a pointing instrument under a deformation load according to an embodiment of the present invention. The method comprises the following steps:
at step 401, the optical imager 40 receives a stress strain loaded thereon from the strain loading device 60. Wherein the stress strain is a stress strain generated by deformation caused by an interference factor and generated or detected by the deformation loading device 60, and the direction of the stress strain generated by deformation includes: and at least one of an X direction, a Y direction, a Z direction of the three-dimensional coordinate system, and directions having predetermined angles with the X direction, the Y direction, and the Z direction, respectively.
In step 402, the optical imager 40 measures the magnitudes of the moment, displacement and angular displacement in the direction of the stress strain using the angular displacement sensor 401 and the force, moment and displacement sensor 402 mounted thereon.
In step 403, the optical imager 40 images a star chart obtained by the light source 10 irradiating the star simulator and the collimator 20 according to the magnitude of the moment, the displacement and the angular displacement under the action of the stress strain.
Wherein, the light source 10, the star simulator, the parallel light pipe 20, the test fixture 50, the optical imager 40 and the deformation loading device 60 which are fixed on the test fixture 50 are sequentially fixed on the air floatation vibration isolation platform 30; the central lines of the light source 10, the star simulator, the parallel light pipe 20 and the optical imager 40 are located on the same axis.
In an embodiment of the present invention, the resolution of the angular displacement of the optical imager 40 is greater than 3 milli-seconds and the resolution of the displacement is greater than 2 microns.
In the embodiment of the invention, the pointing measurement instrument is placed in an ultraclean laboratory with million-level cleanliness, and the noise is lower than 20 dB.
In the embodiment of the present invention, the three-directional first-order frequency of the test fixture 50 is not less than 2 KHz.
In the embodiment of the invention, the aperture of the star simulator and the collimator 20 is 300mm, and the focal length is 3000 mm; the number of the star points of the dense star field is 2000, and the number of the star points of the common star field is 700; the working spectrum is 400 nm-900 nm; transmittance change value: tpv is less than or equal to 8 percent.
In the embodiment of the invention, the transverse natural frequency of the air-floatation vibration isolation platform 30 is not more than 1Hz, the vibration reduction efficiency is more than 85 percent, the amplitude is not more than 1um, the repeated positioning precision is not more than +/-0.01 mm, the flatness of the table top is not more than 5um, and the roughness is not more than 0.8 um.
In the embodiment of the invention, the repeated positioning precision of the gear transmission mechanism 601 and the turbine worm mechanism (602, 603 and 605) of the deformation loading equipment 60 is not more than C7 level, and the bearing capacity is not less than 20 KN; the repeated positioning precision of the driving motor 604 of the deformation loading equipment 60 is not more than 5um, and the bearing 606 of the deformation loading equipment 60 adopts an angular contact ball bearing.
The embodiment of the invention provides a star sensor direction measuring instrument and a method for imaging under deformation loading. The pointing measurement instrument is a multi-degree-of-freedom deformation loading device with feedback capability. The scheme can effectively simulate the multi-degree-of-freedom deformation problem of the extremely-high-precision pointing measuring instrument, the zero-rigidity supporting assembly ensures the pointing maintenance and the stability of the optical imager during spacecraft attitude maneuver, and the multi-degree-of-freedom deformation loading and measuring problems are solved.
Those skilled in the art will appreciate that those matters not described in detail in the present specification are well known in the art.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the present invention, and those skilled in the art can make variations and modifications of the present invention without departing from the spirit and scope of the present invention by using the methods and technical contents disclosed above.
Claims (17)
1. A star sensor pointing measurement instrument for imaging under deformation loading is characterized by comprising:
the device comprises a light source (10), a star simulator, a collimator (20), a test fixture (50), an optical imager (40) and deformation loading equipment (60), wherein the light source, the star simulator, the collimator (20) and the test fixture (50) are sequentially fixed on an air floatation vibration isolation platform (30);
the central lines of the light source (10), the star simulator, the collimator (20) and the optical imager (40) are positioned on the same axis;
the deformation loading device (60) is used for generating or detecting stress strain generated by deformation caused by interference factors and loading the stress strain on the optical imager (40) through the test fixture (50), and the direction of the stress strain generated by deformation comprises: at least one of an X direction, a Y direction, a Z direction of the three-dimensional coordinate system and directions forming predetermined included angles with the X direction, the Y direction and the Z direction respectively;
the optical imaging instrument (40) is provided with an angular displacement sensor (401) and a force, moment and displacement sensor (402) and is used for measuring the magnitude of the moment, the displacement and the angular displacement of the stress strain and imaging under the action of the stress strain to obtain imaging information.
2. The pointing meter according to claim 1, further comprising:
data acquisition and processing means (70) for receiving and storing said imaging information from said optical imager (40).
3. The pointing meter according to claim 1, wherein the resolution of the angular displacement of the optical imager (40) is greater than 3 milli-seconds and the resolution of the displacement is greater than 2 microns.
4. The directional gauge according to claim 1, wherein the directional gauge is placed in an ultraclean laboratory with a cleanliness of millions and a noise of less than 20 dB.
5. The pointing meter according to claim 1, wherein the three-way first order frequency of the test fixture (50) is no less than 2 KHz.
6. The pointing meter according to claim 1, wherein the air pressure of the air bearing vibration isolation platform (30) is adjustable.
7. The direction-measuring instrument as claimed in claim 1, wherein the star simulator and collimator (20) has a bore of 300mm and a focal length of 3000 mm; the number of the star points of the dense star field is 2000, and the number of the star points of the common star field is 700; the working spectrum is 400 nm-900 nm; transmittance change value: tpv is less than or equal to 8 percent.
8. The pointing measurement instrument according to claim 1, wherein the air-bearing vibration isolation platform (30) has a transverse natural frequency of not more than 1Hz, a vibration reduction efficiency of more than 85%, an amplitude of not more than 1um, a repeated positioning accuracy of better than ± 0.01mm, a table surface flatness of better than 5um, and a roughness of not more than 0.8 um.
9. The pointing instrument according to claim 1, wherein the gear transmission mechanism (601) and the turbine worm mechanism (602, 603, 605) of the deformation loading device (60) have a repeated positioning accuracy better than C7 grade and a load-carrying capacity not less than 20 KN; the repeated positioning precision of a driving motor (604) of the deformation loading equipment (60) is better than 5um, and an angular contact ball bearing is adopted as a bearing (606) of the deformation loading equipment (60).
10. The pointing meter according to claim 1, wherein the deformation loading device (60) is equipped with a loading closed-loop feedback sensor, further adapted to adjust the stress strain loaded on the optical imager (40) according to the information fed back by the closed-loop feedback sensor.
11. A method for imaging a star sensor pointing measuring instrument under deformation loading is characterized by comprising the following steps:
the optical imager (40) receives a stress strain loaded thereon from a deformation loading device (60), wherein the stress strain is a stress strain resulting from deformation caused by an interference factor and is generated or detected by the deformation loading device (60), and the direction of the stress strain resulting from the deformation includes: at least one of an X direction, a Y direction, a Z direction of the three-dimensional coordinate system and directions forming predetermined included angles with the X direction, the Y direction and the Z direction respectively;
the optical imager (40) measures the magnitude of the moment, displacement and angular displacement in the direction of the stress strain by using an angular displacement sensor (401) and a force, moment and displacement sensor (402) which are mounted on the optical imager;
the optical imager (40) images a star map obtained by irradiating the star simulator and the collimator (20) by the light source (10) according to the magnitudes of the moment, the displacement and the angular displacement under the action of the stress strain;
the light source (10), the star simulator, the collimator (20), the test fixture (50), the optical imager (40) and the deformation loading equipment (60) which are fixed on the test fixture (50) are sequentially fixed on the air floatation vibration isolation platform (30); the central lines of the light source (10), the star simulator, the collimator (20) and the optical imager (40) are positioned on the same axis.
12. The method of claim 11, wherein the resolution of the angular displacement of the optical imager (40) is greater than 3 milli-seconds and the resolution of the displacement is greater than 2 microns.
13. The method of claim 11, wherein the pointing instrument is placed in an ultraclean laboratory with a cleanliness of millions and a noise of less than 20 dB.
14. The method of claim 11, wherein the three-way first order frequency of the test fixture (50) is no less than 2 KHz.
15. The method of claim 11, wherein the star simulator and collimator (20) has a bore size of 300mm and a focal length of 3000 mm; the number of the star points of the dense star field is 2000, and the number of the star points of the common star field is 700; the working spectrum is 400 nm-900 nm; transmittance change value: tpv is less than or equal to 8 percent.
16. The method of claim 11, wherein the air bearing vibration isolation platform (30) has a transverse natural frequency of no more than 1Hz, a vibration reduction efficiency of greater than 85%, an amplitude of no more than 1um, a repeated positioning accuracy of no more than ± 0.01mm, a table flatness of no more than 5um, and a roughness of no more than 0.8 um.
17. The method according to claim 11, characterized in that the gear transmission (601), the turbine worm mechanism (602, 603, 605) of the deformation loading device (60) are repeatedly positioned with an accuracy not greater than the C7 level and a load carrying capacity not less than 20 KN; the repeated positioning precision of a driving motor (604) of the deformation loading equipment (60) is not more than 5um, and an angular contact ball bearing is adopted as a bearing (606) of the deformation loading equipment (60).
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| CN112985458A (en) | 2021-06-18 |
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