CN114396948A - High-precision ground test system suitable for verifying autonomous navigation of multi-vision system - Google Patents
High-precision ground test system suitable for verifying autonomous navigation of multi-vision system Download PDFInfo
- Publication number
- CN114396948A CN114396948A CN202210039334.4A CN202210039334A CN114396948A CN 114396948 A CN114396948 A CN 114396948A CN 202210039334 A CN202210039334 A CN 202210039334A CN 114396948 A CN114396948 A CN 114396948A
- Authority
- CN
- China
- Prior art keywords
- load
- target
- satellite
- autonomous navigation
- computer
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000012360 testing method Methods 0.000 title claims abstract description 43
- 238000004088 simulation Methods 0.000 claims abstract description 32
- 230000009471 action Effects 0.000 claims abstract description 30
- 238000004422 calculation algorithm Methods 0.000 claims abstract description 29
- 238000000034 method Methods 0.000 claims description 24
- 238000005259 measurement Methods 0.000 claims description 14
- 238000002474 experimental method Methods 0.000 claims description 13
- 230000008569 process Effects 0.000 claims description 12
- 230000033001 locomotion Effects 0.000 claims description 11
- 238000010998 test method Methods 0.000 claims description 11
- 230000005540 biological transmission Effects 0.000 claims description 7
- 229910000838 Al alloy Inorganic materials 0.000 claims description 6
- 239000000463 material Substances 0.000 claims description 5
- 238000004364 calculation method Methods 0.000 claims description 4
- 229910000831 Steel Inorganic materials 0.000 claims description 3
- 239000000956 alloy Substances 0.000 claims description 3
- 230000007797 corrosion Effects 0.000 claims description 3
- 238000005260 corrosion Methods 0.000 claims description 3
- 238000005520 cutting process Methods 0.000 claims description 3
- 238000009499 grossing Methods 0.000 claims description 3
- 238000005286 illumination Methods 0.000 claims description 3
- 230000003287 optical effect Effects 0.000 claims description 3
- 239000010959 steel Substances 0.000 claims description 3
- 239000011358 absorbing material Substances 0.000 claims description 2
- 238000007743 anodising Methods 0.000 claims description 2
- 238000004519 manufacturing process Methods 0.000 claims description 2
- 238000005516 engineering process Methods 0.000 description 12
- 238000013459 approach Methods 0.000 description 11
- 238000001514 detection method Methods 0.000 description 9
- 230000008859 change Effects 0.000 description 8
- 238000012795 verification Methods 0.000 description 6
- 238000012634 optical imaging Methods 0.000 description 4
- 238000011160 research Methods 0.000 description 4
- 238000011161 development Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000000429 assembly Methods 0.000 description 2
- 230000000712 assembly Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000003647 oxidation Effects 0.000 description 1
- 238000007254 oxidation reaction Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C3/00—Measuring distances in line of sight; Optical rangefinders
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/46—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being of a radio-wave signal type
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- Automation & Control Theory (AREA)
- Navigation (AREA)
Abstract
The invention provides a high-precision ground test system suitable for verifying autonomous navigation of a multi-vision system, which comprises: the load driving device drives the load observation system to move according to the first action command; the target driving device is configured to drive the target model to move according to the second action instruction; an environment simulation system configured to provide a simulated environment of a space background; the load observation system is configured to observe the target model to obtain observation data; a control computer configured to perform the following actions: substituting the observation data into an autonomous navigation algorithm to generate AI mobile data; sending a first action command to a load driving device, and generating reference data of a load observation system according to the first action command; sending a second action instruction to the target driving device, and generating reference data of the target model according to the second action instruction; and calculating the precision of the autonomous navigation algorithm according to the reference data of the load observation system, the reference data of the target model and the AI mobile data.
Description
Technical Field
The invention relates to the technical field of aerospace, in particular to a high-precision ground test system suitable for verifying autonomous navigation of a multi-vision system.
Background
With the continuous development of space technology, the demand of countries in the world for spacecrafts is increasing day by day. However, the traditional space mission has the characteristics of high cost and high risk, and the serious fault of the spacecraft in orbit can not be supported by the ground, and only scrapping can be selected, thereby causing great loss. In order to prolong the service life of the in-orbit spacecraft and ensure the safety of the in-orbit spacecraft, in recent years, high and new technologies such as in-orbit assembly, maintenance, repair, fuel filling, function replacement and upgrading and the like are paid more and more attention and research, and currently, the development of in-orbit service technologies and the construction of in-orbit service systems are incorporated into the core target of the development and planning of the local space technology in all aerospace strong countries.
The primary premise of on-orbit service technology is how close to the target spacecraft is. The technologies of visual image recognition processing, autonomous navigation, autonomous attitude and orbit control and the like are indispensable. The direct flight test has high cost and great risk, and ground experiments are needed to support verification in order to improve the reliability of the on-orbit service task. In order to verify autonomous navigation, attitude control and approaching technologies at a very short distance (10m-0.5m), a ground experimental system simulating the approaching process of a satellite and a target spacecraft in a real space environment needs to be constructed.
At present, most of relevant researches on satellite autonomous navigation are limited to a satellite orbit and a relative attitude determination part, and researches on approaching a target spacecraft by a satellite through autonomous navigation are lacked. Only similar research contents are compared here. An optical imaging autonomous navigation semi-physical simulation test system for a deep space exploration approaching process is designed in Chinese patent CN102879014A, autonomous navigation experiment verification of optical imaging is carried out on a deep space target asteroid, but the distance between the autonomous navigation system and a target is very far, the optical imaging autonomous navigation position error in the deep space exploration approaching process is 10.633km, the speed error is 0.34m/s, and the optical imaging autonomous navigation semi-physical simulation test system is not suitable for a satellite approaching spacecraft. In chinese patent CN105737847A, a closed-loop autonomous navigation test system is provided, but in the system, a radar target simulator is used to generate microwave signals for target detection, and a photoelectric target simulator generates a parallel light source to perform simulation experiments, which is far from the situation under actual conditions. In summary, the prior art has no way to provide a measurement means and corresponding measurement data when the short-range satellite autonomous navigation approaches to a target in a real environment, and the related navigation accuracy is also insufficient.
Disclosure of Invention
The invention aims to provide a high-precision ground test system suitable for verifying autonomous navigation of a multi-vision system, and aims to solve the problem that the prior art cannot provide a measuring means and corresponding measuring data when a short-range satellite autonomous navigation approaches a target in a real environment.
In order to solve the above technical problem, the present invention provides a high-precision ground test system suitable for verifying autonomous navigation of a multi-vision system, comprising:
the load driving device is configured to drive the load observation system to move according to the first action command;
the target driving device is configured to drive the target model to move according to the second action instruction;
an environment simulation system configured to provide a simulated environment of a space background;
the load observation system is configured to observe the target model to obtain observation data;
a control computer configured to perform the following actions:
substituting the observation data into an autonomous navigation algorithm to generate AI mobile data;
sending a first action command to a load driving device, and generating reference data of a load observation system according to the first action command;
sending a second action instruction to the target driving device, and generating reference data of the target model according to the second action instruction;
calculating the precision of the autonomous navigation algorithm according to the reference data of the load observation system, the reference data of the target model and the AI mobile data;
the movement data is obtained by calibrating the guide rail return distance and the actual distance, wherein the actual distance is calibrated by measuring with a higher precision distance meter.
Optionally, in the high-precision ground testing system adapted to verify autonomous navigation of the multi-vision system, the load driving device includes a load turntable, a first load track and a second load track, where:
the first load track and the second load track vertically intersect;
the load turret is movable along a first load track and a second load track;
the target driving device comprises a target star rotating table, the target model is installed on the target star rotating table, and the target star rotating table is arranged at the intersection of the first load track and the second load track;
the load observation system comprises a laser radar, an infrared camera, a middle-focus camera, a binocular camera and a satellite AI computer.
Optionally, in the high-precision ground test system adapted to verify autonomous navigation of the multi-vision system, the characteristics of the first load track and the second load track include:
the material is made of a molded high-strength aluminum alloy and an optical axis high-precision corrosion-resistant material with the rail width of 8 mm;
is a double-track double-shaft core steel roller type guide rail with a track gauge of 380 mm;
anodizing the surfaces of the first load rail and the second load rail;
manufacturing a rack by adopting a high-precision gear and rack driving transmission structure, a 1.5-die hobbing process and a precision 8-level linear cutting process;
the characteristics of the load driving apparatus include:
a chrome-plated shaft core is combined with a high-temperature treatment pulley, and the pulley is uniformly distributed on a heavy-load cross beam and a base;
the motor of the 86 full-closed-loop high-precision stepping speed-reducing encoder is driven by a space vector current control algorithm and a vector smoothing filter algorithm based on a feedback encoder.
Optionally, in the high-precision ground test system suitable for verifying the autonomous navigation of the multi-vision system, the driver adopts a DSP chip and an application vector type closed-loop control algorithm, has overcurrent protection, overvoltage protection, undervoltage protection, and short-circuit protection functions, and feeds back related motion data in real time;
the control computer comprises a drive control chip system, the drive control chip system adopts wide voltage power supply and comprises an industrial standard chip with an IC radiating fin, the drive control chip system has the functions of large current conduction and subdivision adjustment, and the drive control chip system supports data return;
the load driving device and the target driving device adopt a high-precision worm gear and worm gear double-step motor transmission and control system, and are made of aluminum alloy materials;
the length of the first load track is 12 meters, the length of the second load track is 3 meters, and the sliding error of the first load track and the second load track is 1 mm.
Optionally, in the high-precision ground test system for verifying autonomous navigation of a multi-vision system, the environment simulation system includes:
a closed space configured to accommodate the load driving apparatus, the target driving apparatus, the load observing system, and the target model, and having a light absorbing material on an inner wall;
the projector is configured to show a real space environment background picture in a projection area, and one side wall of the closed space close to the target model is the projection area;
a solar analog light array configured to include a plurality of light sources disposed at a plurality of places in an enclosed space;
the whole closed space has no external light source, and is completely dark under the condition of not opening the solar simulation lamp array, and the load driving device, the target driving device and the load observation system are subjected to all blackening treatment.
The invention also provides a test method of the high-precision ground test system suitable for verifying the autonomous navigation of the multi-vision system, which comprises the following steps:
a satellite AI computer, an infrared camera, a laser radar, a middle-focus camera and a binocular camera are arranged on the load turntable;
connecting the laser radar, the infrared camera, the middle-focus camera and the binocular camera with a satellite AI computer;
connecting the satellite AI computer, the target satellite rotary table, the load rotary table, the first load track and the second load track with the control computer through control cables;
enabling the power cable and the control cable to enter a control room through the towline system;
turning on a solar simulation lamp array at a selected angle to simulate illumination conditions;
setting the moving speed, direction, rotating direction, angle and angular speed of the load turntable in a control computer, so that the load turntable automatically moves and rotates through a track;
the load rotary table returns the current speed and the rotation angle to the control computer in real time;
the infrared camera, the laser radar, the middle-focus camera and the binocular camera are used for acquiring images in real time and transmitting the image data to the satellite AI computer;
the satellite AI computer obtains a relative distance estimation value and a relative attitude angle estimation value of the target model through the calculation of an image recognition autonomous navigation algorithm and sends the relative distance estimation value and the relative attitude angle estimation value to the control computer;
and comparing the distance estimation value and the relative attitude angle estimation value with reference data to obtain navigation precision.
Optionally, in the test method of the high-precision ground test system for verifying the autonomous navigation of the multi-vision system, adjusting the relative posture and the relative position distance between the turn tables further includes:
ensuring that the target star rotating table can rotate horizontally and vertically, wherein the vertical rotation positive and negative angles are 89.5 degrees;
ensuring that the current angle and the current position of the load rotating table and/or the target rotating table are displayed on the interface of the satellite AI computer and/or the control computer;
enabling the satellite AI computer and/or the control computer to set the required glide distance, glide speed, rotation angle and rotation speed for direct control;
setting the load rotating platform and the target star rotating platform to be horizontal, setting the target star rotating platform and the load rotating platform to be opposite, setting the relative attitude to be 0 degree at the moment, sliding the load rotating platform to be adjacent to the target star rotating platform, and setting the relative distance to be 0 meter at the moment;
decomposing the relative posture required by the experiment into the rotation angle of the target star rotating platform and the rotation angle of the load rotating platform, and setting the required relative position distance as the load sliding distance;
and inputting the parameters on the software of the satellite AI computer and/or the control computer, executing the parameters, and checking the numerical values displayed on the interface after the load rotating platform and the target satellite rotating platform are stabilized.
Optionally, in the test method of the high-precision ground test system for verifying the autonomous navigation of the multi-vision system, the method further includes:
different lamp shades are additionally arranged on the solar simulation lamp array to realize the arrangement of parallel light with different brightness and range;
taking the angle included by the load track, the target model and the solar simulation lamp array as a light source angle, selecting a proper angle according to the requirement of an experimental task, and setting the solar simulation lamp array at a specified angle;
the distance between the solar simulation lamp array and the load rotary table, the distance between the target star rotary table and the track are more than two meters, so that the solar simulation lamp array is prevented from entering the camera view field of the load observation system.
Optionally, in the test method of the high-precision ground test system for verifying the autonomous navigation of the multi-vision system, the method further includes:
the method comprises the following steps: loading a target model onto a target satellite turntable, and loading a satellite AI computer, an infrared camera, a laser radar, a mid-focus camera and a binocular camera onto a load turntable;
step two: selecting an angle to turn on a solar simulation lamp array, and turning on a projector to show a real space environment background picture;
step three: turning on a power supply in the control room, waiting for self-checking and resetting of the load rotary table, the target satellite rotary table and the track;
sending a starting-up instruction of the satellite AI computer and each camera by using the control computer, waiting for the self-checking to pass, and starting to work by each camera at the moment to transmit image data to the satellite AI computer;
the satellite AI computer immediately returns the relative distance, the relative attitude angle and the relative speed of the load and the target model after calculating through an autonomous navigation algorithm;
step four: setting the rotation angle and the angular speed of a target star rotating platform, the rotation angle and the angular speed of a load rotating platform, the track running direction and the track running speed on a control computer through control software;
step five: and sending all starting operation instructions on the control computer, and comparing the actual rotation angle, the angular speed, the moving speed of the rotary table, the relative distance between the current position and the return of the satellite AI computer, the relative attitude angle and the relative speed displayed on the control computer to calculate the precision of the autonomous navigation algorithm.
Optionally, in the test method for verifying a high-precision ground test system for multi-vision system autonomous navigation, the calculating the precision of the autonomous navigation algorithm includes:
the relative error is replaced by: relative error is error/agreed truth value;
according to the appointed true value, adopting a measuring result of a measuring device with higher accuracy, and taking a distance value instantly returned by a slide rail control interface and a distance value instantly measured by a laser range finder as an appointed true value in a laboratory;
what is usually measured is the horizontal distance, i.e. the length of the two-point connecting line projected on a certain level;
the accuracy of the distance measurement is expressed in terms of relative accuracy, i.e. the ratio of the error of the distance measurement to the length is expressed in the numerator 1/n.
In the high-precision ground test system suitable for verifying the autonomous navigation of the multi-vision system, provided by the invention, the observation data is substituted into the autonomous navigation algorithm to generate AI mobile data, the reference data of the load observation system is generated according to the first action instruction of the load driving device, the reference data of the target model is generated according to the second action instruction of the target driving device, and the precision of the autonomous navigation algorithm is calculated according to the reference data of the load observation system, the reference data of the target model and the AI mobile data.
The invention overcomes the defects in the existing ground verification experiment technology and provides a high-precision ground system which is suitable for a satellite to perform autonomous navigation in a very short distance and approach a target spacecraft. The verification experiment of hardware based on the real space environment measurement process is realized, and the performance of the autonomous navigation system can be effectively verified in the process that the satellite approaches the extreme distance of the target spacecraft on the ground.
The invention provides a high-precision ground experimental system which is suitable for verifying that a satellite autonomously navigates in a very short distance by utilizing various detection means and approaches a target spacecraft, and compared with the prior art, the high-precision ground experimental system has the advantages that:
the test system carries out real-time navigation calculation by using the measurement data of the infrared camera, the laser radar, the intermediate focus camera and the binocular camera, and can effectively verify the performance of the multi-hand detection autonomous navigation system in the close range approaching process on the ground.
Compared with the simple mathematical simulation, the method provided by the invention completely uses real detection equipment and a satellite AI computer, and can more effectively verify the autonomous navigation algorithm.
The simulation test system utilizes the projector to project and simulate the space background, utilizes the solar simulation lamp array to simulate the change of the relation between the scene solar brightness and the incident angle, utilizes the change of the angle of the rotary table and the change of the motion of the guide rail to simulate the approaching motion and the attitude disturbance and change of the satellite, and is simple, convenient and easy to realize.
Drawings
FIG. 1 is a schematic diagram of a high-precision ground testing system suitable for verifying autonomous navigation of a multi-vision system in accordance with an embodiment of the present invention;
FIG. 2 is a schematic flow chart of a testing method of a high-precision ground testing system for verifying autonomous navigation of a multi-vision system according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of the distribution of hardware and cable connections of a high-precision ground test system suitable for verifying autonomous navigation of a multi-vision system in accordance with an embodiment of the present invention;
fig. 4 is a schematic interface diagram of various parameters displayed by the high-precision ground test system for verifying the autonomous navigation of the multi-vision system according to an embodiment of the present invention.
Detailed Description
The invention is further elucidated with reference to the drawings in conjunction with the detailed description.
It should be noted that the components in the figures may be exaggerated and not necessarily to scale for illustrative purposes. In the figures, identical or functionally identical components are provided with the same reference symbols.
In the present invention, "disposed on …", "disposed over …" and "disposed over …" do not exclude the presence of an intermediate therebetween, unless otherwise specified. Further, "disposed on or above …" merely indicates the relative positional relationship between two components, and may also be converted to "disposed below or below …" and vice versa in certain cases, such as after reversing the product direction.
In the present invention, the embodiments are only intended to illustrate the aspects of the present invention, and should not be construed as limiting.
In the present invention, the terms "a" and "an" do not exclude the presence of a plurality of elements, unless otherwise specified.
It is further noted herein that in embodiments of the present invention, only a portion of the components or assemblies may be shown for clarity and simplicity, but those of ordinary skill in the art will appreciate that, given the teachings of the present invention, required components or assemblies may be added as needed in a particular scenario. Furthermore, features from different embodiments of the invention may be combined with each other, unless otherwise indicated. For example, a feature of the second embodiment may be substituted for a corresponding or functionally equivalent or similar feature of the first embodiment, and the resulting embodiments are likewise within the scope of the disclosure or recitation of the present application.
It is also noted herein that, within the scope of the present invention, the terms "same", "equal", and the like do not mean that the two values are absolutely equal, but allow some reasonable error, that is, the terms also encompass "substantially the same", "substantially equal". By analogy, in the present invention, the terms "perpendicular", "parallel" and the like in the directions of the tables also cover the meanings of "substantially perpendicular", "substantially parallel".
The numbering of the steps of the methods of the present invention does not limit the order of execution of the steps of the methods. Unless specifically stated, the method steps may be performed in a different order.
The high-precision ground test system suitable for verifying the autonomous navigation of the multi-vision system, which is provided by the invention, is further described in detail with reference to the accompanying drawings and specific embodiments. The advantages and features of the present invention will become more apparent from the following description. It is to be noted that the drawings are in a very simplified form and are not to precise scale, which is merely for the purpose of facilitating and distinctly claiming the embodiments of the present invention.
The invention aims to provide a high-precision ground test system suitable for verifying autonomous navigation of a multi-vision system, and aims to solve the problem that the prior art cannot provide a measuring means and corresponding measuring data when a short-range satellite autonomous navigation approaches a target in a real environment.
In order to achieve the above object, the present invention provides a high-precision ground test system suitable for verifying autonomous navigation of a multi-vision system, comprising: the load driving device is configured to drive the load observation system to move according to the first action command; the target driving device is configured to drive the target model to move according to the second action instruction; an environment simulation system configured to provide a simulated environment of a space background; the load observation system is configured to observe the target model to obtain observation data; a control computer configured to perform the following actions: substituting the observation data into an autonomous navigation algorithm to generate AI mobile data; sending a first action command to a load driving device, and generating reference data of a load observation system according to the first action command; sending a second action instruction to the target driving device, and generating reference data of the target model according to the second action instruction; calculating the precision of the autonomous navigation algorithm according to the reference data of the load observation system, the reference data of the target model and the AI mobile data; the movement data is obtained by calibrating the guide rail return distance and the actual distance, wherein the actual distance is calibrated by measuring with a higher precision distance meter.
The invention belongs to the field of satellite autonomous navigation, and particularly relates to a high-precision ground experiment system which is suitable for verifying that a satellite autonomously navigates at a very short distance by utilizing various detection means and approaches a target spacecraft.
The invention aims to overcome the defects in the existing ground verification experiment technology and provide a high-precision ground system which is suitable for a satellite to perform autonomous navigation in a very short distance and approach a target spacecraft. The verification experiment of hardware based on the real space environment measurement process is realized, and the performance of the autonomous navigation system can be effectively verified in the process that the satellite approaches the extreme distance of the target spacecraft on the ground.
The technical scheme adopted by the invention for solving the technical problem comprises the following steps: as shown in fig. 1, a high-precision ground experimental system for a satellite to autonomously navigate at a very close distance and approach a target spacecraft by using multiple detection means includes a target satellite turntable, a load turntable (the combination of the target satellite turntable and the load turntable can be simply referred to as a turntable), two load orbits (a first load orbit and a second load orbit, the combination of which can be simply referred to as a load orbit or an orbit), a solar analog lamp array (which can be simply referred to as a lamp array), a projector, an infrared camera, a laser radar, a mid-focus camera, a binocular camera, a satellite AI computer (which can be simply referred to as an AI computer), a target satellite model, and a control computer (a control computer). The whole experiment field has no external light, is completely dark under the condition of not opening a lamp array, and is completely blackened on a rotary table framework which possibly reflects light. A target star model (a target model or a target star) is installed on the target star rotating platform; a satellite AI computer, an infrared camera, a laser radar, a middle-focus camera and a binocular camera are installed on the load turntable; as shown in fig. 3, the camera devices are all connected to a satellite AI computer; the AI computer, the target satellite rotary table, the load rotary table and the track are connected with the control computer through control cables; the power supply cable and the control cable enter a control room (control room) through a towline system.
In one embodiment of the invention, the sun lamp array with the selected angle is turned on to simulate the illumination condition, and the moving speed, the moving direction, the rotating angle and the angular speed of the load turntable are set in the control computer, so that the load turntable automatically moves and rotates through the track. And the load rotary table returns the current speed and the rotation angle to the control computer in real time. The infrared camera, the laser radar, the middle-focus camera and the binocular camera are used for acquiring images in real time and transmitting the image data into the satellite AI computer. And the satellite AI computer calculates a relative distance estimation value and a relative attitude angle estimation value with the target satellite through an image recognition autonomous navigation algorithm, sends the relative distance estimation value and the relative attitude angle estimation value to the control computer, and finally compares the relative distance estimation value with reference data to obtain navigation precision.
The flow of the test method of the present invention is shown in FIG. 2, and comprises:
the method comprises the following steps: and loading the target satellite model onto a target satellite rotary table, and loading a satellite AI computer, an infrared camera, a laser radar, a middle-focus camera and a binocular camera onto a load rotary table.
Step two: and selecting an angle to turn on the solar simulation lamp array, and turning on the projector to show the real space environment background picture.
Step three: and turning on a power supply in the control room, and waiting for the self-checking and resetting of the turntable and the track. And sending a starting instruction of the AI computer and each camera by using the control computer, waiting for the self-checking to pass, wherein each camera starts to work at the moment and transmits image data to the AI computer, and the AI computer immediately returns the relative distance, the relative attitude angle and the relative speed of the load and the target satellite after calculating by using the autonomous navigation algorithm.
Step four: the rotation angle and the angular speed of the target star rotating platform, the rotation angle and the angular speed of the load rotating platform, the track running direction and the track running speed are set on a control computer through control software.
Step five: and sending all starting operation instructions on the control computer, and comparing the actual rotation angle, the angular speed and the moving speed of the rotary table displayed on the control computer, the relative distance between the current position and the return of the AI computer, the relative attitude angle and the relative speed to calculate the accuracy of autonomous navigation.
The invention provides a high-precision ground experimental system which is suitable for verifying that a satellite autonomously navigates in a very short distance by utilizing various detection means and approaches a target spacecraft, and has the advantages compared with the prior art:
the test system carries out real-time navigation calculation by using the measurement data of the infrared camera, the laser radar, the intermediate focus camera and the binocular camera, and can effectively verify the performance of the multi-hand detection autonomous navigation system in the close range approaching process on the ground.
Compared with the simple mathematical simulation, the method provided by the invention completely uses real detection equipment and a satellite AI computer, and can more effectively verify the autonomous navigation algorithm.
The simulation test system utilizes the projector to project and simulate the space background, utilizes the solar simulation lamp array to simulate the change of the relation between the scene solar brightness and the incident angle, utilizes the change of the angle of the rotary table and the change of the motion of the guide rail to simulate the approaching motion and the attitude disturbance and change of the satellite, and is simple, convenient and easy to realize.
In one embodiment of the invention, the arrangement of materials and structure of the track comprises: the load track system is made of a molded high-strength aluminum alloy material, is a double-track double-shaft-core steel roller type guide rail, has a track gauge of 380mm and an optical axis of 8mm, is high-precision and corrosion-resistant, and the surface of the load track is subjected to anodic oxidation treatment. The high-strength rigidity of the track is realized, the chrome-plated shaft core and the pulleys subjected to high-temperature treatment are uniformly distributed on the heavy-load cross beam and the base, and even if sufficient pressure is applied, good smoothness can be kept, so that the accurate and stable operation of the system is ensured. The load rail adopts a high-precision gear and rack driving transmission structure, 1.5 moulds and a delicate hobbing process, the precision can reach 8 grades, the transmission is stable, the bearing capacity is large, the load rail is stable and durable, and the rack is manufactured by adopting a high-precision linear cutting process.
In one embodiment of the invention, the rail car adopts a 86 full-closed loop high-precision stepping speed-reducing encoder motor, the operation is stable and accurate, a space vector current control algorithm and a vector smoothing filtering technology based on a feedback encoder have excellent resistance effect on low-frequency resonance, and an advanced servo control technology provides large torque output, so that the system has high torque with extremely high dynamic response. The driver adopts a DSP chip and applies a vector type closed-loop control technology, has the protection functions of overcurrent, overvoltage, undervoltage, short circuit and the like, and can feed back related motion data in real time. The drive control chip system specially developed for the system supplies power for wide voltage, an IC radiating fin is in an industrial standard, high current is conductive, subdivision is adjustable, various parameters are set visually and conveniently, a special control protocol is strong in control function, and data return is supported. And each turntable adopts a high-precision worm gear and worm gear double-step motor transmission and control system, an aluminum alloy module performs double-axial high-precision motion, the bearing capacity is large, and the horizontal center bears 50 kilograms at most. The 12-meter orbit and the 3-meter orbit are distributed at 90 degrees, the intersection point is a satellite turntable, and the sliding error is 1 mm.
In one embodiment of the invention, adjusting the relative attitude and relative position between the turrets during the experiment comprises: the satellite turret may be rotated horizontally and vertically, with the vertical rotation being plus or minus approximately 90 ° (89.5 °). The satellite turntable, the rail car and the shooting turntable of the system can be controlled in a centralized and unified manner, the software control interface is shown in figure 4, and the current angle and the position of each turntable are displayed on the interface in real time. The required sliding distance, sliding speed, rotating angle and rotating speed can be accurately input and set to be intuitively controlled. In the experiment, the rotary tables are all set to be horizontal, the target star rotary table is opposite to the load rotary table, the relative attitude is determined to be 0 degree at the moment, then the load rotary table is slid to be adjacent to the target star rotary table, and the relative distance is determined to be 0 meter at the moment. And then, decomposing the relative posture required by the experiment into the rotating angle of the target star rotating platform and the rotating angle of the load rotating platform, and setting the required relative position distance as the load sliding distance. And inputting and executing on software, and checking the numerical value displayed on the interface after the turntable is stabilized.
In one embodiment of the invention, the arrangement of light sources comprises: the lamp array can be additionally provided with different lamp covers to realize the arrangement of parallel light with different brightness and ranges. The angle clamped by the load track, the target star and the lamp array is used as a light source angle, a proper angle is selected according to the requirement of an experimental task, the lamp array is arranged at a specified angle, the distance between the lamp array and the rotary table and the distance between the lamp array and the track are ensured to be more than two meters, and the lamp array is prevented from entering the field of vision of the camera.
In one embodiment of the invention, the AI computer operating principles include: and (4) calculating the precision of the measurement result, wherein the relative error is equal to error/true value. Since the true value is not known, the relative error is generally replaced by: relative error is the error/true value of the contract. The agreed true value generally adopts the measurement result of a measuring device with higher accuracy, and the distance value instantly returned by the slide rail control interface and the distance value instantly measured by using the laser range finder in the laboratory are agreed true values. What is usually measured is the horizontal distance, i.e. the length of the two-point connection projected on a level surface. The accuracy of the distance measurement is expressed in terms of relative accuracy, i.e. the ratio of the error of the distance measurement to the length is expressed in the numerator 1/n.
In summary, the above embodiments have described in detail different configurations of the high-precision ground test system suitable for verifying the autonomous navigation of the multi-vision system, but it is understood that the present invention includes, but is not limited to, the configurations listed in the above embodiments, and any modifications based on the configurations provided in the above embodiments are within the scope of the present invention. One skilled in the art can take the contents of the above embodiments to take a counter-measure.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. For the system disclosed by the embodiment, the description is relatively simple because the system corresponds to the method disclosed by the embodiment, and the relevant points can be referred to the method part for description.
The above description is only for the purpose of describing the preferred embodiments of the present invention, and is not intended to limit the scope of the present invention, and any variations and modifications made by those skilled in the art based on the above disclosure are within the scope of the appended claims.
Claims (10)
1. A high-precision ground testing system suitable for verifying multi-vision system autonomous navigation, comprising:
the load driving device is configured to drive the load observation system to move according to the first action command;
the target driving device is configured to drive the target model to move according to the second action instruction;
an environment simulation system configured to provide a simulated environment of a space background;
the load observation system is configured to observe the target model to obtain observation data;
a control computer configured to perform the following actions:
substituting the observation data into an autonomous navigation algorithm to generate AI mobile data;
sending a first action command to a load driving device, and generating reference data of a load observation system according to the first action command;
sending a second action instruction to the target driving device, and generating reference data of the target model according to the second action instruction;
calculating the precision of the autonomous navigation algorithm according to the reference data of the load observation system, the reference data of the target model and the AI mobile data;
the movement data is obtained by calibrating the guide rail return distance and the actual distance, wherein the actual distance is calibrated by measuring with a higher precision distance meter.
2. The high precision ground testing system suitable for use in validating autonomous navigation of a multi-vision system as defined in claim 1, wherein the load driving means comprises a load turntable, a first load track and a second load track, wherein:
the first load track and the second load track vertically intersect;
the load turret is movable along a first load track and a second load track;
the target driving device comprises a target star rotating table, the target model is installed on the target star rotating table, and the target star rotating table is arranged at the intersection of the first load track and the second load track;
the load observation system comprises a laser radar, an infrared camera, a middle-focus camera, a binocular camera and a satellite AI computer.
3. A high precision ground test system suitable for validating autonomous navigation of a multi-vision system as defined in claim 2, wherein the characteristics of the first and second load trajectories include:
the material is made of a molded high-strength aluminum alloy and an optical axis high-precision corrosion-resistant material with the rail width of 8 mm;
is a double-track double-shaft core steel roller type guide rail with a track gauge of 380 mm;
anodizing the surfaces of the first load rail and the second load rail;
manufacturing a rack by adopting a high-precision gear and rack driving transmission structure, a 1.5-die hobbing process and a precision 8-level linear cutting process;
the characteristics of the load driving apparatus include:
a chrome-plated shaft core is combined with a high-temperature treatment pulley, and the pulley is uniformly distributed on a heavy-load cross beam and a base;
the motor of the 86 full-closed-loop high-precision stepping speed-reducing encoder is driven by a space vector current control algorithm and a vector smoothing filter algorithm based on a feedback encoder.
4. The high-precision ground test system suitable for verifying the autonomous navigation of the multi-vision system as claimed in claim 3, wherein the driver adopts a DSP chip and applies a vector type closed-loop control algorithm, has the functions of overcurrent protection, overvoltage protection, undervoltage protection and short-circuit protection, and feeds back related motion data in real time;
the control computer comprises a drive control chip system, the drive control chip system adopts wide voltage power supply and comprises an industrial standard chip with an IC radiating fin, the drive control chip system has the functions of large current conduction and subdivision adjustment, and the drive control chip system supports data return;
the load driving device and the target driving device adopt a high-precision worm gear and worm gear double-step motor transmission and control system, and are made of aluminum alloy materials;
the length of the first load track is 12 meters, the length of the second load track is 3 meters, and the sliding error of the first load track and the second load track is 1 mm.
5. A high precision ground test system suitable for validating autonomous navigation of a multi-vision system as defined in claim 2, wherein said environment simulation system comprises:
a closed space configured to accommodate the load driving apparatus, the target driving apparatus, the load observing system, and the target model, and having a light absorbing material on an inner wall;
the projector is configured to show a real space environment background picture in a projection area, and one side wall of the closed space close to the target model is the projection area;
a solar analog light array configured to include a plurality of light sources disposed at a plurality of places in an enclosed space;
the whole closed space has no external light source, and is completely dark under the condition of not opening the solar simulation lamp array, and the load driving device, the target driving device and the load observation system are subjected to all blackening treatment.
6. A method of testing a high precision ground testing system adapted to verify autonomous navigation of a multi-vision system as defined in claim 5, comprising:
a satellite AI computer, an infrared camera, a laser radar, a middle-focus camera and a binocular camera are arranged on the load turntable;
connecting the laser radar, the infrared camera, the middle-focus camera and the binocular camera with a satellite AI computer;
connecting the satellite AI computer, the target satellite rotary table, the load rotary table, the first load track and the second load track with the control computer through control cables;
enabling the power cable and the control cable to enter a control room through the towline system;
turning on a solar simulation lamp array at a selected angle to simulate illumination conditions;
setting the moving speed, direction, rotating direction, angle and angular speed of the load turntable in a control computer, so that the load turntable automatically moves and rotates through a track;
the load rotary table returns the current speed and the rotation angle to the control computer in real time;
the infrared camera, the laser radar, the middle-focus camera and the binocular camera are used for acquiring images in real time and transmitting the image data to the satellite AI computer;
the satellite AI computer obtains a relative distance estimation value and a relative attitude angle estimation value of the target model through the calculation of an image recognition autonomous navigation algorithm and sends the relative distance estimation value and the relative attitude angle estimation value to the control computer;
and comparing the distance estimation value and the relative attitude angle estimation value with reference data to obtain navigation precision.
7. The method of testing a high precision ground testing system suitable for validating autonomous navigation of a multi-vision system as defined in claim 6 wherein adjusting the relative attitude and relative position distance between the turrets further comprises:
ensuring that the target star rotating table can rotate horizontally and vertically, wherein the vertical rotation positive and negative angles are 89.5 degrees;
ensuring that the current angle and the current position of the load rotating table and/or the target rotating table are displayed on the interface of the satellite AI computer and/or the control computer;
enabling the satellite AI computer and/or the control computer to set the required glide distance, glide speed, rotation angle and rotation speed for direct control;
setting the load rotating platform and the target star rotating platform to be horizontal, setting the target star rotating platform and the load rotating platform to be opposite, setting the relative attitude to be 0 degree at the moment, sliding the load rotating platform to be adjacent to the target star rotating platform, and setting the relative distance to be 0 meter at the moment;
decomposing the relative posture required by the experiment into the rotation angle of the target star rotating platform and the rotation angle of the load rotating platform, and setting the required relative position distance as the load sliding distance;
and inputting the parameters on the software of the satellite AI computer and/or the control computer, executing the parameters, and checking the numerical values displayed on the interface after the load rotating platform and the target satellite rotating platform are stabilized.
8. The method of testing a high-precision ground testing system adapted for validating autonomous navigation of a multi-vision system as defined in claim 7, further comprising:
different lamp shades are additionally arranged on the solar simulation lamp array to realize the arrangement of parallel light with different brightness and range;
taking the angle included by the load track, the target model and the solar simulation lamp array as a light source angle, selecting a proper angle according to the requirement of an experimental task, and setting the solar simulation lamp array at a specified angle;
the distance between the solar simulation lamp array and the load rotary table, the distance between the target star rotary table and the track are more than two meters, so that the solar simulation lamp array is prevented from entering the camera view field of the load observation system.
9. The method of testing a high-precision ground testing system adapted for validating autonomous navigation of a multi-vision system as defined in claim 8, further comprising:
the method comprises the following steps: loading a target model onto a target satellite turntable, and loading a satellite AI computer, an infrared camera, a laser radar, a mid-focus camera and a binocular camera onto a load turntable;
step two: selecting an angle to turn on a solar simulation lamp array, and turning on a projector to show a real space environment background picture;
step three: turning on a power supply in the control room, waiting for self-checking and resetting of the load rotary table, the target satellite rotary table and the track;
sending a starting-up instruction of the satellite AI computer and each camera by using the control computer, waiting for the self-checking to pass, and starting to work by each camera at the moment to transmit image data to the satellite AI computer;
the satellite AI computer immediately returns the relative distance, the relative attitude angle and the relative speed of the load and the target model after calculating through an autonomous navigation algorithm;
step four: setting the rotation angle and the angular speed of a target star rotating platform, the rotation angle and the angular speed of a load rotating platform, the track running direction and the track running speed on a control computer through control software;
step five: and sending all starting operation instructions on the control computer, and comparing the actual rotation angle, the angular speed, the moving speed of the rotary table, the relative distance between the current position and the return of the satellite AI computer, the relative attitude angle and the relative speed displayed on the control computer to calculate the precision of the autonomous navigation algorithm.
10. The method of testing a high-precision ground test system adapted for validating autonomous navigation of a multi-vision system as defined in claim 9, wherein said calculating the precision of the autonomous navigation algorithm comprises:
the relative error is replaced by: relative error is error/agreed truth value;
according to the appointed true value, adopting a measuring result of a measuring device with higher accuracy, and taking a distance value instantly returned by a slide rail control interface and a distance value instantly measured by a laser range finder as an appointed true value in a laboratory;
what is usually measured is the horizontal distance, i.e. the length of the two-point connecting line projected on a certain level;
the accuracy of the distance measurement is expressed in terms of relative accuracy, i.e. the ratio of the error of the distance measurement to the length is expressed in the numerator 1/n.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210039334.4A CN114396948A (en) | 2022-01-13 | 2022-01-13 | High-precision ground test system suitable for verifying autonomous navigation of multi-vision system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210039334.4A CN114396948A (en) | 2022-01-13 | 2022-01-13 | High-precision ground test system suitable for verifying autonomous navigation of multi-vision system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114396948A true CN114396948A (en) | 2022-04-26 |
Family
ID=81231111
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210039334.4A Pending CN114396948A (en) | 2022-01-13 | 2022-01-13 | High-precision ground test system suitable for verifying autonomous navigation of multi-vision system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114396948A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116105694A (en) * | 2022-12-09 | 2023-05-12 | 中国科学院上海技术物理研究所 | Multi-means optical load composite space target three-dimensional vision measurement method |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2001049565A1 (en) * | 2000-01-04 | 2001-07-12 | The Johns Hopkins University | Method and apparatus for autonomous solar navigation |
| CN1847791A (en) * | 2006-05-12 | 2006-10-18 | 哈尔滨工业大学 | Verification system for fast autonomous deep-space optical navigation control prototype |
| CN102879014A (en) * | 2012-10-24 | 2013-01-16 | 北京控制工程研究所 | Optical imaging autonomous navigation semi-physical simulation testing system for deep space exploration proximity process |
| CN104443450A (en) * | 2014-11-03 | 2015-03-25 | 上海卫星工程研究所 | Ground verification system and method based on microsatellite navigation system |
| CN105588581A (en) * | 2015-12-16 | 2016-05-18 | 南京航空航天大学 | On-orbit service relative navigation experiment platform and work method |
| CN105737847A (en) * | 2014-12-09 | 2016-07-06 | 上海新跃仪表厂 | Test system of closed-loop autonomous navigation under non-cooperative target conditions |
| CN109677637A (en) * | 2019-02-22 | 2019-04-26 | 北京空间技术研制试验中心 | Space non-cooperative target based on optics angle measurement camera tracks pointing method |
| CN110861791A (en) * | 2019-11-07 | 2020-03-06 | 上海航天控制技术研究所 | Rotating target super-short-range relative navigation ground closed-loop test method |
| CN111947686A (en) * | 2020-08-05 | 2020-11-17 | 南京理工大学 | Ground semi-physical simulation system and method for remote angle-only relative navigation |
-
2022
- 2022-01-13 CN CN202210039334.4A patent/CN114396948A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2001049565A1 (en) * | 2000-01-04 | 2001-07-12 | The Johns Hopkins University | Method and apparatus for autonomous solar navigation |
| CN1847791A (en) * | 2006-05-12 | 2006-10-18 | 哈尔滨工业大学 | Verification system for fast autonomous deep-space optical navigation control prototype |
| CN102879014A (en) * | 2012-10-24 | 2013-01-16 | 北京控制工程研究所 | Optical imaging autonomous navigation semi-physical simulation testing system for deep space exploration proximity process |
| CN104443450A (en) * | 2014-11-03 | 2015-03-25 | 上海卫星工程研究所 | Ground verification system and method based on microsatellite navigation system |
| CN105737847A (en) * | 2014-12-09 | 2016-07-06 | 上海新跃仪表厂 | Test system of closed-loop autonomous navigation under non-cooperative target conditions |
| CN105588581A (en) * | 2015-12-16 | 2016-05-18 | 南京航空航天大学 | On-orbit service relative navigation experiment platform and work method |
| CN109677637A (en) * | 2019-02-22 | 2019-04-26 | 北京空间技术研制试验中心 | Space non-cooperative target based on optics angle measurement camera tracks pointing method |
| CN110861791A (en) * | 2019-11-07 | 2020-03-06 | 上海航天控制技术研究所 | Rotating target super-short-range relative navigation ground closed-loop test method |
| CN111947686A (en) * | 2020-08-05 | 2020-11-17 | 南京理工大学 | Ground semi-physical simulation system and method for remote angle-only relative navigation |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116105694A (en) * | 2022-12-09 | 2023-05-12 | 中国科学院上海技术物理研究所 | Multi-means optical load composite space target three-dimensional vision measurement method |
| CN116105694B (en) * | 2022-12-09 | 2024-03-12 | 中国科学院上海技术物理研究所 | Multi-means optical load composite space target three-dimensional vision measurement method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| RU2706448C2 (en) | Automated dynamic production systems and corresponding methods | |
| CN107020633A (en) | Absolute machine people's assisted location method | |
| CN111679592B (en) | Spacecraft pursuit and escape game closed-loop semi-physical simulation system and method | |
| CN106501783A (en) | A kind of spacecrafts rendezvous microwave radar angle measurement performance system error calibration system and method | |
| CN110361829B (en) | Telescope pointing error correction method and telescope | |
| CN102789240B (en) | Device and method for simulating solar illumination with autoregulative azimuth angle | |
| CN104792347B (en) | Indoor simulation method for space target optical characteristic actual measurement conditions | |
| CN102699733A (en) | Method and device for measuring movement locus of automatic tool changing mechanical arm | |
| CN112683112B (en) | Optical platform and radar co-frame turntable system | |
| CN114396948A (en) | High-precision ground test system suitable for verifying autonomous navigation of multi-vision system | |
| CN110285816A (en) | A kind of moonlet on-board equipment high-precision attitude measuring system and method | |
| CN108519217A (en) | A kind of adjustable infrared test system and method for multiple target visual field | |
| US7355724B2 (en) | Three-dimensional measurement system | |
| CN212556849U (en) | High-precision double-shaft simulation turntable with no shielding of clearance of pitching shaft | |
| CN107064897B (en) | A kind of vehicle-mounted scanning frame control system of RCS test | |
| Krüger et al. | TRON-hardware-in-the-loop test facility for lunar descent and landing optical navigation | |
| CN102431485B (en) | Vehicle-mounted non-contact three-dimensional automatic human body measuring system | |
| Denis et al. | Multi-Application Solar Telescope: assembly, integration, and testing | |
| CN113670563A (en) | Four-degree-of-freedom movement measurement device, control system and method for PIV system | |
| Nudehi et al. | Heliostat attitude control strategy in the solar energy research facility of valparaiso university | |
| CN209927416U (en) | Single-camera heliostat mirror surface shape quality detection system | |
| CN208705003U (en) | A kind of adjustable infrared test system of multiple target visual field | |
| CN102419160A (en) | Comparison method based comprehensive on-line test system for curved surface of reflector | |
| CN110837222A (en) | Space target optical characteristic simulation platform and working method thereof | |
| Nieto et al. | Construction of a medium-sized Schwarzschild-Couder telescope as a candidate for the Cherenkov Telescope Array: development of the optical alignment system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |