CN114623833B - Space pointing measuring instrument visual field calibration system and method - Google Patents
Space pointing measuring instrument visual field calibration system and method Download PDFInfo
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- CN114623833B CN114623833B CN202210106547.4A CN202210106547A CN114623833B CN 114623833 B CN114623833 B CN 114623833B CN 202210106547 A CN202210106547 A CN 202210106547A CN 114623833 B CN114623833 B CN 114623833B
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- 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
- G01C21/24—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for cosmonautical navigation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C1/00—Measuring angles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
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Abstract
The invention discloses a space pointing measuring instrument visual field calibration system and a method, wherein the calibration system comprises the following steps: the device comprises a vacuum tank, a vibration isolation platform, a single star simulator, a two-dimensional turntable, a space pointing measuring instrument, a laser interference goniometer, two-dimensional turntable control equipment and a control computer; the single-star simulator, the two-dimensional turntable and the laser interference goniometer are sequentially arranged on the vibration isolation platform and are arranged in the vacuum tank; the space pointing measuring instrument is arranged on the two-dimensional turntable, and the two-dimensional turntable control equipment is connected with the two-dimensional turntable control equipment. According to the invention, the laser interference goniometer is arranged behind the two-dimensional turntable simulating the direction change, and synchronous signals are sent to the space direction measuring instrument and the laser interference goniometer, so that synchronous execution of star point diagram acquisition and turntable angle measurement is realized, high-precision star point centroid position and theoretical direction are provided for calibration, high-precision field calibration of the space direction measuring instrument is realized, and the method is suitable for practical engineering application.
Description
Technical Field
The invention belongs to the technical field of field error calibration, and particularly relates to a field calibration system and method for a space pointing measuring instrument.
Background
The space pointing measuring instrument is a key component in a spacecraft attitude determination system and is widely applied to the fields of aviation, aerospace, navigation, weapons and the like. The basic working principle is as follows: and shooting a star map by a space directional measuring instrument, extracting star points, and then identifying and matching with a navigation star table, so as to calculate the attitude of the spacecraft.
Along with the higher and higher requirements of space tasks on the positioning precision of the spacecraft, the attitude measurement precision of the spacecraft overall system on the space pointing measuring instrument is also higher and higher, and the higher index requirements are also provided for the calibration precision of the pointing measuring instrument.
In the past, the calibration of a pointing measuring instrument mostly adopts a calibration system with a single star simulator and a turntable in cooperation, the turntable is rotated to enable star points to be imaged on different image surface positions of a detector, a pointing vector is calculated by using the rotating angle value of the turntable as a reference vector of the corresponding imaged star points, and the reference vector and the star point coordinates are utilized to calibrate the field of view. The conventional method can meet the requirement of the calibration precision of the angle second or above, but cannot reach the sub-angle second or above, and one of the main problems is that when the reference vector is calculated by the rotation angle of the turntable, the reference vector error is larger due to the fact that the precision of the turntable is not high enough, and finally the calibration precision cannot be improved.
Disclosure of Invention
The technical solution of the invention is as follows: the system and the method for calibrating the field of view of the space pointing measuring instrument aim to realize high-precision field of view calibration of the space pointing measuring instrument.
In order to solve the technical problems, the invention discloses a field-of-view calibration system of a space-oriented measuring instrument, which comprises: the device comprises a vacuum tank, a vibration isolation platform, a single star simulator, a two-dimensional turntable, a space pointing measuring instrument, a laser interference goniometer, two-dimensional turntable control equipment and a control computer;
the single-star simulator, the two-dimensional turntable and the laser interference goniometer are sequentially arranged on the vibration isolation platform;
the space pointing measuring instrument is arranged on the two-dimensional turntable and is positioned between the two-dimensional turntable and the single-star simulator;
the two-dimensional turntable control device is connected with the two-dimensional turntable;
the control computer is respectively connected with the space direction measuring instrument, the laser interference goniometer and the two-dimensional turntable control equipment;
the vibration isolation platform, the single star simulator, the two-dimensional turntable, the space pointing measuring instrument and the laser interference goniometer are arranged in the vacuum tank.
In the above-described spatially directed surveying instrument field of view calibration system,
the two-dimensional turntable control device is used for controlling the two-dimensional turntable to move to a first position in the calibration track after starting calibration, and feeding back a movement in-place instruction to the control computer;
a control computer for transmitting two paths of synchronous signals with period of T: signal sync1 and signal sync2; after receiving the in-place movement instruction fed back by the two-dimensional turntable control equipment, sending a continuous exposure instruction to the space pointing measuring instrument; the continuous exposure instruction includes: exposure time t1 and exposure times n;
the space orientation measuring instrument is used for carrying out n times of exposure according to a period T and an exposure time T1 after receiving the signal sync1, acquiring n star point images, and recording a count value Y1 of the signal sync1 corresponding to the n star point images;
the laser interferometry goniometer is used for measuring the angle of the two-dimensional turntable at each moment of the signal sync2 after receiving the signal sync2 to obtain n turntable angles; and records a count value Y2 of the corresponding signal sync2;
the control computer is also used for calculating and obtaining the centroid coordinates of the current calibration grid point and the corresponding turntable angles according to the n star point images acquired by the space direction measuring instrument and the n turntable angles measured by the laser interference goniometer.
In the above-mentioned space-oriented measuring instrument visual field calibration system, when the control computer calculates the centroid coordinates and corresponding turntable angles of the current calibration grid point according to n star point images acquired by the space-oriented measuring instrument and n turntable angles measured by the laser interferometry goniometer, the control computer comprises:
receiving n star point diagrams acquired by a space pointing measuring instrument aiming at a first position and a count value Y1 of a signal sync 1; determining the centroid coordinates of n star point diagrams, calculating the mean value, and taking the calculated mean value of the centroid coordinates of n star point diagrams as the centroid coordinates of the current calibration grid point;
according to the count value Y1 of the signal sync1, n turntable angles of the count value Y2 of the signal sync2 at the same moment are searched, the average value is calculated, and the calculated average value of the n turntable angles is used as the turntable angle corresponding to the current calibration grid point.
In the above-mentioned space-oriented measuring instrument visual field calibration system, the control computer is further configured to:
calculating to obtain the barycenter coordinates of all the calibration grid points and the corresponding turntable angles;
and according to the calculated centroid coordinates of all the calibration grid points and the corresponding turntable angles, calculating to obtain a calibration coefficient by adopting a least square method, and completing the field-of-view calibration of the space-oriented measuring instrument.
In the above-mentioned space-oriented measuring instrument visual field calibration system, when the control computer calculates the calibration coefficient according to the calculated centroid coordinates of all calibration grid points and the corresponding turntable angles by using a least square method, the method comprises the following steps:
determining star point centroid position U: u= (U) i ,v i ) The method comprises the steps of carrying out a first treatment on the surface of the Wherein u is i And v i Respectively representing the abscissa and the ordinate of the centroid of the ith calibration grid point; i=1, 2,..n, N represents the total number of calibration grid points;
according to the turntable angle (p) i ,q i ) Determining vector vec of single star vector under turntable coordinate system i ：
Wherein p is i And q i Respectively representing the pitch angle and the yaw angle of the two-dimensional turntable corresponding to the ith calibration grid point;
according to vec i Obtaining the single star vector to point in spaceVector Vec under measuring instrument body coordinate system i ：
Wherein A represents the installation moment between the two-dimensional turntable and the star sensor; x is x i 、y i And z i Is vector Vec i Three-axis components of (a);
determining the theoretical orientation V: v= (x) i ,y i )；
Determining an expression of a calibration coefficient K:
K＝VU T inv(UU T )…(3)
and solving the formula (3) by adopting a least square method according to the calculated centroid coordinates of all the calibration grid points and the corresponding turntable angles to obtain the value of the calibration coefficient K.
In the above-described spatially directed surveying instrument field of view calibration system,
the direction of the emergent optical axis of the single-star simulator is opposite to the two-dimensional turntable, and the rotation center of the two-dimensional turntable is positioned on the emergent optical axis of the single-star simulator;
the target measuring mirror of the laser interferometry goniometer is fixed on the two-dimensional turntable and positioned at the rotation center of the two-dimensional turntable and is used for measuring the pitch angle and the yaw angle of the two-dimensional turntable;
the rolling azimuth angle of the space pointing measuring instrument and the two-dimensional turntable are as follows: when the two-dimensional turntable rotates uniaxially, the star point imaged on the image surface of the measuring instrument is horizontally or vertically moved in the space direction.
Correspondingly, the invention also discloses a method for calibrating the field of view of the space-oriented measuring instrument, which comprises the following steps:
step 1, installing a space pointing measuring instrument visual field calibration system according to the layout of the visual field calibration system;
step 2, vacuumizing the vacuum tank;
step 3, setting a calibration track of the two-dimensional turntable according to the imaging position of the star point on the image plane of the space pointing measuring instrument;
step 4, the control computer sends two paths of synchronous signals with the period of T: signal sync1 and signal sync2;
step 5, after calibration is started, controlling the two-dimensional turntable to move to a first position in a calibration track through a two-dimensional turntable control device, and feeding back a movement in-place instruction to a control computer;
step 6, after receiving the motion in-place instruction fed back by the two-dimensional turntable control device, the control computer sends a continuous exposure instruction to the space pointing measuring instrument; after receiving the signal sync1, the space pointing measuring instrument performs n times of exposure according to the period T and the exposure time T1, acquires n star point images, and records the count value Y1 of the signal sync1 corresponding to the n star point images;
step 7, after the laser interferometry goniometer receives the signal sync2, measuring the angle of the two-dimensional turntable at each moment of the signal sync2 to obtain n turntable angles; and records a count value Y2 of the corresponding signal sync2;
step 8, after completing the collection of the star point diagram in the step 6, the control computer sends an exposure completion instruction to the two-dimensional turntable control equipment; according to the n star point diagrams acquired in the step 6 and the n turntable angles measured in the step 7, calculating to obtain the centroid coordinates of the current calibration grid points and the corresponding turntable angles;
step 9, when the two-dimensional turntable control equipment receives an exposure completion instruction, controlling the two-dimensional turntable to move to the next position in the calibration track, repeating the steps 5-8, and calculating to obtain the centroid coordinates and the corresponding turntable angles of all calibration grid points;
and 10, calculating to obtain a calibration coefficient by adopting a least square method according to the calculated centroid coordinates of all the calibration grid points and the corresponding turntable angles, and finishing the field-of-view calibration of the space-oriented measuring instrument.
In the above-mentioned space-oriented measuring instrument visual field calibration method, according to the n star point diagrams acquired in step 6 and the n turntable angles measured in step 7, the centroid coordinates of the current calibration grid point and the corresponding turntable angles are calculated, including:
determining the centroid coordinates of the n star point images acquired in the step 6, calculating the mean value, and taking the calculated mean value of the centroid coordinates of the n star point images as the centroid coordinates of the current calibration grid point;
according to the count value Y1 of the signal sync1 corresponding to the n star point diagrams, n turntable angles of the count value Y2 of the signal sync2 at the same time are searched, the average value is calculated, and the calculated average value of the n turntable angles is used as the turntable angle corresponding to the current calibration grid point.
In the above-mentioned space-oriented measuring instrument visual field calibration method, according to the calculated centroid coordinates of all calibration grid points and the corresponding turntable angles, a least square method is adopted to calculate to obtain calibration coefficients, including:
determining star point centroid position U: u= (U) i ,v i ) The method comprises the steps of carrying out a first treatment on the surface of the Wherein u is i And v i Respectively representing the abscissa and the ordinate of the centroid of the ith calibration grid point; i=1, 2,..n, N represents the total number of calibration grid points;
according to the turntable angle (p) i ,q i ) Determining vector vec of single star vector under turntable coordinate system i ：
Wherein p is i And q i Respectively representing the pitch angle and the yaw angle of the two-dimensional turntable corresponding to the ith calibration grid point;
according to vec i Obtaining a vector Vec of a single star vector under a space pointing measuring instrument body coordinate system i ：
Wherein A represents the installation moment between the two-dimensional turntable and the star sensor; x is x i 、y i And z i Is vector Vec i Three-axis components of (a);
determining the theoretical orientation V: v= (x) i ,y i )；
Determining an expression of a calibration coefficient K:
K＝VU T inv(UU T )…(3)
and solving the formula (3) by adopting a least square method according to the calculated centroid coordinates of all the calibration grid points and the corresponding turntable angles to obtain the value of the calibration coefficient K.
In the above-mentioned calibration method of the field of view of the space-oriented measuring instrument, according to the imaging position of the star point on the image plane of the space-oriented measuring instrument, a calibration track of the two-dimensional turntable is set, including:
the two-dimensional turntable is rotated to enable star points to be imaged at different positions of the image plane of the space pointing measuring instrument respectively; wherein, if the star points are respectively imaged at the upper left and lower left positions of the image plane of the space-oriented measuring instrument, the pitch angles of the two-dimensional turntable are respectively marked as alpha 1 And alpha 2 The method comprises the steps of carrying out a first treatment on the surface of the If the star points are respectively imaged at the upper right position and the lower right position of the image plane of the space pointing measuring instrument, the yaw angles of the two-dimensional turntable are respectively recorded as beta 1 And beta 2 ；
Determining a pitch angle alpha of a two-dimensional turntable corresponding to each calibration grid point in turntable calibration track 1 +ζ×(α 2 -α 1 ) And yaw angle beta 1 +ξ×(β 2 -β 1 ) -1; where G represents the number of grid points, ζ represents the number of rows of grid points, and ζ represents the number of columns of grid points;
selecting a grid scanning mode according to the pitch angle and the yaw angle of the two-dimensional turntable corresponding to the calibration grid points, and setting the calibration track of the two-dimensional turntable; the grid scanning mode comprises the following steps: lateral scanning, longitudinal scanning, and random scanning.
The invention has the following advantages:
the invention discloses a system and a method for calibrating a visual field of a space pointing measuring instrument, wherein a laser interference goniometer is arranged behind a two-dimensional turntable simulating the change of pointing, synchronous signals are sent to the space pointing measuring instrument and the laser interference goniometer, synchronous execution of star point diagram acquisition and turntable angle measurement is realized, high-precision star point centroid position and theoretical pointing are provided for calibration, high-precision visual field calibration of the space pointing measuring instrument is realized, and the system and the method are suitable for practical engineering application.
Drawings
FIG. 1 is a schematic diagram of a field calibration system for a spatially directed measuring instrument in accordance with an embodiment of the present invention;
FIG. 2 is a schematic illustration of a calibration grid in an embodiment of the invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the embodiments of the present invention disclosed herein will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1, in this embodiment, the field calibration system of the space pointing measuring instrument includes: the vibration isolation device comprises a vacuum tank 1, a vibration isolation platform 2, a single star simulator 3, a two-dimensional turntable 4, a space orientation measuring instrument 5, a laser interference goniometer 6, a two-dimensional turntable control device 7 and a control computer 8. The single-star simulator 3, the two-dimensional turntable 4 and the laser interference goniometer 6 are sequentially arranged on the vibration isolation platform 2; the space orientation measuring instrument 5 is arranged on the two-dimensional turntable 4 and is positioned between the two-dimensional turntable 4 and the single-star simulator 3; the two-dimensional turntable control device 7 is connected with the two-dimensional turntable 4; the control computer 8 is respectively connected with the space direction measuring instrument 5, the laser interference goniometer 6 and the two-dimensional turntable control equipment 7; the vibration isolation platform 2, the single-star simulator 3, the two-dimensional turntable 4, the space orientation measuring instrument 5 and the laser interference goniometer 6 are arranged in the vacuum tank 1.
In this embodiment, the two-dimensional turntable control device 7 is configured to control the two-dimensional turntable 4 to move to the first position in the calibration track after calibration is started, and to feed back a movement in-place instruction to the control computer 8. A control computer 8 for transmitting two paths of synchronization signals with period T: signal sync1 and signal sync2; and after receiving the motion in-place instruction fed back by the two-dimensional turntable control device 7, sending a continuous exposure instruction to the spatial orientation measuring instrument 5; the continuous exposure instruction includes: exposure time t1 and exposure times n. The space pointing measuring instrument 5 is configured to perform n times of exposure according to a period T and an exposure time T1 after receiving the signal sync1, acquire n star point graphs, and record a count value Y1 of the signal sync1 corresponding to the n star point graphs. The laser interferometry goniometer 6 is used for measuring the angle of the two-dimensional turntable at each moment of the signal sync2 after receiving the signal sync2 to obtain n turntable angles; and records a count value Y2 of the corresponding signal sync2. The control computer 8 is further configured to calculate, according to the n star point maps acquired by the spatial direction measurement instrument 5 and the n turntable angles measured by the laser interferometry goniometer 6, the centroid coordinates of the current calibration grid point and the corresponding turntable angles.
Further, when the control computer 8 calculates the centroid coordinates of the current calibration grid point and the corresponding turntable angles according to the n star point diagrams acquired by the spatial direction measuring instrument 5 and the n turntable angles measured by the laser interferometry goniometer 6, the method specifically may include: receiving n star point diagrams acquired by the space orientation measuring instrument 5 aiming at a first position and a count value Y1 of a signal sync 1; determining the centroid coordinates of n star point diagrams, calculating the mean value, and taking the calculated mean value of the centroid coordinates of n star point diagrams as the centroid coordinates of the current calibration grid point; according to the count value Y1 of the signal sync1, n turntable angles of the count value Y2 of the signal sync2 at the same moment are searched, the average value is calculated, and the calculated average value of the n turntable angles is used as the turntable angle corresponding to the current calibration grid point.
In the present embodiment, the control computer 8 is further configured to: calculating to obtain the barycenter coordinates of all the calibration grid points and the corresponding turntable angles; and according to the calculated centroid coordinates of all the calibration grid points and the corresponding turntable angles, calculating to obtain a calibration coefficient by adopting a least square method, and completing the field-of-view calibration of the space-oriented measuring instrument.
Further, when the control computer 8 calculates the calibration coefficient according to the calculated centroid coordinates of all the calibration grid points and the corresponding turntable angles by using a least square method, the method specifically may include:
determining star point centroid position U: u= (U) i ,v i ) The method comprises the steps of carrying out a first treatment on the surface of the Wherein u is i And v i Respectively representing the abscissa and the ordinate of the centroid of the ith calibration grid point; i=1, 2..n, N represents calibrated grid pointsIs a total number of (c).
According to the turntable angle (p) i ,q i ) Determining vector vec of single star vector under turntable coordinate system i ：
Wherein p is i And q i And respectively representing the pitch angle and the yaw angle of the two-dimensional turntable corresponding to the ith calibration grid point.
According to vec i Obtaining a vector Vec of a single star vector under a space pointing measuring instrument body coordinate system i ：
Wherein A represents the installation moment between the two-dimensional turntable and the star sensor; x is x i 、y i And z i Is vector Vec i Is included in the three-axis component of (a).
Determining the theoretical orientation V: v= (x) i ,y i )。
Determining an expression of a calibration coefficient K:
K＝VU T inv(UU T )…(3)
and solving the formula (3) by adopting a least square method according to the calculated centroid coordinates of all the calibration grid points and the corresponding turntable angles to obtain the value of the calibration coefficient K.
In this embodiment, the field calibration system of the space pointing measuring instrument should be noted to satisfy the following requirements when installed: the direction of the emergent optical axis of the single-star simulator 3 is opposite to the two-dimensional turntable 4, and the rotation center of the two-dimensional turntable 4 is positioned on the emergent optical axis of the single-star simulator 3. The target measuring mirror of the laser interferometry goniometer 6 is fixed on the two-dimensional turntable 4 and is positioned at the rotation center of the two-dimensional turntable 4, and is used for measuring the pitch angle and the yaw angle of the two-dimensional turntable 4. The roll azimuth of the space pointing measuring instrument 5 mounted with the two-dimensional turntable 4 satisfies: when the two-dimensional turntable 4 is rotated uniaxially, the star point imaged on the image plane of the spatially directed measuring instrument 5 moves horizontally or vertically.
On the basis of the embodiment, the invention also discloses a method for calibrating the field of view of the space-oriented measuring instrument, which comprises the following steps:
step 1, installing a space pointing measuring instrument visual field calibration system according to the layout of the visual field calibration system.
In the present embodiment, at the time of installation, the roll azimuth of the installation of the spatial orientation measuring instrument 5 and the two-dimensional turntable 4 is required to satisfy: when the two-dimensional turntable 4 is rotated uniaxially, the star point imaged on the image plane of the spatially directed measuring instrument 5 moves horizontally or vertically.
And 2, vacuumizing the vacuum tank 1 to enable the space pointing measuring instrument visual field calibration system to be in a near vacuum environment, and simulating the space working environment of the space pointing measuring instrument.
And 3, setting a calibration track of the two-dimensional turntable 4 according to the imaging position of the star point on the image plane of the space pointing measuring instrument 5.
In the present embodiment, the calibration track of the two-dimensional turntable 4 is set as follows: the two-dimensional turntable 4 is rotated to enable star points to be imaged at different positions of the image plane of the space pointing measuring instrument 5 respectively; wherein, if the star points are respectively imaged at the upper left and lower left positions of the image plane of the space pointing measuring instrument 5, the pitch angles of the two-dimensional turntable 4 are respectively marked as alpha 1 And alpha 2 The method comprises the steps of carrying out a first treatment on the surface of the If the star points are imaged at the upper right and lower right positions of the image plane of the space pointing measuring instrument 5, the yaw angles of the two-dimensional turntable 4 are respectively recorded as beta 1 And beta 2 . Further, determining a pitch angle alpha of the two-dimensional turntable corresponding to each calibration grid point in the turntable calibration track 1 +ζ×(α 2 -α 1 ) And yaw angle beta 1 +ξ×(β 2 -β 1 ) -1; where, as shown in fig. 2, g represents the number of grid points, ζ represents the number of rows of grid points, and ζ represents the number of columns of grid points. Finally, selecting a grid scanning mode according to the pitch angle and the yaw angle of the two-dimensional turntable corresponding to the calibration grid points, and setting the calibration track of the two-dimensional turntable 4; the grid scanning mode comprises the following steps: lateral scanning, longitudinal scanning, and random scanning.
Step 4, the control computer 8 sends two paths of synchronization signals with the period of T: signal sync1 and signal sync2.
In the present embodiment, the signal sync1 and the signal sync2 are synchronous signals, the signal sync1 may be used to instruct the spatial pointing measuring instrument 5 to collect the star point map, and the signal sync2 may be used to instruct the laser interferometry goniometer 6 to measure the angle of the two-dimensional turntable.
And 5, after calibration is started, the two-dimensional turntable 4 is controlled to move to a first position in the calibration track through the two-dimensional turntable control device 7, and a movement in-place instruction is fed back to the control computer 8.
In this embodiment, the calibration track includes a plurality of positions, each of which is sequentially distributed in order, and in an initial state, the two-dimensional turntable 4 is first moved to a first position in the calibration track under the control of the two-dimensional turntable control device 7.
Step 6, after receiving the motion in-place instruction fed back by the two-dimensional turntable control device 7, the control computer 8 sends a continuous exposure instruction to the space orientation measuring instrument 5; after receiving the signal sync1, the space pointing measuring instrument 5 performs n times of exposure according to the period T and the exposure time T1, acquires n star point images, and records the count value Y1 of the signal sync1 corresponding to the n star point images.
Step 7, in synchronization with the step 6, after receiving the signal sync2, the laser interferometry goniometer 6 measures the angle of the two-dimensional turntable at each moment of the signal sync2 to obtain n turntable angles; and records a count value Y2 of the corresponding signal sync2.
In the present embodiment, since the signal sync1 and the signal sync2 are synchronous signals, the spatial directional measuring instrument 5 receives the signal sync1 and simultaneously the laser interferometry goniometer 6 synchronously receives the signal sync2, and starts synchronous measurement of the turntable angle.
Step 8, after completing the collection of the star point diagram in step 6, the control computer 8 sends an exposure completion instruction to the two-dimensional turntable control device 7; and calculating to obtain the centroid coordinates of the current calibration grid point and the corresponding turntable angles according to the n star point diagrams acquired in the step 6 and the n turntable angles measured in the step 7.
In this embodiment, for each calibration grid point, the centroid coordinates and the corresponding turntable angles of the calibration grid points have the same resolving process, taking the first position in the calibration track as an example: in the first position, acquiring corresponding n star point images through the step 6, and measuring through the step 7 to obtain corresponding n turntable angles; determining the centroid coordinates of the n star point images acquired in the step 6, calculating the mean value, and taking the calculated mean value of the centroid coordinates of the n star point images as the centroid coordinates of the current calibration grid point; according to the count value Y1 of the signal sync1 corresponding to the n star point diagrams, n turntable angles of the count value Y2 of the signal sync2 at the same time are searched, the average value is calculated, and the calculated average value of the n turntable angles is used as the turntable angle corresponding to the current calibration grid point.
And 9, after receiving the exposure completion instruction, the two-dimensional turntable control equipment 7 controls the two-dimensional turntable 4 to move to the next position in the calibration track, and the steps 5-8 are repeated, so that the centroid coordinates of all calibration grid points and the corresponding turntable angles are obtained through calculation.
And 10, calculating to obtain a calibration coefficient by adopting a least square method according to the calculated centroid coordinates of all the calibration grid points and the corresponding turntable angles, and finishing the field-of-view calibration of the space-oriented measuring instrument.
In the present embodiment, the centroid coordinates (u i ,v i ) Determining a star point centroid position U: u= (U) i ,v i ) The method comprises the steps of carrying out a first treatment on the surface of the Wherein u is i And v i Respectively representing the abscissa and the ordinate of the centroid of the ith calibration grid point; i=1, 2..n, N represents the total number of calibration grid points.
According to the turntable angles (p i ,q i ) Determining vector vec of single star vector under turntable coordinate system i ：
Wherein p is i And q i And respectively representing the pitch angle and the yaw angle of the two-dimensional turntable corresponding to the ith calibration grid point.
According to vec i Obtaining a vector Vec of a single star vector under a space pointing measuring instrument body coordinate system i ：
Wherein A represents the installation moment between the two-dimensional turntable and the star sensor; x is x i 、y i And z i Is vector Vec i Is included in the three-axis component of (a).
Determining the theoretical orientation V: v= (x) i ,y i )。
Determining an expression of a calibration coefficient K:
K＝VU T inv(UU T )…(3)
and solving the formula (3) by adopting a least square method according to the calculated centroid coordinates of all the calibration grid points and the corresponding turntable angles to obtain the value of the calibration coefficient K.
Taking a third-order polynomial as an example, the following relationship exists between the star point centroid position U and the theoretical direction V:
the value of the calibration coefficient K can be calculated by a least square method.
Although the present invention has been described in terms of the preferred embodiments, it is not intended to be limited to the embodiments, and any person skilled in the art can make any possible variations and modifications to the technical solution of the present invention by using the methods and technical matters disclosed above without departing from the spirit and scope of the present invention, so any simple modifications, equivalent variations and modifications to the embodiments described above according to the technical matters of the present invention are within the scope of the technical matters of the present invention.
Claims (5)
1. A spatially directed surveying instrument field of view calibration system, comprising: the device comprises a vacuum tank (1), a vibration isolation platform (2), a single star simulator (3), a two-dimensional turntable (4), a space direction measuring instrument (5), a laser interference goniometer (6), a two-dimensional turntable control device (7) and a control computer (8);
the single-star simulator (3), the two-dimensional turntable (4) and the laser interference goniometer (6) are sequentially arranged on the vibration isolation platform (2); the space orientation measuring instrument (5) is arranged on the two-dimensional turntable (4) and is positioned between the two-dimensional turntable (4) and the single-star simulator (3); the two-dimensional turntable control device (7) is connected with the two-dimensional turntable (4); the control computer (8) is respectively connected with the space direction measuring instrument (5), the laser interference goniometer (6) and the two-dimensional turntable control equipment (7); the vibration isolation platform (2), the single-star simulator (3), the two-dimensional turntable (4), the space orientation measuring instrument (5) and the laser interference goniometer (6) are arranged in the vacuum tank (1);
wherein:
the two-dimensional turntable control device (7) is used for controlling the two-dimensional turntable (4) to move to a first position in the calibration track after starting calibration and feeding back a movement in-place instruction to the control computer (8);
a control computer (8) for transmitting two paths of synchronization signals with a period T: signal sync1 and signal sync2; after receiving the motion in-place instruction fed back by the two-dimensional turntable control device (7), sending a continuous exposure instruction to the space orientation measuring instrument (5); the continuous exposure instruction includes: exposure time t1 and exposure times n;
the space orientation measuring instrument (5) is used for carrying out n times of exposure according to a period T and an exposure time T1 after receiving the signal sync1, acquiring n star point images, and recording a count value Y1 of the signal sync1 corresponding to the n star point images;
the laser interference goniometer (6) is used for measuring the angle of the two-dimensional turntable at each moment of the signal sync2 after the signal sync2 is received to obtain n turntable angles; and records a count value Y2 of the corresponding signal sync2;
the control computer (8) is also used for calculating and obtaining the centroid coordinates of the current calibration grid point and the corresponding turntable angles according to the n star point images acquired by the space direction measuring instrument (5) and the n turntable angles measured by the laser interference goniometer (6);
the control computer (8) is also used for calculating and obtaining the barycenter coordinates of all the calibration grid points and the corresponding turntable angles; according to the calculated centroid coordinates of all the calibration grid points and the corresponding turntable angles, a least square method is adopted to calculate to obtain a calibration coefficient, and the field of view calibration of the space pointing measuring instrument is completed;
the control computer (8) adopts a least square method to calculate the calibration coefficient according to the calculated centroid coordinates of all the calibration grid points and the corresponding turntable angles, and comprises the following steps:
determining star point centroid position U: u= (U) i ,v i ) The method comprises the steps of carrying out a first treatment on the surface of the Wherein u is i And v i Respectively representing the abscissa and the ordinate of the centroid of the ith calibration grid point; i=1, 2,..n, N represents the total number of calibration grid points;
according to the turntable angle (p) i ,q i ) Determining vector vec of single star vector under turntable coordinate system i ：
Wherein p is i And q i Respectively representing the pitch angle and the yaw angle of the two-dimensional turntable corresponding to the ith calibration grid point;
according to vec i Obtaining a vector Vec of a single star vector under a space pointing measuring instrument body coordinate system i ：
Wherein A represents the installation moment between the two-dimensional turntable and the star sensor; x is x i 、y i And z i Is vector Vec i Three-axis components of (a);
determining the theoretical orientation V: v= (x) i ,y i )；
Determining an expression of a calibration coefficient K:
K＝VU T inv(UU T )…(3)
and solving the formula (3) by adopting a least square method according to the calculated centroid coordinates of all the calibration grid points and the corresponding turntable angles to obtain the value of the calibration coefficient K.
2. The field of view calibration system of a spatial pointing measuring instrument according to claim 1, wherein the control computer (8) when calculating the centroid coordinates of the current calibration grid point and the corresponding turntable angles according to n star point images acquired by the spatial pointing measuring instrument (5) and n turntable angles measured by the laser interferometry goniometer (6) comprises:
receiving n star point diagrams acquired by a space orientation measuring instrument (5) aiming at a first position and a count value Y1 of a signal sync 1; determining the centroid coordinates of n star point diagrams, calculating the mean value, and taking the calculated mean value of the centroid coordinates of n star point diagrams as the centroid coordinates of the current calibration grid point;
according to the count value Y1 of the signal sync1, n turntable angles of the count value Y2 of the signal sync2 at the same moment are searched, the average value is calculated, and the calculated average value of the n turntable angles is used as the turntable angle corresponding to the current calibration grid point.
3. The spatially directed measurement instrument field of view calibration system of claim 1,
the direction of the emergent optical axis of the single-star simulator (3) is opposite to the two-dimensional turntable (4), and the rotation center of the two-dimensional turntable (4) is positioned on the emergent optical axis of the single-star simulator (3);
the target measuring mirror of the laser interferometry goniometer (6) is fixed on the two-dimensional turntable (4) and positioned at the rotation center of the two-dimensional turntable (4) and is used for measuring the pitch angle and the yaw angle of the two-dimensional turntable (4);
the rolling azimuth angles of the space pointing measuring instrument (5) and the two-dimensional turntable (4) are as follows: when the two-dimensional turntable (4) rotates uniaxially, the star points imaged on the image surface of the measuring instrument (5) move horizontally or vertically in a space direction.
4. A method of calibrating a field of view of a spatially directed measurement instrument based on the field of view calibration system of claim 1, comprising:
step 1, installing a space pointing measuring instrument visual field calibration system according to the layout of the visual field calibration system;
step 2, vacuumizing the vacuum tank (1);
step 3, setting a calibration track of a two-dimensional turntable (4) according to the imaging position of the star point on the image plane of the space pointing measuring instrument (5);
step 4, the control computer (8) sends two paths of synchronous signals with the period of T: signal sync1 and signal sync2;
step 5, after calibration is started, the two-dimensional turntable (4) is controlled to move to a first position in a calibration track through a two-dimensional turntable control device (7), and a movement in-place instruction is fed back to a control computer (8);
step 6, after receiving the motion in-place instruction fed back by the two-dimensional turntable control device (7), the control computer (8) sends a continuous exposure instruction to the space orientation measuring instrument (5); after receiving the signal sync1, the space pointing measuring instrument (5) performs n times of exposure according to a period T and exposure time T1, acquires n star point images, and records a count value Y1 of the signal sync1 corresponding to the n star point images;
step 7, synchronizing with the step 6, measuring the angle of the two-dimensional turntable at each moment of the signal sync2 by the laser interferometry goniometer (6) after receiving the signal sync2, and obtaining n turntable angles; and records a count value Y2 of the corresponding signal sync2;
step 8, after completing the collection of the star point diagram in step 6, the control computer (8) sends an exposure completion instruction to the two-dimensional turntable control equipment (7); according to the n star point diagrams acquired in the step 6 and the n turntable angles measured in the step 7, calculating to obtain the centroid coordinates of the current calibration grid points and the corresponding turntable angles;
step 9, when the two-dimensional turntable control equipment (7) receives an exposure completion instruction, controlling the two-dimensional turntable (4) to move to the next position in the calibration track, repeating the steps 5-8, and calculating to obtain centroid coordinates and corresponding turntable angles of all calibration grid points;
and 10, calculating to obtain a calibration coefficient by adopting a least square method according to the calculated centroid coordinates of all the calibration grid points and the corresponding turntable angles, and finishing the field-of-view calibration of the space-oriented measuring instrument.
5. The method for calibrating a field of view of a spatial pointing measuring instrument according to claim 4, wherein the calibration track of the two-dimensional turntable (4) is set according to the imaging position of the star point on the image plane of the spatial pointing measuring instrument (5), and comprises the following steps:
the two-dimensional turntable (4) is rotated to enable star points to be imaged at different positions of the image surface of the space pointing measuring instrument (5) respectively; wherein, if the star points are respectively imaged at the upper left and lower left positions of the image plane of the space-oriented measuring instrument (5), the pitch angles of the two-dimensional turntable (4) are respectively marked as alpha 1 And alpha 2 The method comprises the steps of carrying out a first treatment on the surface of the If the star points are respectively imaged at the upper right position and the lower right position of the image surface of the space pointing measuring instrument (5), the yaw angle of the two-dimensional turntable (4) is respectively recorded as beta 1 And beta 2 ；
Determining a pitch angle alpha of a two-dimensional turntable corresponding to each calibration grid point in turntable calibration track 1 +ζ×(α 2 -α 1 ) And yaw angle beta 1 +ξ×(β 2 -β 1 ) -1; where G represents the number of grid points, ζ represents the number of rows of grid points, and ζ represents the number of columns of grid points;
according to the pitch angle and the yaw angle of the two-dimensional turntable corresponding to the calibration grid points, selecting a grid scanning mode, and setting the calibration track of the two-dimensional turntable (4); the grid scanning mode comprises the following steps: lateral scanning, longitudinal scanning, and random scanning.
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