CN113772126A - High-reliability sun protection method for fire scene detection sensor - Google Patents
High-reliability sun protection method for fire scene detection sensor Download PDFInfo
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- CN113772126A CN113772126A CN202111006880.XA CN202111006880A CN113772126A CN 113772126 A CN113772126 A CN 113772126A CN 202111006880 A CN202111006880 A CN 202111006880A CN 113772126 A CN113772126 A CN 113772126A
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- 238000001514 detection method Methods 0.000 title claims abstract description 66
- 230000037072 sun protection Effects 0.000 title claims abstract description 22
- 238000000034 method Methods 0.000 title claims abstract description 15
- 238000012937 correction Methods 0.000 claims abstract description 13
- 230000003287 optical effect Effects 0.000 claims abstract description 9
- 238000001914 filtration Methods 0.000 claims abstract description 6
- 239000011159 matrix material Substances 0.000 claims description 11
- 239000003638 chemical reducing agent Substances 0.000 claims description 6
- 238000003384 imaging method Methods 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 2
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 2
- 229910052799 carbon Inorganic materials 0.000 description 2
- 239000002028 Biomass Substances 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000010365 information processing Effects 0.000 description 1
- 230000001678 irradiating effect Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 239000003973 paint Substances 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
- B64G1/244—Spacecraft control systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/10—Artificial satellites; Systems of such satellites; Interplanetary vehicles
- B64G1/1021—Earth observation satellites
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
- G01J5/0014—Radiation pyrometry, e.g. infrared or optical thermometry for sensing the radiation from gases, flames
- G01J5/0018—Flames, plasma or welding
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B7/00—Mountings, adjusting means, or light-tight connections, for optical elements
- G02B7/006—Filter holders
Abstract
The invention relates to a highly reliable sun protection method for a fire scene detection sensor, which comprises the steps of sending a sun entering mode instruction to the product fire scene detection sensor when the sun enters a product view field, adjusting a product light filtering component to a correction baffle (opaque) to eliminate the influence of sunlight on a product, and enabling the product to exit a sun protection mode to continue to work normally when the product view field does not see the sun. The method improves the practicability of the sensor, eliminates the influence of sunlight on the fire scene detection result, and avoids the damage of direct sunlight on the optical system of the product.
Description
Technical Field
The invention belongs to the field of spacecraft attitude and orbit control, and relates to a high-reliability sun protection method for a fire scene detection sensor.
Background
A carbon monitoring (CM-1 for short) satellite of a land ecosystem mainly has the tasks of completing forest three-dimensional measurement, inverting biomass, forest accumulation, forest carbon sink data and the like. The CM-1 satellite carries a fire scene detection sensor and is used for detecting surface fire and crown fire in forest fire, outputting characteristic information such as fire position and area, timely sending the characteristic information to the ground through a Beidou short message system, accessing an emergency information processing system on the ground and guiding emergency management departments such as ground forest fire control to timely handle the information. However, when sunlight enters the visual field of the fire scene detection sensor product, the detection result of the product on the fire scene is influenced, and the direct sunlight also damages the optical system of the product.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: aiming at the problems that the detection result of a product on a fire scene can be influenced when sunlight enters the field of view of the product of the fire scene detection sensor, and the optical system of the product can be damaged by direct sunlight, the high-reliability sun protection method of the fire scene detection sensor is provided, and can realize that the sensor correction baffle is automatically closed when the sunlight enters the field of view of the sensor, and the sensor automatically returns to a normal working state when the sunlight exits the field of view of the sensor.
The technical solution of the invention is as follows:
a highly reliable sun protection method for fire scene detection sensors, as shown in fig. 1, includes the following steps:
step 1, according to the satellite attitude and orbitTrack information, calculating the projection of the sun vector in the satellite body coordinate system
Wherein S isbxFor the projection of the sun vector in the X-axis direction of the satellite body coordinate system, SbyIs the projection of the sun vector in the Y-axis direction of the satellite body coordinate system, SbzThe projection of the sun vector in the Z-axis direction of the satellite body coordinate system is obtained;
step 2, calculating the projection of the sun vector on the fire scene detection sensor according to the installation matrix of the fire scene detection sensor and the projection of the sun vector on the satellite body coordinate system
Wherein S isfirexIs the projection of the sun vector in the X-axis direction of the coordinate system of the fire scene detection sensor SfireyIs the projection of the sun vector in the Y-axis direction of the fire scene detection sensor coordinate system SfirezThe projection of the sun vector in the Z-axis direction of the fire scene detection sensor coordinate system is obtained;
step 3, judging whether the absolute value of the inverse cosine of the projection of the sun vector on the Z axis of the fire scene detection sensor is smaller than the conical field angle LmtHalpha of the fire scene detection sensorFireSunIf | acos (S)firez) Less than LmtHalpha |FireSunJudging that the sun is seen in the conical view field range of the fire scene detection sensor;
step 4, when the calculated field of view of the fire scene detection sensor continuously sees the sun in a plurality of control periods, such as 16 control periods, the spaceborne computer automatically sends a command of 'switching to a sun protection mode' to the fire scene detection sensor continuously, and at the moment, the sensor rotates the light filtering component to a correction baffle (opaque) so as to protect an optical system of the sensor;
and 5, when the field of view of the fire scene detection sensor is changed from the sun being seen to the sun being not seen, the spaceborne computer automatically and continuously sends an instruction of 'exiting the sun protection mode' to the fire scene detection sensor, and at the moment, the sensor enters a normal imaging mode and continues to work normally.
Further, in step 1, theProjection of sun vector in satellite body coordinate system
Wherein S isIxIs the projection of the sun vector in the X-axis direction of the J2000 inertial coordinate system, SIyIs the projection of the sun vector in the Y-axis direction of the J2000 inertial coordinate system, SIzThe projection of the sun vector in the Z-axis direction of the J2000 inertial coordinate system; cBOA direction cosine matrix from a satellite orbit coordinate system to a satellite body coordinate system; cOIIs a direction cosine matrix from the J2000 inertial frame to the satellite orbital frame.
Further, in the step 2,
wherein SfirexIs the projection of the sun vector in the X-axis direction of the coordinate system of the fire scene detection sensor SfireyIs the projection of the sun vector in the Y-axis direction of the fire scene detection sensor coordinate system SfirezIs the projection of the sun vector in the Z-axis direction of the fire scene detection sensor coordinate system, CPBfireIs a direction cosine matrix from a satellite body coordinate system to a fire scene detection sensor coordinate system, wherein the + Z axis is the optical axis direction of the sensor.
Further, in step 3, the conical field angle LmtHalpha of the fire scene detection sensorFireSunIs 0.139 (radian).
Further, in step 4, as shown in fig. 2, the product filtering component includes a motor, a turntable, various filters and an opaque correction baffle on the turntable, the motor is connected with the speed reducer, the turntable is fixed to an output shaft of the speed reducer, the turntable is provided with various filters (such as different long-wave band infrared filters and medium-wave band infrared filters) and the correction baffle around a rotating shaft thereof, and when the fire scene detection sensor is in the "exit sun protection mode", the turntable is driven by the speed reducer to rotate so that the required filters are located in a light path; when the fire scene detection sensor enters a 'shift-to-sun protection mode', the correction baffle rotates to a position below the window, the light path is blocked, and the surface of the correction baffle is light-tight in a mode of spraying uniform black paint and the like, so that sunlight is prevented from directly irradiating the optical system.
The invention has the following technical effects:
the invention provides a high-reliability sun protection method for a fire scene detection sensor, which is characterized in that when the sun enters a product view field, a sun entering mode instruction is sent to a product, a product light filtering component is adjusted to a correction baffle (opaque), so that the influence of sunlight on the product is eliminated, and when the product view field does not see the sun, the product exits the sun protection mode and continues to work normally. The invention is suitable for sensor products which need to protect the field of view of sunlight.
Drawings
FIG. 1 is a flow chart of an implementation of a highly reliable sun protection method for a fire scene detection sensor according to the present invention;
fig. 2 is a schematic diagram of a product filter assembly.
Detailed Description
As shown in figure 1, the highly reliable sun protection method of the fire scene detection sensor provided by the invention takes LmtHalphaFireSun0.139 (radians);
1)CBO＝[0.99999615065240632,0.00070298161092801779,
0.0026841194505037858；-0.00070022267856767353,0.99999922575885769,-0.0010286738479627832；-0.0026848405111468366,0.0010267904069283546,0.99999586865791090]is a direction cosine matrix from the satellite orbit coordinate system to the satellite body coordinate system, COI＝[0.75235731415241092,-0.078468568763516891,-0.65406510039718191；0.21362291212489629,0.96828686724048818,0.12956000210280899；0.62315625910091699,-0.23719870666975873,0.74526039093564100]Is a direction cosine matrix from the J2000 inertial coordinate system to the satellite orbit coordinate system,
projection of sun vector in satellite body coordinate system
2)CPBfire＝[0,1,0；-1,0,0；0,0,1]The projection of the sun vector on the fire scene detection sensor is a direction cosine matrix from a fire alarm instrument coordinate system to a satellite mass center coordinate system
3)|arccos(Sfirez) 2.247865425617000 (radian), the fire scene detection sensor does not see the sun;
4) judging whether the sun can be seen in the conical view field range of the fire scene detection sensor in real time, and when the calculated view field of the fire scene detection sensor can see the sun for 16 continuous control periods, namely | arccos (S)firez)|<0.139 (radian), the star-loaded computer automatically sends three times of instructions of 'turning into sun protection mode' to the fire scene detection sensor continuously, and the sensor rotates the light filtering component to a correction baffle (opaque) to protect the sensor optical system;
5) when the field of view of the fire scene detection sensor is changed from the sun to the sun, the star-loaded computer automatically sends a command of 'exiting the sun protection mode' to the fire scene detection sensor for three times, and at the moment, the sensor enters a normal imaging mode and continues to work normally.
The invention is not described in detail and is within the knowledge of a person skilled in the art.
Claims (5)
1. A high-reliability sun protection method for a fire scene detection sensor is characterized by comprising the following steps:
step 1, calculating the projection of a sun vector in a satellite body coordinate system according to satellite attitude and orbit information
Wherein S isbxFor the projection of the sun vector in the X-axis direction of the satellite body coordinate system, SbyIs the projection of the sun vector in the Y-axis direction of the satellite body coordinate system, SbzThe projection of the sun vector in the Z-axis direction of the satellite body coordinate system is obtained;
step 2, according to fireThe installation matrix of the field detection sensor and the projection of the sun vector on the satellite body coordinate system are calculated, and the projection of the sun vector on the fire field detection sensor is calculated
Wherein S isfirexIs the projection of the sun vector in the X-axis direction of the coordinate system of the fire scene detection sensor SfireyIs the projection of the sun vector in the Y-axis direction of the fire scene detection sensor coordinate system SfirezThe projection of the sun vector in the Z-axis direction of the fire scene detection sensor coordinate system is obtained;
step 3, judging whether the absolute value of the inverse cosine of the projection of the sun vector on the Z axis of the fire scene detection sensor is smaller than the conical field angle LmtHalpha of the fire scene detection sensorFireSunIf | acos (S)firez) Less than LmtHalpha |FireSunJudging that the sun is seen in the conical view field range of the fire scene detection sensor;
step 4, when the calculated field of view of the fire scene detection sensor continuously shows the sun in a plurality of control periods, the star-loaded computer automatically sends a command of 'switching to a sun protection mode' to the fire scene detection sensor continuously, and at the moment, the sensor rotates the light filtering component to the opaque correction baffle plate so as to protect the optical system of the sensor;
and 5, when the field of view of the fire scene detection sensor is changed from the sun being seen to the sun being not seen, the spaceborne computer automatically and continuously sends an instruction of 'exiting the sun protection mode' to the fire scene detection sensor, and at the moment, the sensor enters a normal imaging mode and continues to work normally.
2. The method for highly reliable sun protection for fire scene detection sensors according to claim 1, wherein in step 1, the projection of the sun vector in the satellite body coordinate system
Wherein S isIxIs the projection of the sun vector in the X-axis direction of the J2000 inertial coordinate system, SIyIs the projection of the sun vector in the Y-axis direction of the J2000 inertial coordinate system, SIzThe projection of the sun vector in the Z-axis direction of the J2000 inertial coordinate system; cBOA direction cosine matrix from a satellite orbit coordinate system to a satellite body coordinate system; cOIIs a direction cosine matrix from the J2000 inertial frame to the satellite orbital frame.
3. The method for highly reliable solar protection of fire scene detection sensors according to claim 1, wherein, in step 2,
wherein SfirexIs the projection of the sun vector in the X-axis direction of the coordinate system of the fire scene detection sensor SfireyIs the projection of the sun vector in the Y-axis direction of the fire scene detection sensor coordinate system SfirezIs the projection of the sun vector in the Z-axis direction of the fire scene detection sensor coordinate system, CPBfireIs a direction cosine matrix from a satellite body coordinate system to a fire scene detection sensor coordinate system, wherein the + Z axis is the optical axis direction of the sensor.
4. The method for highly reliable solar protection of a fire scene detection sensor according to claim 1, wherein in step 3, the fire scene detection sensor has a conical field angle LmtHalphaFireSunIs 0.139 (radian).
5. The method for highly reliable sun protection of a fire scene detection sensor according to claim 1, wherein in step 4, the product filter assembly comprises a motor, a turntable, various filters and a light-tight correction baffle plate on the turntable, the motor is connected with the speed reducer, the turntable is fixed on the output shaft of the speed reducer, the various filters and the correction baffle plate are arranged on the turntable around the rotation shaft of the turntable, and when the fire scene detection sensor is in the exit sun protection mode, the turntable is driven by the speed reducer to rotate so that the desired filters are positioned in the light path; when the fire scene detection sensor enters a 'shift-to-sun protection mode', the correction baffle rotates to a position below the window, and the light path is blocked.
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| CN102435204A (en) * | 2011-09-05 | 2012-05-02 | 清华大学 | Precision compensation method for area APS (active pixel sensor) digital sun sensor |
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