CN201803731U - Star sensor calibration equipment - Google Patents
Star sensor calibration equipment Download PDFInfo
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- CN201803731U CN201803731U CN201020541385XU CN201020541385U CN201803731U CN 201803731 U CN201803731 U CN 201803731U CN 201020541385X U CN201020541385X U CN 201020541385XU CN 201020541385 U CN201020541385 U CN 201020541385U CN 201803731 U CN201803731 U CN 201803731U
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- calibration
- star sensor
- camera
- frame plate
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Abstract
The utility model relates to star sensor calibration equipment which is used for effectively and precisely calibrating the internal parameters of a camera and relations between a cubic prism and the camera. The utility model overcomes the problems of low comprehensive calibration precision, low calibration speed and troublesome operation existing in a traditional star sensor. The technical scheme is that the star sensor calibration equipment comprises a calibration system supporting stand and a calibration frame panel which is installed on the calibration system supporting stand, the calibration frame panel is square, symmetrical common point coordinate conversion devices are arranged at the four corners of the calibration frame panel, common point conversion target supports are evenly arranged on the front surface of the calibration frame panel, a target is installed on each common point conversion target support, and the calibration system supporting stand is installed on the back surface of the calibration frame panel through a calibration frame moving device. The utility model has the advantages that the structure is simple, novel and unique, the operation and the use are easy, the equipment can be used for effectively and precisely calibrating the internal parameters of the camera and relations between a cubic prism and the camera, the comprehensive calibration precision of the star sensor is high, the calibration speed is fast, and the high-precision calibration of the star sensor camera can be completed on the premise that the camera is not moved.
Description
One, technical field
The utility model relates to a kind of star sensor calibration facility.
Two, background technology
Star sensor is used for determining the attitude of aircraft under celestial sphere (inertia) coordinate system, the measuring accuracy of star sensor directly influences the attitude accuracy of aircraft, star sensor is demarcated installation process and need be used prism square as the transition and conversion benchmark, and two coordinate systems of star sensor coordinate system and aircraft body coordinate system are unified.Therefore, measuring accuracy finally all influences the finally attitude accuracy under celestial coordinate system of aircraft between star sensor self measuring accuracy, star sensor coordinate system and the prism square coordinate system.According to camera first sample stage development mission requirements, need to be equipped with of demarcation and high-precision coordinate star sensor body coordinate system and prism square coordinate system between the system conversion of the quick camera calibration equipment of a cover star to finish star sensor self parameter.
But present employed calibration facility uses inconvenience owing to the problem that structurally exists, and demarcation viscosity is not high, and complex structure, and demarcation speed is slow, and therefore, developing a kind of new star sensor calibration facility is the technical matters that needs to be resolved hurrily.
Three, utility model content
At above-mentioned situation, for overcoming the defective of prior art, the purpose of the utility model just provides a kind of star sensor calibration facility, be effective to demarcate accurately the relation between camera intrinsic parameter, prism square and the camera, overcome that star sensor composite calibration precision is low, demarcation speed is slow, the problem of troublesome poeration.
The technical scheme of its solution is, comprise calibration system support foot rest and dress demarcation frame plate thereon, the demarcation frame plate is square, four jiaos of common point coordinate conversion devices that symmetry is arranged, all be equipped with common point conversion target support in the front of flat board, on the common point conversion target support target is housed, the calibration system support foot rest is contained on the back side of demarcating frame plate through demarcating frame moving device.
The utility model is simple in structure, novel unique, use easy to operate, be effective to demarcate accurately the relation between camera intrinsic parameter, prism square and the camera, make star sensor composite calibration precision height, demarcation speed fast, particularly satisfied under the prerequisite of mobile camera not, finished the demarcation of the quick camera of high precision star.
Four, description of drawings
Fig. 1 is a front view of the present utility model.
Fig. 2 is a rear view of the present utility model.
Fig. 3 is a stereographic map of the present utility model.
Five, embodiment
Below in conjunction with accompanying drawing, embodiment of the present utility model is elaborated.
Shown in Fig. 1-3, the utility model comprises calibration system support foot rest and dress demarcation frame plate thereon, demarcating frame plate 1 is square, four jiaos of common point coordinate conversion devices 2 that symmetry is arranged, all be equipped with common point conversion target support 3 in the front of flat board, on the common point conversion target support target 6 is housed, calibration system support foot rest 4 adorns 5 on the back side of demarcation frame plate through demarcating frame moving device.
In order to guarantee result of use, each is the cube of 20mm * 20mm * 20mm for said target, said demarcation frame moving device 5 is to constitute by demarcating the horizontal concrete chute on the frame plate back side and being contained in the carriage in the top stull of calibration system support foot rest and placing in the chute, stull is installed on being fixed on of sliding tray both sides and demarcates in the set collar (indicating among the figure) on the frame plate back side, guarantees the carriage smooth sliding; Said calibration system support foot rest 4 constitutes bracing frame by the stull on top with perpendicular to the vertical support at stull two ends, top, there is vertical fixing feet (not indicating among the figure) together the vertical lower end of supporting, demarcating frame plate mainly is to demarcate for star sensor reference data is provided, finish demarcation to star sensor, use and demarcate frame plate as outside reference (effect of similar turntable), demarcating frame plate will design according to the imaging model and the distribution of survey mark on image of timing signal photo distance and star sensor, demarcate frame plate during shooting and should be covered with the picture plane, to star sensor, because field angle (2 ω=28.4 °), therefore, demarcate the frame plate size design and should satisfy angle of view standard, demarcating frame plate is the square of 1m * 1m; Said target 6 its purposes are in calibration process, the relation between demand camera coordinates system and the reference mirror coordinate system.Can use the transit survey reference mirror, determine the relation between transit coordinate system and the reference mirror coordinate system, can measure the monumented point of demarcating on the framework with transit and camera simultaneously, use the common point transformation approach, the relation between camera coordinates system and the transit coordinate system can be determined, and then the relation between camera coordinates system and the reference mirror coordinate system can be determined.Therefore minimum need design photogrammetric special-purpose target that uses simultaneously with transit survey more than at least eight, the concentricity precision of this target is better than 0.01mm.There is very accurate concentric point at the center of this target, is used for accurately locating when transit survey.
Below artificial target's size of needs is calculated.
In the formula (4-1), d is artificial target's diameter, and c is artificial target's picture point diametric(al) number of pixels, and r is a Pixel Dimensions, and l is the space photography distance, and f is a camera focus.C in the formula 〉=5.
F=43.3mm, r=0.015mm, l=1.2m ask the d should be greater than 3.5mm
In sum, to ensure that stated accuracy is a prerequisite, take the convenience of operation simultaneously into account in the consideration calibration process.The sign of design size, diameter are 5mm.Quantity is according to the size according to monumented point diameter and coordinate system transfer framework, and in conjunction with the factors of calculating such as speed, demarcating on the frame plate needs to lay 2500 of monumented points.Like this, in calibration process,, just can gather 250000 picture points as long as gather 100 pictures.Can cover whole picture plane fully.
During use, because star sensor is to be fixed on the support, traditional passing through fixed and demarcated the field, and the scaling method of mobile camera not only can reduce the efficient of demarcation, and may influence the parameter of camera in the process that moves.So in this design, be the star sensor mobile device of having demarcated Frame Design.
Such design makes is carrying out timing signal to camera, does not need to change the position of camera, only needs the mobile camera support to get final product.Behind alignment measurement, only need to utilize to demarcate the position that frame moving device moves the demarcation framework, reduced the collimation number of times, improved collimation efficient greatly.
The utility model is a cover caliberating device of inventing according to the calibration process of star sensor and scaling method, uses this caliberating device can calibrate relation between camera intrinsic parameter, prism square and the camera accurately.Demarcate the Comprehensive Assessment precision, at x, y can be better than 12 respectively on three directions of z ", 12 ", 8 ".Be effective to the high-precision calibrating to the quick camera of star, and finish the demarcation of the quick camera of high precision star under the prerequisite of mobile camera not, speed is fast accurately new, demarcates accurately high efficiency.It is the innovation greatly of one on star sensor is demarcated.
Claims (5)
1. star sensor calibration facility, comprise calibration system support foot rest and dress demarcation frame plate thereon, it is characterized in that, demarcating frame plate (1) is square, four jiaos of common point coordinate conversion devices (2) that symmetry is arranged, all be equipped with common point conversion target support (3) in the front of flat board, on the common point conversion target support target (6) be housed, calibration system support foot rest (4) is being demarcated on the back side of frame plate through demarcating frame moving device dress (5).
2. star sensor calibration facility according to claim 1 is characterized in that, each is the cube of 20mm * 20mm * 20mm for said target.
3. star sensor calibration facility according to claim 1, it is characterized in that, said demarcation frame moving device is to constitute by demarcating the horizontal concrete chute on the frame plate back side and being contained in the carriage in the top stull of calibration system support foot rest and placing in the chute, and stull is installed on being fixed in the set collar of demarcating on the frame plate back side of sliding tray both sides.
4. star sensor calibration facility according to claim 1, it is characterized in that, said calibration system support foot rest constitutes bracing frame by the stull on top with perpendicular to the vertical support at stull two ends, top, and vertically supporting the lower end has vertical fixing feet together.
5. star sensor calibration facility according to claim 1 is characterized in that, said demarcation frame plate is the square of 1m * 1m.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201020541385XU CN201803731U (en) | 2010-09-26 | 2010-09-26 | Star sensor calibration equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201020541385XU CN201803731U (en) | 2010-09-26 | 2010-09-26 | Star sensor calibration equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201803731U true CN201803731U (en) | 2011-04-20 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201020541385XU Expired - Fee Related CN201803731U (en) | 2010-09-26 | 2010-09-26 | Star sensor calibration equipment |
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| CN (1) | CN201803731U (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102322816A (en) * | 2011-06-13 | 2012-01-18 | 北京航空航天大学 | Calibration target device and calibration method for three-dimensional ice-shaped digital image system |
| CN102393524A (en) * | 2011-11-11 | 2012-03-28 | 铁道第三勘察设计院集团有限公司 | Point cloud plane precision detecting device of airborne laser radar |
| CN103176180A (en) * | 2013-02-27 | 2013-06-26 | 四川省科学城久利科技实业有限责任公司 | Device and method for detecting positioning precision of high-precision airborne laser radar system |
| CN104280019A (en) * | 2013-07-10 | 2015-01-14 | 德尔福电子(苏州)有限公司 | All-round looking system calibration device based on flexible calibration plate |
| CN105318891A (en) * | 2014-07-25 | 2016-02-10 | 北京航天计量测试技术研究所 | Star sensor reference cube-prism installation error calibration apparatus |
| CZ306908B6 (en) * | 2015-12-09 | 2017-09-06 | Vysoké Učení Technické V Brně | A calibration target for multispectral optical measurement |
| CN108007292A (en) * | 2017-11-23 | 2018-05-08 | 北京控制工程研究所 | It is a kind of can two dimensional motion and conversion configuration geometric calibration device |
| CN108195398A (en) * | 2017-11-29 | 2018-06-22 | 北京控制工程研究所 | A kind of complex configuration into the in-orbit geometric calibration device of image sensor |
| CN108426701A (en) * | 2017-12-27 | 2018-08-21 | 北京空间机电研究所 | A kind of discontinuous stellar camera elements of interior orientation test method of CCD device and system |
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2010
- 2010-09-26 CN CN201020541385XU patent/CN201803731U/en not_active Expired - Fee Related
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102322816B (en) * | 2011-06-13 | 2013-11-27 | 北京航空航天大学 | Calibration target device and calibration method for three-dimensional ice-shaped digital image system |
| CN102322816A (en) * | 2011-06-13 | 2012-01-18 | 北京航空航天大学 | Calibration target device and calibration method for three-dimensional ice-shaped digital image system |
| CN102393524A (en) * | 2011-11-11 | 2012-03-28 | 铁道第三勘察设计院集团有限公司 | Point cloud plane precision detecting device of airborne laser radar |
| CN103176180B (en) * | 2013-02-27 | 2017-05-03 | 四川省科学城久利科技实业有限责任公司 | Device and method for detecting positioning precision of high-precision airborne laser radar system |
| CN103176180A (en) * | 2013-02-27 | 2013-06-26 | 四川省科学城久利科技实业有限责任公司 | Device and method for detecting positioning precision of high-precision airborne laser radar system |
| CN104280019A (en) * | 2013-07-10 | 2015-01-14 | 德尔福电子(苏州)有限公司 | All-round looking system calibration device based on flexible calibration plate |
| CN105318891A (en) * | 2014-07-25 | 2016-02-10 | 北京航天计量测试技术研究所 | Star sensor reference cube-prism installation error calibration apparatus |
| CN105318891B (en) * | 2014-07-25 | 2018-05-18 | 北京航天计量测试技术研究所 | A kind of caliberating device of star sensor benchmark prism square installation error |
| CZ306908B6 (en) * | 2015-12-09 | 2017-09-06 | Vysoké Učení Technické V Brně | A calibration target for multispectral optical measurement |
| CN108007292A (en) * | 2017-11-23 | 2018-05-08 | 北京控制工程研究所 | It is a kind of can two dimensional motion and conversion configuration geometric calibration device |
| CN108195398A (en) * | 2017-11-29 | 2018-06-22 | 北京控制工程研究所 | A kind of complex configuration into the in-orbit geometric calibration device of image sensor |
| CN108195398B (en) * | 2017-11-29 | 2020-06-09 | 北京控制工程研究所 | Imaging sensor in-orbit geometric calibration device with complex configuration |
| CN108426701A (en) * | 2017-12-27 | 2018-08-21 | 北京空间机电研究所 | A kind of discontinuous stellar camera elements of interior orientation test method of CCD device and system |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| ASS | Succession or assignment of patent right |
Owner name: BEIJING CONTROL ENGINEERING INST. Effective date: 20131107 |
|
| C41 | Transfer of patent application or patent right or utility model | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20131107 Address after: 450001, A2, 12 floor, National Science Park, No. 7, Holly Road, Zhengzhou hi tech Industrial Development Zone, Henan, China Patentee after: Zhengzhou Sunward Technology Co., Ltd. Patentee after: Beijing Control Engineering Inst. Address before: 450001, A2, 12 floor, National Science Park, No. 7, Holly Road, Zhengzhou hi tech Industrial Development Zone, Henan, China Patentee before: Zhengzhou Sunward Technology Co., Ltd. |
|
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20110420 Termination date: 20160926 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |