CN1847792A - Simulation test device for visual navigation algorithm of soft landing of deep-space detector - Google Patents
Simulation test device for visual navigation algorithm of soft landing of deep-space detector Download PDFInfo
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Abstract
The simulation test device for visual navigation algorithm of soft landing of deep-space detector includes a target planet surface scene simulating sand map; a navigation camera to take the real-time information of the corresponding area; a real-time simulator to receive the information form the navigation camera to generate real-time position and posture regulating command; a horizontal translation bogie to receive the command from the real-time simulator, produce corresponding horizontal motion and feed back the portion information to the real-time simulator; a space three coordinate axes rotating platform to receive command from the real-time simulator, produce corresponding horizontal motion and feed back the portion information to the real-time simulator; and a lead screw-guide track mechanism to receive command from the real-time simulator, produce corresponding vertical transmission and feed back the portion information to the real-time simulator.
Description
Technical field
The present invention relates to a kind of when simulating soft landing for deep space probe target celestial body motion process detector with respect to the proving installation on target celestial body position, attitude and target celestial body surface.This device is used in the indoor deep space probe autonomous optical navigation system to the soft landing celestial body of ground experiment and carries out performance verification and assessment etc., also provides a kind of analysis experimental result for soft landing autonomic optical guidance algorithm.
Background technology
Increasing along with the interplanetary exploration task, the vital task and the problem of the detector safe soft landing on the celestial body surface having become deep space scientific exploration.In the survey of deep space task, owing to exist long communication delay between target celestial body and the ground base station, the process duration of celestial body of in addition landing is shorter relatively, adopts the traditional requirement that can't satisfy the landing real-time based on the navigational guidance control model of deep space net.The ability that therefore, must have independent navigation, guidance and control (GNC) for the detector of the little celestial body that lands.Simultaneously and since the information such as shape, quality, density, gravitational field and spin of little celestial body can't be in advance mode by earth observation accurately obtain, this just requires spaceborne GNC system to have stronger independence and to the adaptive ability of environment.Simultaneously, for the zone that scientific value is arranged being studied and being taken a sample, wish that lander can (rock, crater and abrupt slope) safe landing in the hazardous location.For safety, drop to target celestial body surface exactly, detector must have autonomous obstacle detection and the ability of evading.The soft landing autonomic airmanship is meant under the situation that the people does not participate in directly, the information that lander utilizes self-contained sensor to provide, independently determine pose information such as position, attitude, simultaneously safety evaluation is carried out in alternative touch-down zone, in landing mission, choose the final landing point.The navigation scheme of based target celestial body optical characteristics and face of land image information is considered to one of best navigation scheme of following landing celestial body at present.Also be one of research direction of giving priority to of current various countries space flight scientific research department simultaneously based on the autonomous navigation technology of optical information.
Because the soft landing autonomic optical navigation system was being flown before the rail test, must be through a parameter testing and a Qualify Phase of simulating on the ground under the soft landing running environment, therefore indoor at ground experiment, a prerequisite important link is to create the integration unit that can simulate the track, attitude and the target celestial body surface information that move in the soft landing for deep space probe process.This device is mainly finished the test to the optics autonomous navigation system, utilize lander descending trajectory, the attitude of its simulation to compare with estimated position and attitude information that optics independent navigation algorithm provides, the autonomous Orbit of measuring optical independent navigation algorithm is determined, attitude is determined performance, the obstacle detection function of utilizing its simulated target celestial body surface optical characteristics to test the autonomous optical navigation algorithm.Because the performance of autonomous navigation system has determined the success or not of landing task, do not having under the situation of direct available half object test device at present, the R﹠D work of study emphasis soft landing for deep space probe simulating test device is crucial, also is very important.
In the technical scheme of existing realization soft landing for deep space probe simulating test device, formerly technology [1] is (referring to Eli David Skulsky, Andrew Edie Johnson et al., Rocket Sled Testing of aPrototype Terrain-Relative Navigation System.AAS 01-026), U.S. NASA subordinate JPL laboratory is adopted by motor and is directly dragged the scheme of detector camera system in the slide rail motion, be that detector will be simulated actual spatial movement by the space trajectory data that has designed, be used for the performance parameter of the autonomous obstacle detection algorithm of test and validation JPL laboratory proposition.This method can analog prober one dimension track and two-dimensional attitude motion state, can finish test to obstacle detection algorithm correlated performance parameter.Drag camera system and on slide rail, move because this scheme is direct drive motor, so floor area is bigger, simultaneously,, come relatively difficulty of the complicated running orbit of analog prober with it because it can only simulate three-dimensional motion.
Summary of the invention
The purpose of this invention is to provide a kind of simulation test device for visual navigation algorithm of soft landing of deep-space detector, with overcome existing proving installation floor area big, can only simulate three-dimensional motion, be difficult to the defective of the complicated running orbit of analog prober.Taking into account system reliably, flexibly on the basis, provide a kind of control mode simple, technical feasible soft landing for deep space probe simulating test device, thereby solve in deep space probe track, attitude and this difficult problem of target celestial body surface optics simulated behavior to soft landing for deep space probe autonomous optical navigation system performance testing.It comprises
The ground scape simulation sand table 6 on side surface simulated target celestial body surface;
Real-time simulation machine 5 also produces position, attitude adjustment order in real time with the information that receives 29 picked-ups of navigation camera;
Space three axes rotatable platform 3 to receive position, the attitude adjustment order of real-time simulation machine 5, is made corresponding rotation around the space three axes, and feeds back to real-time simulation machine 5 rotating the location variation that produces;
Corresponding transmission to receive position, the attitude adjustment order of real-time simulation machine 5, is made in vertical by lead screw guide rails mechanism 2, and the location variation that transmission is produced feeds back to real-time simulation machine 5;
When the present invention worked, horizontal translation dolly 1 was close so that navigation camera 29 can be simulated the process of soft landing for deep space probe to ground scape simulation sand table 6 gradually.Navigation camera 29 is in the process of the simulation of scape closely sand table 6, adjust program according to the face of land information of picked-up and Navigator and the pose that is arranged in the real-time simulation machine 5, position, attitude are adjusted the horizontal translation dolly 1 of command driven, space three axes rotatable platform 3 and lead screw guide rails mechanism 2 and are made corresponding action, finishing landing mission, thereby checking Navigator and pose are adjusted program.The present invention is better than formerly that technology [1] part is, the present invention can the whole six-freedom motions of analog prober, with the accuracy of checking navigation algorithm.Native system can be the angle of pitch and roll angle-30 °～30 °, the attitude motions of simulation deep space probes in the crab angle-60 °～60 ° scope, and the analog prober position is not subjected to the restriction of slide rail yet, and floor area is little, more can be fit to simulate the motion state of actual detector descending branch.To carrying out simulating, verifying based on monocular, the independent navigation algorithm of binocular navigation camera and the visible sensation method in other field.If change simulated conditions such as ground scape, also be applicable to the simulating, verifying test of Mars, moon craft, it is wide that the present invention has applicability, practical, simple in structure, characteristics such as analog simulation precision height.
Description of drawings
Fig. 1 is a structural representation of the present invention, and Fig. 2 is embodiment of the present invention two, three and four a structural representation, and Fig. 3 is that the A of Fig. 2 is to view.
Embodiment
Embodiment one: specify present embodiment below in conjunction with Fig. 1.It by
The ground scape simulation sand table 6 on side surface simulated target celestial body surface;
Real-time simulation machine 5 also produces position, attitude adjustment order in real time with the information that receives 29 picked-ups of navigation camera; Be provided with pose simulation control program and autonomous optical navigation program in the described real-time simulation machine;
Space three axes rotatable platform 3 to receive position, the attitude adjustment order of real-time simulation machine 5, is made corresponding rotation around the space three axes, and feeds back to real-time simulation machine 5 rotating the location variation that produces;
Corresponding transmission to receive position, the attitude adjustment order of real-time simulation machine 5, is made in vertical by lead screw guide rails mechanism 2, and the location variation that transmission produces is fed back to real-time simulation machine 5 compositions;
In simulation soft landing for deep space probe motion state process, because the whole motion state of detector can be decomposed into the Three Degree Of Freedom of translation, the Three Degree Of Freedom of attitude.The Three Degree Of Freedom of translation can be divided into along three directions (X, Y, motion Z), this motion by horizontal translation dolly 1 and on lead screw guide rails mechanism 2 finish.The Three Degree Of Freedom of attitude can be decomposed into successively the Eulerian angle around three coordinate axis, and native system adopts earlier and rotates the φ angle around the Z axle, rotates the angle again around the X angle, rotates the θ angle at last around the Y angle.Claim that the φ angle is a crab angle, the angle is a roll angle, and the θ angle is the angle of pitch, has
A wherein
IjFor the i of attitude transformed matrix A is capable, the j column element.(φ, θ), just can utilize the motor-driven universal angle plate to point to and expect the orientation, are used for the true attitude of analog prober if each specifies constantly attitude data input.
In horizontal translation dolly 1 translation motion process, the navigation camera 29 that is fixed on the space three axes rotatable platform 3 is taken pictures on scape simulation sand table 6 surfaces over the ground, the image information of utilizing the navigation camera to obtain is estimated the detector pose, compare autonomous optical navigation algorithm results estimated and detector real trace, attitude, thus the performance of checking optical guidance algorithm.
Embodiment two: specify present embodiment below in conjunction with Fig. 2 and Fig. 3.The difference of present embodiment and embodiment one is: horizontal translation dolly 1 is by car body platform 1-1, the first driving wheel 1-2, the second driving wheel 1-3, the first angle sheave 1-4, the second angle sheave 1-5, two torque motor 1-6, two angle displacement sensor 1-7 and two drift angle displacement transducer 1-8 form, the first driving wheel 1-2, the second driving wheel 1-3 is arranged on the place, both sides of car body platform 1-1 and is driven by a torque motor 1-6 respectively, the first angle sheave 1-4, the second angle sheave 1-5 is separately positioned on the front and rear of car body platform 1-1, a drift angle displacement transducer 1-8 is set respectively between the first angle sheave 1-4 and the second angle sheave 1-5 and car body platform 1-1, when car body platform 1-1 turns in motion process, drift angle displacement transducer 1-8 measures the deflection angle of car body platform 1-1 in real time, an angle displacement sensor 1-7 is set to measure the lift-over angle of two driving wheels in real time on the first driving wheel 1-2 and the second driving wheel 1-3 respectively.Two torque motor 1-6 are driven by real-time simulation machine 5, and two angle displacement sensor 1-7 and two drift angle displacement transducer 1-8 are to real-time simulation machine 5 transmission information.
Embodiment three: specify present embodiment below in conjunction with Fig. 2.The difference of present embodiment and embodiment two is: space three axes rotatable platform 3 is by holder microscope carrier 3-1, the universal stage 3-2 that is positioned at that holder microscope carrier 3-1 goes up and can rotates at surface level, luffing framework 3-3, rolling movement framework 3-4, three torque motors 16 and three scramblers 17 are formed, holder microscope carrier 3-1 is connected with lead screw guide rails mechanism 2 to accept its adjusting on short transverse, universal stage 3-2 is connected to accept its driving with a torque motor 16, universal stage 3-2 is connected to measure rotational angle in real time with a scrambler 17, luffing framework 3-3 is hinged on the upper surface of universal stage 3-2 by jointed shaft 3-3-1, luffing framework 3-3 is connected to accept its driving with a torque motor 16, luffing framework 3-3 is connected to measure rotational angle in real time with a scrambler 17, rolling movement framework 3-4 is hinged on the luffing framework 3-3 by hinge axis 3-4-1, rolling movement framework 3-4 is connected to accept its driving with a torque motor 16, rolling movement framework 3-4 is connected with a scrambler 17 to measure rotational angle in real time, jointed shaft 3-3-1, intersect at a point on the rotation center shaft space of hinge axis 3-4-1 and universal stage 3-2.
The basic structure of space three axes rotatable platform 3 adopts the fine aluminum alloy in the present embodiment, and each rotation axis is driven by reduction gear by torque motor.The physical construction of this turntable is in light weight, the rigidity height, and its special design also satisfied in than polarizers of big angle scope (-30 °～30 ° of the angle of pitch and roll angles, crab angle-60 °～60 °), not freely rotated by the influence of leading screw sliding track mechanism.And do not meet at navigation camera 29 occurrence positions variation in the rotation process that a bit brings for fear of rotation axis, add to the difficulties for the dolly position control.This turntable has been realized the requirement that rotating shaft is not intersected at a point by the leading screw constraint by the configuration that changes rotating shaft position and rotational structure.
Embodiment four: specify present embodiment below in conjunction with Fig. 2.The difference of present embodiment and embodiment three is: it comprises that also pose determines camera 30, three reflecting marking points 31 and position and attitude that right-angle triangle is distributed on the car body platform 1-1 upper surface resolve computing machine 32, the displacement transducer 21 that measures holder microscope carrier 3-1 vertical direction position is formed, pose determines that camera 30 is arranged on the positional information of the top of space three axes rotatable platform 3 with picked-up reflecting marking point 31, pose is determined an input end of the output terminal link position attitude algorithm computing machine 32 of camera 30, another input end of the output terminal link position attitude algorithm computing machine 32 of displacement transducer 21, three scramblers 17, the output terminal of two angle displacement sensor 1-7 and two drift angle displacement transducer 1-8 is an input end of link position attitude algorithm computing machine 32 respectively.So be provided with, the navigation picture by navigation camera 29 obtains draws the deep space probe position and attitude information of simulation by the autonomous optical navigation algorithm process.Compare with the actual position and attitude parameter of measuring of present embodiment, can verify the accuracy and the real-time of navigation algorithm.
Claims (4)
1, a kind of simulation test device for visual navigation algorithm of soft landing of deep-space detector is characterized in that it comprises
The ground scape simulation sand table (6) on side surface simulated target celestial body surface;
Navigation camera (29) is with the side surface information of the positive corresponding position ground scape simulation sand table of the camera lens of real time shooting navigation camera (29) (6);
Real-time simulation machine (5) also produces position, attitude adjustment order in real time with the information that receives navigation camera (29) picked-up;
Horizontal translation dolly (1) to receive position, the attitude adjustment order of real-time simulation machine (5), is made corresponding sports in surface level, and the location variation that motion is produced feeds back to real-time simulation machine (5);
Space three axes rotatable platform (3) to receive position, the attitude adjustment order of real-time simulation machine (5), is made corresponding rotation around the space three axes, and feeds back to real-time simulation machine (5) rotating the location variation that produces;
Corresponding transmission to receive position, the attitude adjustment order of real-time simulation machine (5), is made in vertical by lead screw guide rails mechanism (2), and the location variation that transmission is produced feeds back to real-time simulation machine (5);
Navigation camera (29) is fixed on the space three axes rotatable platform (3), and space three axes rotatable platform (3) is arranged on the top of horizontal translation dolly (1) and is connected with the motion of implementation space three axes rotatable platform (3) in vertical with horizontal translation dolly (1) by lead screw guide rails mechanism (2).
2, simulation test device for visual navigation algorithm of soft landing of deep-space detector according to claim 1, it is characterized in that horizontal translation dolly (1) is by car body platform (1-1), first driving wheel (1-2), second driving wheel (1-3), first angle sheave (1-4), second angle sheave (1-5), two torque motors (1-6), two angle displacement sensors (1-7) and two drift angle displacement transducers (1-8) are formed, first driving wheel (1-2), second driving wheel (1-3) is arranged on the place, both sides of car body platform (1-1) and is driven by a torque motor (1-6) respectively, first angle sheave (1-4), second angle sheave (1-5) is separately positioned on the front and rear of car body platform (1-1), between first angle sheave (1-4) and second angle sheave (1-5) and car body platform (1-1) a drift angle displacement transducer (1-8) is set respectively, an angle displacement sensor (1-7) is set on first driving wheel (1-2) and second driving wheel (1-3) respectively to measure the lift-over angle of two driving wheels in real time.
3, simulation test device for visual navigation algorithm of soft landing of deep-space detector according to claim 2, it is characterized in that space three axes rotatable platform (3) is by holder microscope carrier (3-1), the universal stage (3-2) that is positioned at that holder microscope carrier (3-1) is gone up and can rotates at surface level, luffing framework (3-3), rolling movement framework (3-4), three torque motors (16) and three scramblers (17) are formed, holder microscope carrier (3-1) is connected with lead screw guide rails mechanism (2) to accept its adjusting on short transverse, universal stage (3-2) is connected to accept its driving with a torque motor (16), universal stage (3-2) is connected to measure rotational angle in real time with a scrambler (17), luffing framework (3-3) is hinged on the upper surface of universal stage (3-2) by jointed shaft (3-3-1), luffing framework (3-3) is connected to accept its driving with a torque motor (16), luffing framework (3-3) is connected to measure rotational angle in real time with a scrambler (17), rolling movement framework (3-4) is hinged on the luffing framework (3-3) by hinge axis (3-4-1), rolling movement framework (3-4) is connected to accept its driving with a torque motor (16), rolling movement framework (3-4) is connected with a scrambler (17) to measure rotational angle in real time, jointed shaft (3-3-1), intersect at a point on the rotation center shaft space of hinge axis (3-4-1) and universal stage (3-2).
4, simulation test device for visual navigation algorithm of soft landing of deep-space detector according to claim 3, it is characterized in that it comprises that also pose determines camera (30), three reflecting marking points (31) and position and attitude that right-angle triangle is distributed on car body platform (1-1) upper surface resolve computing machine (32), the displacement transducer (21) that measures holder microscope carrier (3-1) vertical direction position is formed, pose determines that camera (30) is arranged on the positional information of the top of space three axes rotatable platform (3) with picked-up reflecting marking point (31), pose is determined an input end of the output terminal link position attitude algorithm computing machine (32) of camera (30), another input end of the output terminal link position attitude algorithm computing machine (32) of displacement transducer (21), three scramblers (17), the output terminal of two angle displacement sensors (1-7) and two drift angle displacement transducers (1-8) is an input end of link position attitude algorithm computing machine (32) respectively.
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