CN116753934A - Relative posture monitoring equipment between star sensor and camera - Google Patents
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Abstract
The application discloses a relative posture monitoring device between a star sensor and a camera, which consists of a point light source, an angle reflecting mirror, a Fresnel double-sided mirror, a light spot sensor and a relative posture processing unit. The monitoring equipment is used for realizing the monitoring of the relative attitude change between the star sensor and the camera by calculating and analyzing the centroid position change of the light spot formed by the light source on the light spot sensor in real time, reducing the included angle error between the visual axis of the star sensor and the visual axis of the camera, improving the visual axis determining precision of the camera and further improving the geometric positioning precision of the camera.
Description
Technical Field
The application relates to the technical field of high geometric positioning precision space optical remote sensing, in particular to a relative attitude monitoring device between a star sensor and a camera.
Background
With the continuous development of space optical remote sensing technology, the space resolution, time resolution, radiation imaging quality and the like of the remote sensing satellite are continuously improved, and in recent years, each user has put forward higher and higher requirements on the geometric positioning precision of the remote sensing satellite, and the ground observation needs to be 'seen', 'seen clearly' and 'seen quasi'.
Many factors influence the geometric positioning accuracy of the remote sensing satellite, including orbit measurement errors, attitude measurement errors, azimuth element errors in cameras, relative attitude errors between satellite sensitivity and cameras, attitude stability introduction errors, ground processing errors, time synchronization accuracy introduction errors, calibration errors, processing algorithm errors, atmosphere introduction errors, light running errors and the like.
In recent years, as the attitude stability, orbit determination accuracy and time synchronization accuracy of satellite platforms are continuously improved, the influence on the ground positioning accuracy is small, and the satellite platforms become secondary factors. The domestic related units reach the international advanced level in the aspects of geometric calibration, processing analysis and the like, and the calibration error and the processing error can achieve very high precision, so that the influence on geometric positioning precision is small. The processing algorithms of atmospheric errors, light running errors and the like are mature, and most errors can be corrected.
Therefore, the main factors affecting the positioning accuracy are attitude measurement errors, relative attitude errors between the star sensor and the camera, intra-camera azimuth element errors, and the like. The attitude measurement error is mainly researched and solved by a star sensor research unit, the azimuth element error in the camera is mainly researched and solved by a camera research unit, and in recent years, the attitude measurement error control and the azimuth element error control in the camera are both greatly progressed, and the error can be controlled at a small level.
The relative attitude error between the star sensor and the camera belongs to the boundary problem of different load development units, and has not been solved effectively for a long time.
The traditional main method for reducing the relative attitude error between the star sensor and the camera is to optimize the structural stability design, improve the thermal control precision, improve the on-orbit geometric calibration precision, the frequency order and the like. The traditional method for reducing the relative attitude error between the star sensor and the camera has larger limitation, and mainly comprises the following steps:
1) The traditional method for reducing the relative attitude error between the star sensor and the camera is still larger in residual error and is generally larger than 3' (3 sigma);
2) The traditional method for reducing the relative attitude error between the star sensor and the camera needs to increase more quality, power consumption, cost and the like;
3) The traditional method for reducing the relative attitude error between the star sensor and the camera needs to perform geometric calibration regularly and is constrained by the calibration frequency.
Disclosure of Invention
The application solves the technical problems that: the device for monitoring the relative posture between the star sensor and the camera is provided, the problems of high precision and real-time monitoring of the relative posture between the star sensor and the camera are effectively solved, the visual axis pointing determination precision of the camera can be remarkably improved, and the geometric positioning precision of a target is remarkably improved.
The application aims at realizing the following technical scheme:
a star sensor and camera relative pose monitoring device comprising: the system comprises a point light source, an angle reflector, a Fresnel double-sided mirror, a light spot sensor and a relative posture processing unit;
the point light source is fixedly connected with the image sensor of the camera, the point light source is positioned at the image plane of the camera, the point light source emits a beam of divergent light beam opposite to the light entering direction of the camera, and the divergent light beam is incident into the lens of the camera;
the angle reflecting mirror is fixedly connected with the lens of the camera, and is positioned at the light inlet of the lens of the camera; the reflector receives the parallel light beams after the collimation treatment of the camera lens;
the angle reflector is used for turning the parallel light beam 180 degrees, and the turned parallel light beam is incident on the Fresnel double-sided mirror;
the Fresnel double-sided mirror is fixedly connected with the star sensor, is used for turning back incident parallel light beams, and is divided into two parallel light beams to be transmitted to the angle reflecting mirror;
the angle reflector turns the two reflected parallel beams by 180 degrees, the turned two parallel beams are incident to the camera lens, the camera lens converges the two parallel beams into two converging beams converging at the camera image plane position, and the converging beams are respectively incident to the facula sensor I and the facula sensor II;
the light spot sensor I and the light spot sensor II are respectively fixedly connected with the camera image sensor and are positioned at the image plane of the camera and used for receiving two converging light beams converged by the camera lens so as to realize light spot image acquisition;
the relative gesture processing unit extracts the centroid position of the light spot according to the light spot images acquired by the light spot sensor I and the light spot sensor II, and calculates the relative gesture variation between the star sensor and the camera according to the centroid variation data of the light spot.
Preferably, the size of the luminous surface of the point light source corresponds to the pixel sizes of the spot sensor I and the spot sensor II; the spectrum of the point light source is positioned in the response spectrum range of the light spot sensor I and the light spot sensor II.
Preferably, the included angle of the Fresnel double-sided mirror is equal to (180-omega) °; wherein ω is equal to half of the camera view angle corresponding to the line segment between the center points of the two spot sensors I and the center point of the spot sensor II.
Preferably, both the corner mirrors and the fresnel double mirror are made of microcrystalline material.
Preferably, the surface shape accuracy of the reflecting surfaces of the corner mirror and the fresnel double-sided mirror is less than or equal to 1/30 λrms, λ being the center wavelength of the point light source.
Preferably, the pixel size of the area array image sensor is less than or equal to 10 mu m, and the photosensitive area is greater than or equal to 2f epsilon; wherein f is the focal length of the camera, and epsilon is the maximum angle degree variation between the optical axis of the star sensor and the optical axis of the camera.
Preferably, the point light source, the spot sensor and the camera image sensor are mounted on the same structure.
Preferably, the facula sensor I and the facula sensor II adopt area array image sensors;
the center point of the light spot sensor I and the center point of the light spot sensor II are symmetrical with respect to OXZ surfaces of a camera coordinate system;
the origin O of the camera coordinate system is positioned at the midpoint position of the connecting line of the central point of the spot sensor I and the central point of the spot sensor II; the X axis is along the column direction of the spot sensor I pixel array, and the Y axis is along the row direction of the spot sensor I pixel array; the Z axis is perpendicular to the X axis and the Y axis to form a right-hand rectangular coordinate system.
Preferably, the relative attitude processing unit calculates a relative attitude change amount (. Epsilon.) between the star sensor and the camera x ，ε y ，ε z ) The method specifically comprises the following steps:
wherein Deltax is 1 For the spot offset of the spot on the spot sensor I along the X1 axis direction relative to the calibrated spot centroid position, deltax 2 For the spot offset, deltay of the spot on the spot sensor II along the X2 axis relative to the calibrated spot centroid position 1 For the spot offset, deltay, of the spot on the spot sensor I along the Y1 axis relative to the calibrated spot centroid position 2 The light spot offset of the light spot on the light spot sensor II along the Y2 axis direction relative to the calibrated light spot centroid position;
the origin O of the coordinate system of the spot sensor I is positioned at the center point of the spot sensor I, the X1 axis is along the column direction of the pixel array of the spot sensor I, and the Y1 axis is along the row direction of the pixel array of the spot sensor I;
the origin O of the coordinate system of the spot sensor II is positioned at the center point of the spot sensor II, the X2 axis is along the column direction of the pixel array of the spot sensor II, and the Y2 axis is along the row direction of the pixel array of the spot sensor II;
ω x the camera view angle corresponding to the component on the X axis of the camera coordinate system is the intersection point of the central point of the spot sensor I to the camera optical axis and the image plane; omega y The camera view angle corresponding to the component on the Y axis of the camera coordinate system is the intersection point of the central point of the spot sensor I to the camera optical axis and the image plane;
l is the distance from the center point of the spot sensor I to the center point of the spot sensor II.
Compared with the prior art, the application has the following beneficial effects:
(1) The application adopts the relative posture monitoring equipment between the star sensor and the camera, so that random included angle change between the star sensor and the camera can be accurately monitored in real time on orbit;
(2) The application adopts a high-precision optical measurement method and a high-stability optical component (a Fresnel double-sided mirror and a plane reflecting mirror), has high measurement precision and can realize the monitoring of the relative gesture of sub-angle second level;
(3) The application adopts the internal high-stability point light source, does not need external reference information such as a calibration field, and can realize on-orbit autonomous calibration, and has the advantages of strong availability, high reliability, high measurement frequency and high measurement precision.
Drawings
FIG. 1 is a block diagram of a star sensor and camera relative pose monitoring apparatus of the present application;
FIG. 2 is a schematic diagram of a spot sensor and imaging focal plane layout according to the present application.
Wherein, the liquid crystal display device comprises a liquid crystal display device, the light spot image data of the 7-light spot sensor comprises a light beam emitted by a 1-point light source, a parallel light beam collimated by a 2-camera lens, a parallel light beam folded by a 3-angle reflector at 180 degrees, two parallel light beams folded by a 4-Fresnel double-sided mirror, two parallel light beams folded by a 5-angle reflector at 180 degrees, two converging light beams converged by a 6-camera lens and light spots of the 7-light spot sensor.
Detailed Description
The application provides a star sensor and camera relative attitude monitoring device, which can realize the on-orbit real-time high-precision measurement of the relative attitude of the star sensor and the camera, effectively solve the problem of relative attitude deviation between the star sensor and the camera caused by factors such as temperature change, effectively improve the accuracy of determining the visual axis pointing of the camera, and further improve the geometric positioning accuracy of an imaging target of the camera.
As shown in fig. 1, the device for monitoring relative posture between a star sensor and a camera according to the present application comprises: the system comprises a point light source, an angle reflector, a Fresnel double-sided mirror, a light spot sensor and a relative posture processing unit; :
the star sensor is a gesture measurement device that provides gesture information for the camera. The application uses the Fresnel double-sided mirror to represent the position relationship between the star sensor and the camera;
the camera is imaging equipment, mainly composed of a camera lens and a camera image sensor, and used for acquiring image information of an observation target; the star sensor and the camera are monitoring objects of the relative gesture monitoring equipment; the camera is fixedly connected with the star sensor.
The light source is fixedly connected with the camera image sensor and is positioned at the image plane of the camera, a beam of divergent light beam 1 is emitted against the light entering direction of the camera, and the divergent light beam 1 is incident to the camera lens.
The lens of the camera carries out collimation treatment on the divergent light beam 1 emitted by the light source to obtain a parallel light beam 2, and the parallel light beam is emitted from the light inlet of the camera and enters the angle reflecting mirror.
The angle reflector is fixedly connected with the camera lens and is positioned at the light inlet of the camera lens. The angle reflector is used for turning the parallel light beam 2 by 180 degrees, and one turned parallel light beam 3 is incident on the Fresnel double-sided mirror;
the Fresnel double-sided mirror is fixedly connected with the star sensor, is used for turning back an incident parallel light beam 3, and is divided into two parallel light beams 4 to be transmitted to the corner reflector;
the angle reflector turns the two parallel light beams 4 by 180 degrees, the turned two parallel light beams 5 are incident to the camera lens, the camera lens converges the two parallel light beams 5 to form two converging light beams 6, the converging light beams are converged at the camera image plane position and are respectively incident to the facula sensor I and the facula sensor II;
the two spot sensors, namely the spot sensor I and the spot sensor II, are fixedly connected with the camera image sensor and are positioned at the image plane of the camera and are used for receiving two converging light beams 6 converged by the camera lens so as to realize spot image acquisition.
The relative posture processing unit extracts the centroid position of the light spot according to the light spot image data 7 of the light spot sensor, and calculates the relative posture change between the star sensor and the camera according to the centroid change data of the light spot.
The size of the luminous surface of the point light source is equivalent to that of the pixels of the spot sensor I and the spot sensor II, and the spectrum of the point light source is positioned in the response spectrum range of the spot sensor.
The angle reflecting mirror and the Fresnel double-sided mirror are made of high-stability materials such as microcrystals, the surface shape precision of the reflecting surfaces of the angle reflecting mirror and the Fresnel double-sided mirror is better than 1/30 lambda RMS, and lambda is the center wavelength of a point light source.
The included angle of the Fresnel double-sided mirror is equal to (180-omega) DEG, wherein omega is equal to half of the camera view angle corresponding to the line segment of the central point of the two facula sensors I and the central point of the facula sensor II, and the included angle stability of the Fresnel double-sided mirror is better than 0.03 times of the camera angle resolution.
The facula sensor I and the facula sensor II both adopt area array image sensors, the pixel size is less than or equal to 10 mu m, the photosensitive area is more than or equal to (2 f multiplied by epsilon), f is the focal length of the camera, and epsilon is the maximum angle degree variation between the optical axis of the star sensor and the optical axis of the camera.
The point light source, the facula sensor and the camera image sensor are all positioned at the image plane position of the camera lens, and are arranged on the same structure, and the relative position stability of the three is better than 1 mu m.
The relative gesture processing unit takes the light spot centroid position calibrated by the light spot sensor as a reference value, calculates the offset of the subsequent light spot centroid position relative to the reference position, and further obtains a camera and a cameraRelative attitude change (ε) between star sensors x ，ε y ，ε z )；
Wherein ε x For the angle change of the Fresnel double-sided mirror around the X axis of the camera coordinate system epsilon y For the angle change of the Fresnel double-sided mirror around the Y axis of the camera coordinate system z Is the angular variation about the Z axis;
the origin O of the camera coordinate system is positioned at the midpoint position of the connecting line of the central point of the spot sensor I and the central point of the spot sensor II; the X axis is along the column direction of the spot sensor pixel array, and the Y axis is along the row direction of the spot sensor pixel array; the Y-axis direction is along the connecting line direction of the central points of the two facula sensors; the Z axis is perpendicular to the X axis and the Y axis to form a right-hand rectangular coordinate system;
the spot sensor includes: spot sensor I and spot sensor II. The origins of the coordinate system of the spot sensor I and the coordinate system of the spot sensor II are respectively positioned at the center points of the spot sensors.
The origin O of the coordinate system of the spot sensor I is positioned at the center point of the spot sensor I, the X1 axis is along the column direction of the pixel array of the spot sensor I, and the Y1 axis is along the row direction of the pixel array of the spot sensor I; the origin O of the coordinate system of the spot sensor II is positioned at the center point of the spot sensor II, the X2 axis is along the column direction of the pixel array of the spot sensor II, and the Y2 axis is along the row direction of the pixel array of the spot sensor II; the positive direction of the Y1 axis is the same as the positive direction of the Y2 axis.
Δx 1 For the spot offset, delta, of the spot sensor I along the X1 axis relative to the calibrated spot centroid position of the spot sensor Ix 2 For the spot offset of the spot sensor II relative to the calibrated spot centroid position of the spot sensor II along the X2 axis direction, delta y 1 For the spot offset of the spot sensor I relative to the calibrated spot centroid position of the spot sensor I along the Y1 axis direction, deltay 2 The light spot offset of the light spot sensor II along the Y2 axis direction relative to the light spot centroid position calibrated by the light spot sensor II;
the center point of the light spot sensor I and the center point of the light spot sensor II are symmetrical with respect to OXZ surfaces of a camera coordinate system; omega x The camera view angle corresponding to the component on the X axis of the camera coordinate system is the intersection point of the central point of the spot sensor I to the camera optical axis and the image plane; omega y The camera view angle corresponding to the component on the Y axis of the camera coordinate system is the intersection point of the central point of the spot sensor I to the camera optical axis and the image plane;
l is the distance from the center point of the spot sensor I to the center point of the spot sensor II.
FIG. 2 is a schematic diagram and a coordinate diagram of a relative attitude monitoring device between a star sensor and a camera according to the present application.
The relative angle change information between the camera and the star sensor can eliminate the stability error of the included angle between the star sensor and the camera, and the visual axis pointing direction of the camera can be accurately determined by combining the attitude information of the star sensor, so that the target positioning accuracy is improved;
although the present application 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 application by using the methods and technical matters disclosed above without departing from the spirit and scope of the present application, so any simple modifications, equivalent variations and modifications to the embodiments described above according to the technical matters of the present application are within the scope of the technical matters of the present application. The embodiments of the present application and technical features in the embodiments may be combined with each other without collision.
What is not described in detail in the present specification is a well known technology to those skilled in the art.
Claims (9)
1. A star sensor and camera relative pose monitoring device, comprising: the system comprises a point light source, an angle reflector, a Fresnel double-sided mirror, a light spot sensor I, a light spot sensor II and a relative gesture processing unit;
the point light source is fixedly connected with the image sensor of the camera, the point light source is positioned at the image plane of the camera, the point light source emits a beam of divergent light beam opposite to the light entering direction of the camera, and the divergent light beam is incident into the lens of the camera;
the angle reflecting mirror is fixedly connected with the lens of the camera, and is positioned at the light inlet of the lens of the camera; the reflector receives the parallel light beams after the collimation treatment of the camera lens;
the angle reflector is used for turning the parallel light beam 180 degrees, and the turned parallel light beam is incident on the Fresnel double-sided mirror;
the Fresnel double-sided mirror is fixedly connected with the star sensor, is used for turning back incident parallel light beams, and is divided into two parallel light beams to be transmitted to the angle reflecting mirror;
the angle reflector turns the two reflected parallel beams by 180 degrees, the turned two parallel beams are incident to the camera lens, the camera lens converges the two parallel beams into two converging beams converging at the camera image plane position, and the converging beams are respectively incident to the facula sensor I and the facula sensor II;
the light spot sensor I and the light spot sensor II are respectively fixedly connected with the camera image sensor and are positioned at the image plane of the camera and used for receiving two converging light beams converged by the camera lens so as to realize light spot image acquisition;
the relative gesture processing unit extracts the centroid position of the light spot according to the light spot images acquired by the light spot sensor I and the light spot sensor II, and calculates the relative gesture variation between the star sensor and the camera according to the centroid variation data of the light spot.
2. The relative posture monitoring device between a star sensor and a camera according to claim 1, wherein the size of the light emitting surface of the point light source corresponds to the pixel sizes of the spot sensor I and the spot sensor II; the spectrum of the point light source is positioned in the response spectrum range of the light spot sensor I and the light spot sensor II.
3. The device for monitoring the relative attitude between a star sensor and a camera according to claim 1, wherein the angle of the fresnel double-sided mirror is equal to (180- ω) °; wherein ω is equal to half of the camera view angle corresponding to the line segment between the center points of the two spot sensors I and the center point of the spot sensor II.
4. The device of claim 1, wherein the corner mirror and the fresnel double-sided mirror are made of microcrystalline material.
5. The device for monitoring the relative attitude between a star sensor and a camera according to claim 1, wherein the accuracy of the surface shape of the reflecting surfaces of the corner mirror and the fresnel double-sided mirror is less than or equal to 1/30 λrms, λ being the center wavelength of the point light source.
6. The device for monitoring the relative attitude between a star sensor and a camera according to claim 1, wherein the pixel size of the area array image sensor is less than or equal to 10 μm, and the photosensitive area is greater than or equal to 2f epsilon; wherein f is the focal length of the camera, and epsilon is the maximum angle degree variation between the optical axis of the star sensor and the optical axis of the camera.
7. The device of claim 1, wherein the point light source, the spot sensor and the camera image sensor are mounted on the same structure.
8. The relative posture monitoring device between a star sensor and a camera according to any one of claims 1 to 7, wherein the spot sensor I and the spot sensor II are both planar array image sensors;
the center point of the light spot sensor I and the center point of the light spot sensor II are symmetrical with respect to OXZ surfaces of a camera coordinate system;
the origin O of the camera coordinate system is positioned at the midpoint position of the connecting line of the central point of the spot sensor I and the central point of the spot sensor II; the X axis is along the column direction of the spot sensor I pixel array, and the Y axis is along the row direction of the spot sensor I pixel array; the Z axis is perpendicular to the X axis and the Y axis to form a right-hand rectangular coordinate system.
9. The device for monitoring the relative attitude between a star sensor and a camera according to claim 8, wherein the relative attitude processing unit calculates an amount of change (ε) in the relative attitude between the star sensor and the camera x ，ε y ，ε z ) The method specifically comprises the following steps:
wherein Deltax is 1 For the spot offset of the spot on the spot sensor I along the X1 axis direction relative to the calibrated spot centroid position, deltax 2 For the spot offset, deltay of the spot on the spot sensor II along the X2 axis relative to the calibrated spot centroid position 1 For the spot offset, deltay, of the spot on the spot sensor I along the Y1 axis relative to the calibrated spot centroid position 2 The light spot offset of the light spot on the light spot sensor II along the Y2 axis direction relative to the calibrated light spot centroid position;
the origin O of the coordinate system of the spot sensor I is positioned at the center point of the spot sensor I, the X1 axis is along the column direction of the pixel array of the spot sensor I, and the Y1 axis is along the row direction of the pixel array of the spot sensor I;
the origin O of the coordinate system of the spot sensor II is positioned at the center point of the spot sensor II, the X2 axis is along the column direction of the pixel array of the spot sensor II, and the Y2 axis is along the row direction of the pixel array of the spot sensor II;
ω x the camera view angle corresponding to the component on the X axis of the camera coordinate system is the intersection point of the central point of the spot sensor I to the camera optical axis and the image plane; omega y The camera view angle corresponding to the component on the Y axis of the camera coordinate system is the intersection point of the central point of the spot sensor I to the camera optical axis and the image plane;
f is the focal length of the camera, and L is the distance from the center point of the spot sensor I to the center point of the spot sensor II.
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| CN117560076A (en) * | 2024-01-12 | 2024-02-13 | 北京融为科技有限公司 | Satellite-ground laser communication link testing system and method |
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| CN117560076A (en) * | 2024-01-12 | 2024-02-13 | 北京融为科技有限公司 | Satellite-ground laser communication link testing system and method |
| CN117560076B (en) * | 2024-01-12 | 2024-04-09 | 北京融为科技有限公司 | Satellite-ground laser communication link testing system and method |
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