WO2023173675A1 - 一种高精度指向系统用抖动补偿装置和方法 - Google Patents

一种高精度指向系统用抖动补偿装置和方法 Download PDF

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WO2023173675A1
WO2023173675A1 PCT/CN2022/112710 CN2022112710W WO2023173675A1 WO 2023173675 A1 WO2023173675 A1 WO 2023173675A1 CN 2022112710 W CN2022112710 W CN 2022112710W WO 2023173675 A1 WO2023173675 A1 WO 2023173675A1
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light
jitter compensation
jitter
light source
test
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PCT/CN2022/112710
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English (en)
French (fr)
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王立
袁利
武延鹏
钟俊
郑然�
李林
王晓燕
李玉明
王苗苗
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北京控制工程研究所
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Publication of WO2023173675A1 publication Critical patent/WO2023173675A1/zh

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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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  • the invention relates to a jitter compensation device and method for a high-precision pointing system, and belongs to the field of adaptive optics.
  • the limit level that can be measured is 1′′.
  • influencing factors include airflow disturbance, ground jitter, and specific random jitter of motor-controlled components inside the equipment.
  • air flow disturbance can be eliminated by installing the entire set of equipment in a closed space and controlling the air flow in the closed space.
  • Ground shaking can be eliminated to a certain extent through the foundation, but usually the highest level is E level, and the shaking inside the equipment is only It can be reduced to a certain extent but cannot be eliminated. Taking various control measures and using traditional methods for ground accuracy testing cannot achieve higher accuracy pointing sensor accuracy testing.
  • the purpose of the present invention is to overcome the jitter problem of the traditional precision testing system and provide a highly stable simulation system that can realize sensor testing with milli-arcsecond accuracy.
  • a jitter compensation device for a high-precision pointing system including: an adjustable color temperature light source (1), a reticle (2), an adjustable diaphragm (3), a light source collimation system (4), and a beam splitting system (5 ), neutral attenuator (6), reflector (7), shake compensation system (11), signal light beam expansion system (12), reference light beam expansion system (8), microscopic imaging system (9), detection device (10), sensor (13) and its mounting bracket (14);
  • the adjustable color temperature light source (1) emits quasi-monochromatic light and composite light of different color temperatures to illuminate the differentiation plate (2), which is collimated into quasi-parallel light by the light source collimation system (4), and then passes through the beam splitting system (5) The beam is split into a reference beam and a test beam, where the reference beam propagates towards the neutral attenuator (6) and the test beam propagates towards the jitter compensation system (11). There is a space between the differentiation plate (2) and the light source collimation system (4). Adjustable iris (3), used to control the amount of light and suppress stray light;
  • the reference beam first passes through the neutral attenuator (6) for the first energy attenuation, and then is reflected by the reflector (7) and then passes through the neutral attenuator (6) for the second energy attenuation.
  • the beam after the second energy attenuation passes through the splitter.
  • the beam system (5) implements light splitting to form a second reference beam and a third reference beam, where the second reference beam propagates toward the reference light beam expansion system (8), and the third reference beam propagates toward the light source collimation system (4).
  • the third reference beam is a non-working beam and is absorbed by the structure. After the second reference beam is expanded, it is directly imaged through the microscope imaging system (9) and received by the detector (10);
  • the test beam passes through the jitter compensation system (11) and the signal light beam expansion system (12), and finally reaches the focal plane of the sensor (13). There is a reflector at the entrance of the secondary mirror of the sensor, and part of the test beam is reflected by the reflector.
  • the signal light beam is returned to the beam expansion system (12), and then propagated to the beam splitting system (5) through the jitter compensation system (11) to form a second test beam and a third test beam, where the third test beam is directed towards the light source collimation system (4 ) propagates.
  • the third test beam is a non-working beam and is absorbed by the structure.
  • the second test beam propagates towards the reference light beam expansion system (8). After passing through the beam expansion system, the beam is expanded and amplified by the microscope system and is also amplified by the detector (10). take over.
  • the adjustable color temperature light source (1) uses LED as the light source to emit quasi-monochromatic light and composite light of different color temperatures.
  • the energy of the emitted light satisfies the range of 0Mv to 10Mv that the pointing measurement sensor (13) is sensitive to stars. Sensitivity requirements; the spectral range of the adjustable color temperature light source (1) is the full spectrum range of 400nm ⁇ 900nm.
  • the reticle (2) is processed by mask etching.
  • the types of star points distributed on the reticle include stars in specific sky areas and array star points.
  • the distributed star points have different calibers.
  • the diameter of the central star point is designed to be 400 microns, and the peripheral star points are etched to the star point diameter through the relationship between different star point magnitudes.
  • the light source collimation system (4) performs aberration processing on the entire full spectrum segment to ensure that the size of the diffuse spot is smaller than the minimum star point diameter of the reticle.
  • the light splitting ratio of the light splitting system (5) is controlled to 50%:50% to split the collimated light beam.
  • the neutral attenuator (6) attenuates the energy of the reference beam to ensure that the energy difference between the finally obtained second test beam spot and the second reference light spot is within 10%.
  • the neutral attenuator (6) also performs energy attenuation on the reference beam.
  • the caliber of the reference light is limited;
  • the angle between the reflector (7) and the optical axis is 90.2°, so that the pixel distance between the second reference light return point and the second test beam return point is greater than 50 pixels.
  • the jitter compensation mirror (11) can rotate around two axes to adjust the direction of the outgoing light.
  • the jitter frequency of the jitter compensation mirror (11) is greater than 500HZ.
  • PID is used to control the swing of the jitter compensation mirror, thereby achieving various Compensation for environmental jitter greater than 100HZ; the two axes are the pitch axis and the yaw axis respectively.
  • the signal light beam expansion system (12) is a telephoto system that expands the 30mm beam to 200mm.
  • the signal light beam expansion system (12) adopts a two-mirror design.
  • the primary mirror is a positive-axis paraboloid and the secondary mirror is a positive-axis paraboloid.
  • the sensor (13) is the star sensor to be measured, and the mounting bracket (14) is used for the installation of the sensor (13);
  • the reference light beam expansion system (8) includes two levels of beam expansion.
  • the beam expansion process is to first expand the 3.2mm beam to 40mm, and then expand the 40mm beam to 400mm.
  • the first level of beam expansion adopts the structure of a transmission telescope system.
  • the secondary beam expansion system adopts a two-reverse design, with a beam expansion magnification of 12.5 times.
  • the primary and secondary mirrors are designed as positive-axis parabolic mirrors, and both primary and secondary mirrors are made of crystallized glass.
  • the microscopic imaging system (9) enlarges the reference light and the signal light for imaging.
  • the microscopic imaging system (9) adopts a two-reverse design to converge the obtained 400mm beam.
  • the focal length is 5000mm, and the main mirror is the positive axis.
  • Paraboloid, secondary mirror adopts positive axis hyperboloid;
  • the detection imaging system (10) can detect the reflected light energy at 10Mv and achieve star point extraction greater than 500Hz.
  • the present invention also proposes a jitter compensation method, the steps are as follows:
  • Step 1 The microscopic imaging system extracts the centroid of the two detected light spots
  • Step 2 The second test beam returns to obtain the center of mass and compares it with the situation without shake compensation to confirm the offset. If there is offset, drive the pitch and yaw axis of the shake compensation mirror to compensate.
  • Step 3 Re-judge the offset of the light spot formed by the second test beam and the second reference beam through the microscope imaging system, and repeat steps 2 and 3 until there is no offset of the light spot formed by the second test beam and the second reference beam. , then monitor the next moment after the jitter compensation is completed.
  • the calibration device of the present invention compares the signal light and the reference light, and compensates by rapidly swinging the two axes of the jitter compensation mirror, thereby obtaining a stable light beam at the signal end, providing a high-precision or ultra-high-precision sensor accuracy test. Highly stable stellar light.
  • Figure 1 is a schematic diagram of the composition of the calibration device of the present invention.
  • Figure 2 is a work flow chart of jitter compensation according to the present invention.
  • the present invention adopts collimation and splitting of the light source beam to form reference light and signal light.
  • the signal light is reflected by the reflector on the front end of the sensor.
  • the jitter compensation reflector is controlled. Pitch and yaw, thereby ensuring high stability of the emitted light and providing star points for accuracy testing of high-precision sensors.
  • FIG. 1 The structure of the entire jitter compensation device of the present invention is shown in Figure 1, which includes an adjustable color temperature light source 1, a reticle 2, an adjustable diaphragm 3, a light source collimation system 4, a beam splitting system 5, and a neutral attenuator. 6.
  • the adjustable color temperature light source 1 emits quasi-monochromatic light and composite light of different color temperatures, illuminates the differentiation plate 2, is collimated into quasi-parallel light through the light source collimation system 4, and is split into a reference beam and a test beam through the beam splitting system 5 , where the reference beam propagates towards the neutral attenuator 6, the test beam propagates towards the jitter compensation system 11, and an adjustable diaphragm 3 is provided between the differentiation plate 2 and the light source collimation system 4 to control the amount of light and suppress stray light;
  • the reference beam first passes through the neutral attenuator 6 for the first energy attenuation, and then is reflected by the mirror 7 and then passes through the neutral attenuator 6 for the second energy attenuation.
  • the beam after the second energy attenuation is split by the beam splitting system 5.
  • a second reference beam and a third reference beam are formed, where the second reference beam propagates towards the reference light beam expansion system 8 and the third reference beam propagates towards the light source collimation system 4.
  • the third reference beam is a non-working beam and is absorbed by the structure. , after the second reference beam is expanded, it is directly imaged through the microscope imaging system 9 and received by the detector 10;
  • the test beam passes through the jitter compensation system 11 and the signal light beam expansion system 12, and finally reaches the focal plane of the sensor 13.
  • a reflector is provided at the entrance position of the secondary mirror of the sensor, and part of the test beam is reflected by the reflector back to the signal light beam expander system. 12.
  • Then propagates to the beam splitting system 5 through the jitter compensation system 11 to form a second test beam and a third test beam.
  • the third test beam propagates toward the light source collimation system 4.
  • the third test beam is a non-working beam and is The structure absorbs the second test beam and propagates towards the reference light beam expansion system 8. After being expanded by the beam expansion system and amplified by the microscope system, it is also received by the detector 10.
  • the adjustable color temperature light source 1 uses LED as the light source and can emit quasi-monochromatic light and composite light with different color temperatures such as 6000K color temperature.
  • the energy of the emitted light can satisfy the sensitivity of the pointing measurement sensor 13 to stars in the range of 0Mv to 10Mv.
  • the spectral range of the adjustable color temperature light source 1 is the full spectrum range of 400nm to 900nm.
  • the reticle 2 is processed by mask etching.
  • the types of star points distributed on the reticle include stars in specific sky areas and array star points.
  • the distributed star points have different calibers.
  • the diameter of the central star point is designed to be as large as 400 microns, and the peripheral star points are etched to the star point diameter through different star point magnitude relationships.
  • the aperture of the jitter signal light is reduced to 3.2mm. It is necessary to expand the vibration signal beam to an acceptable range; according to the magnitude requirements, the beam received by the sensor is very weak, and the return beam is even weaker due to the limited aperture. This factor should be fully considered, and the frame rate should be taken into account, and the appropriate CCD should be selected to meet the requirements. ;In order to achieve the compensation accuracy of 0.1′′, the compensation resolution reaches 0.01′′. Star point positioning using centroid compensation algorithm. When the vibration signal beam is offset, the CCD pixel corresponds to 0.1′′. The detection star point signal occupies between 3 and 8 pixels of the CCD to ensure detection accuracy.
  • the luminous flux input into the detection system at the end of the sensor mirror is ⁇ 1. Since simulating a star of magnitude 10 is the limit detection condition of the system, the corresponding illumination value is 2.67 ⁇ 10 -10 lx.
  • the relationship between the illumination at the exit of the parallel light tube and the star point as follows:
  • the corresponding illumination value of 40 ⁇ m at the light outlet of the collimator is 2.67 ⁇ 10 -10 lx
  • the corresponding illumination value of 400 ⁇ m at the light outlet of the collimator is 2.67 ⁇ 10 -8 lx. According to this illumination value Calculate the illumination value reflected back to the detector system to determine the final camera.
  • the adjustable iris 3 can effectively control the amount of light entering the system while suppressing stray light.
  • the light source collimation system 4 has a designed operating spectrum range of 400nm to 900nm and adopts a transmission structure.
  • the light source collimation system performs achromatic processing on the full spectrum to ensure that the size of the diffuse spot is smaller than the minimum star point diameter of the reticle.
  • the diffuse spot is controlled within 22 microns.
  • the beam splitting system 5 divides the collimated light beam into two beams. Within the designed spectrum range of 400nm to 900nm, the two beams of light energy each account for 50%.
  • Neutral attenuation plate 6 attenuates the energy of the reference light to ensure that the energy difference between the final signal light spot and the reference light spot is within 10%.
  • the diameter of the reference light is limited to about 3.2mm.
  • the angle between the reflector and the optical axis is 90.2°, ensuring that under ideal circumstances, the pixel distance between the reference light return light point and the signal light return light point is greater than 50 pixels, ensuring the extraction accuracy of the two light points.
  • Shake compensation system 11 This system can rotate around two axes and adjust the direction of the outgoing light. In order to ensure that the final compensation frequency is greater than 100HZ, the shake frequency of the shake compensation mirror is greater than 500HZ.
  • the two axes of shake compensation are respectively are the pitch axis and the yaw axis.
  • Signal light beam expansion system 12 This system is a telephoto system that can expand the 30mm beam to 200mm.
  • the beam expansion system adopts a two-mirror system.
  • the primary mirror is designed as a positive-axis paraboloid and the secondary mirror is designed as a positive-axis hyperboloid. Since it is a reflective system, there is no need to consider the influence of chromatic aberration.
  • the sensor 13 is the sensor to be measured, which is mainly a high-precision star sensor, such as an extremely high or milliarc second star sensor, etc.
  • the mounting bracket 14 is used for the installation of the sensor.
  • the reference beam expansion system 8 includes two-stage beam expansion.
  • the beam expansion process is to first expand the 3.2mm beam to 40mm, and then expand the 40mm beam to 400mm.
  • the first-level beam expansion adopts the structure of the traditional transmission telescope system.
  • the secondary beam expansion system adopts a two-reverse design with a beam expansion magnification of 12.5 times.
  • the primary and secondary mirrors are designed as positive-axis parabolic mirrors.
  • the reflection system does not need to consider the influence of chromatic aberration.
  • Both primary and secondary mirrors are made of crystallized glass. This system is an ideal beam expansion system, and the wave aberration introduced within the range of ⁇ 0.5’ is very small, resulting in negligible star point distortion.
  • Microscopic imaging system 9 converges the obtained 400mm beam.
  • the convergence system also adopts a two-reverse design with a focal length of 5000mm.
  • the primary mirror is designed as a positive-axis paraboloid, and the secondary mirror is designed as a positive-axis hyperboloid. Since it is a reflective system, there is no need to consider the influence of chromatic aberration.
  • the detection imaging system 10 has high sensitivity, can detect the reflected light energy at 10Mv, has the function of window extraction, and realizes star point extraction greater than 500Hz.
  • the jitter compensation process is as follows: the collimated image of the reticle is divided into two beams by a beam splitter, one beam of signal light (test light) and one beam of reference light.
  • the signal light enters the sensor through the entire jitter compensation system. , part of the energy of the light spot on the axis is reflected back to the microscope imaging system through the front-end mirror of the sensor, and a signal light spot is obtained.
  • Another beam of reference light directly enters the behavioral imaging system, and another reference light spot is obtained.
  • Microscope The imaging system extracts the center of mass of the two detected light spots and confirms the offset compared with the case without shake compensation.
  • To determine the offset of the reference light spot cycle the above process until there is no offset between the signal spot and the reference light spot.
  • the jitter compensation is completed, monitor the next moment. Since the response frequency of the jitter compensation system and the detection imaging frequency are different. Less than 500Hz, so the completion time of the above jitter compensation process is at the millisecond level.

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Abstract

一种高精度指向系统用抖动补偿装置和方法，属于自适应光学领域，本方法通过搭建专有的光学装置，采用高倍显微系统对产品端反射回的自准直像进行抖动分析，然后驱动二维反射镜的快速转动，从而实现整个系统的抖动补偿。该方法可以实现抖动补偿精度能够优于0.1"，分辨率能够实现优于0.01"，从而为高精度的敏感器提供高精度的测试条件。

Description

一种高精度指向系统用抖动补偿装置和方法
本申请要求于2022年3月14日提交中国专利局、申请号为202210248904.0、发明名称为“一种高精度指向系统用抖动补偿装置和方法”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本发明涉及一种高精度指向系统用抖动补偿装置和方法，属于自适应光学领域。
背景技术
传统在地面进行指向敏感器的精度测试，能够测量的极限水平为1″，更高精度更高的测试，影响因素包括气流扰动，地面抖动，设备内部有电机控制的组件存在特定的随机抖动等，其中气流扰动可以通过将整套设备安装于一个密闭空间通过控制该密闭空间内的气流消除气流扰动，地面抖动可以通过地基在一定程度的消除，但是通常最高等级为E级，设备内部的抖动只能一定程度的减小而不能进行消除。采取各种控制措施，采用传统的方式进行地面精度测试，不能实现更高精度指向敏感器的精度测试。
发明内容
本发明的目的在于：克服传统精度测试系统的抖动问题，提供一种高稳定度的模拟系统，可以实现毫角秒级精度的敏感器测试。
本发明的技术解决方案是：
一种高精度指向系统用抖动补偿装置，包括：可调色温光源(1)、分划板(2)、可调光阑(3)、光源准直系统(4)、分束系统(5)、中性衰减片(6)、反射镜(7)、抖动补偿系统(11)、信号光扩束系统(12)、参考光扩束系统(8)、显微成像系统(9)、探测器(10)、敏感器(13)及其安装支架(14)；
可调色温光源(1)出射准单色光与不同色温的复合光，照亮分化板(2)， 经过光源准直系统(4)准直成准平行光，经过分束系统(5)分束成参考光束和测试光束，其中参考光束朝向中性衰减片(6)传播，测试光束朝向抖动补偿系统(11)传播，分化板(2)和光源准直系统(4)之间设有可调光阑(3)，用于控制通光量和抑制杂光；
参考光束先通过中性衰减片(6)进行首次能量衰减，之后通过反射镜(7)反射后再次通过中性衰减片(6)进行第二次能量衰减，二次能量衰减后的光束通过分束系统(5)实现分光，形成第二参考光束与第三参考光束，其中第二参考光束朝向参考光扩束系统(8)传播，第三参考光束朝向光源准直系统(4)传播，该第三参考光束为非工作光束，被结构吸收，第二参考光束扩束后，经过显微成像系统(9)进行直接成像，被探测器(10)接收；
测试光束经过抖动补偿系统(11)，信号光扩束系统(12)，最终到达敏感器(13)焦面，敏感器次镜入口位置设置有一个反射镜，测试光束有一部分被该反射镜反射回信号光扩束系统(12)，再经过抖动补偿系统(11)传播至分束系统(5)，形成第二测试光束与第三测试光束，其中第三测试光束朝向光源准直系统(4)传播，该第三测试光束为非工作光束，被结构吸收，第二测试光束朝向参考光扩束系统(8)传播，经过扩束系统扩束与显微系统放大同样被探测器(10)接收。
进一步的，可调色温光源(1)采用LED作为光源，出射准单色光与不同色温的复合光，其出射光的能量满足指向测量敏感器(13)对恒星敏感的范围为0Mv～10Mv的灵敏度要求；可调色温光源(1)的光谱范围为400nm～900nm全谱段。
进一步的，分划板(2)采用掩膜刻蚀的方式加工，分划板上分布的恒星星点种类包括特定天区的恒星、阵列星点，分布的星点具有不同口径，为了保证信号光回光能量的强度，中心星点的直径设计为400微米，外围星点通过不同星点星等关系等效到星点直径进行刻蚀。
进一步的，光源准直系统(4)对整个全谱段进行消像差处理，保证弥散斑 的尺寸小于分划板最小星点直径。
进一步的，分光系统(5)的分光比控制为50％：50％，对准直光束进行分光。
进一步的，中性衰减片(6)对参考光束进行能量衰减，保证最终得到的第二测试光束光点与第二参考光光点能量差别在10％以内，中性衰减片(6)还对参考光的口径进行了限制；
反射镜(7)与光轴夹角在90.2°，使得第二参考光回光光点与第二测试光束回光光点像素间距大于50像素。
进一步的，抖动补偿反射镜(11)能够绕着两个轴进行转动，进而调整出射光方向，抖动补偿反射镜(11)的抖动频率大于500HZ，采用PID控制抖动补偿镜的摆动，从而实现不大于100HZ环境抖动的补偿；其中所述两个轴分别是俯仰轴与偏航轴。
进一步的，信号光扩束系统(12)为一个望远系统，将30mm的光束扩大到200mm，该信号光扩束系统(12)采用两反设计，主镜为正轴抛物面，次镜采用正轴双曲面；
敏感器(13)为被测星敏感器，安装支架(14)用于敏感器(13)的安装；
参考光扩束系统(8)包含两级扩束，扩束过程为首先将3.2mm光束扩束成40mm，再将40mm的光束扩束至400mm，一级扩束采用透射式望远系统的结构形式，二级扩束系统采用两反式设计，扩束倍率12.5倍，主次镜设计为正轴抛物镜，主次镜均采用微晶玻璃。
进一步的，显微成像系统(9)对参考光和信号光进行放大成像，显微成像系统(9)采用两反式设计，对得到的400mm光束进行汇聚，焦距为5000mm，主镜为正轴抛物面，次镜采用正轴双曲面；
探测成像系统(10)能够探测到在10Mv反射回光能量，实现大于500Hz的星点提取。
进一步的，本发明还提出一种抖动补偿方法，步骤如下：
步骤一、显微成像系统对探测到的两个光点进行质心提取；
步骤二、第二测试光束返回得到质心与无抖动补偿情况相比确认偏移量，如果有偏移，驱动抖动补偿镜的俯仰偏航轴进行补偿。
步骤三、通过显微成像系统重新判断第二测试光束与第二参考光束形成的光点偏移情况，循环步骤二、三，直到第二测试光束与第二参考光束形成的光点无偏移，则抖动补偿结束后进行下一个时刻的监视。
本发明与现有技术相比的优点在于：
本发明的标定装置，通过对信号光与参考光的比较判断，通过抖动补偿反射镜两轴快速摆动进而补偿，从而在信号端获得稳定的光束，为高精度或者超高精度敏感器精度测试提供高稳定的恒星光。
附图说明
图1为本发明标定装置的组成示意图；
图2为本发明抖动补偿工作流程图。
具体实施方式
本发明采用对光源光束准直进行分束，形成参考光与信号光，对于信号光，通过敏感器前端面的反射镜进行反射，通过对信号光与参考光进行解算，控制抖动补偿反射镜的俯仰偏航，从而保证出射光的高稳定性，为高精度敏感器的精度测试提供恒星星点。
本发明的整套抖动补偿装置结构组成如图1所示，包含有可调色温光源1、分划板2、可调光阑3、光源准直系统4、分束系统5、中性衰减片6、反射镜7、抖动补偿系统11、信号光扩束系统12、参考光扩束系统8、显微成像系统9、探测器10、敏感器13及其安装支架14。
可调色温光源1出射准单色光与不同色温的复合光，照亮分化板2，经过光源准直系统4准直成准平行光，经过分束系统5分束成参考光束和测试光束，其中参考光束朝向中性衰减片6传播，测试光束朝向抖动补偿系统11传播，分化板2和光源准直系统4之间设有可调光阑3，用于控制通光量和抑制杂光；
参考光束先通过中性衰减片6进行首次能量衰减，之后通过反射镜7反射后再次通过中性衰减片6进行第二次能量衰减，二次能量衰减后的光束通过分束系统5实现分光，形成第二参考光束与第三参考光束，其中第二参考光束朝向参考光扩束系统8传播，第三参考光束朝向光源准直系统4传播，该第三参考光束为非工作光束，被结构吸收，第二参考光束扩束后，经过显微成像系统9进行直接成像，被探测器10接收；
测试光束经过抖动补偿系统11，信号光扩束系统12，最终到达敏感器13焦面，敏感器次镜入口位置设置有一个反射镜，测试光束有一部分被该反射镜反射回信号光扩束系统12，再经过抖动补偿系统11传播至分束系统5，形成第二测试光束与第三测试光束，其中第三测试光束朝向光源准直系统4传播，该第三测试光束为非工作光束，被结构吸收，第二测试光束朝向参考光扩束系统8传播，经过扩束系统扩束与显微系统放大同样被探测器10接收。
可调色温光源1采用LED作为光源，能够出射准单色光与不同色温的复合光如6000K色温，其出射光的能量能够满足指向测量敏感器13对恒星敏感的范围为0Mv～10Mv的灵敏度要求，可调色温光源1的光谱范围为400nm～900nm全谱段。
分划板2采用掩膜刻蚀的方式加工，分划板上分布的恒星星点种类包括特定天区的恒星、阵列星点，分布的星点具有不同口径，为了保证信号光回光能量的强度，中心星点的直径设计较大为400微米，外围星点通过不同星点星等关系等效到星点直径进行刻蚀。
在敏感器中心放置20mm反射镜反射抖动待测信号，则回到探测支路后，抖动信号光口径缩束为3.2mm。需要将振动信号光束扩束至可以接受范围；按照星等要求，敏感器接受的光束非常微弱，返回来由于口径受限更加微弱，应当充分考虑该因素，且兼顾帧率，选择合适CCD满足要求；为了补偿精度达到0.1″，补偿分辨率达到0.01″。用质心补偿算法进行星点定位。当振动信号光束发生偏移时，CCD像元对应于0.1″。探测星点信号占据CCD3～8个 像素之间，从而保证探测精度。
敏感器反射镜端面向探测系统中输入的光通量为ф 1，因模拟10等星时为系统的极限探测情况，对应照度值为2.67×10 -10lx，平行光管出口照度与星点的关系如下：
Figure PCTCN2022112710-appb-000001
当40μm星点模拟10Mv时，40μm在平行光管出光口对应的照度值为2.67×10 -10lx，400μm在平行光管出光口对应的照度值为2.67×10 -8lx，根据此照度值计算反射回探测器系统的照度值，确定最终的相机。
可调光阑3，可有效控制进入系统通光量，同时抑制杂光。
光源准直系统4，设计工作谱段为400nm～900nm，采用透射式的结构组成，设计视场2ω＝12.6°，设计入瞳30mm，表示光源光束经过准直系统后，光束直径为30mm。
光源准直系统对全谱段消色差处理，保证弥散斑的尺寸小于分划板最小星点直径，本发明中弥散斑控制在22微米以内。
分束系统5将准直的光束分成两束，在设计光谱范围400nm～900nm范围内，两束光能量各占50％。
中性衰减片6，对参考光进行能量衰减，保证最终得到的信号光光点与参考光光点能量差别在10％以内，另外对参考光的口径进行了限制，限制在3.2mm左右。
反射镜7，该反射镜与光轴夹角在90.2°，保证理想情况下，参考光回光光点与信号光回光光点像素间距大于50像素，保证对两个光点的提取精度。
抖动补偿系统11，该系统能够绕着两个轴进行转动，能够调整出射光方向，为了保证最终补偿频率大于100HZ的要求，抖动补偿反射镜的抖动频率大于500HZ，其中抖动补偿的两个轴分别是俯仰轴与偏航轴。
信号光扩束系统12，该系统为一个望远系统，能够将30mm的光束扩大到200mm，该扩束系统采用两反系统，主镜设计为正轴抛物面，次镜采用正轴 双曲面设计，由于是反射式系统，不用考虑色差的影响。
敏感器13为被测敏感器，主要为高精度的星敏感器，如极高、毫角秒星敏感器等，安装支架14用于敏感器的安装。
参考光扩束系统8，包含两级扩束，扩束过程为首先将3.2mm扩束成40mm，再将40mm的光束扩束至400mm，一级扩束采用传统的透射式望远系统的结构形式，二级扩束系统采用两反式设计，扩束倍率12.5倍，主次镜设计为正轴抛物镜，反射系统不用考虑色差影响，主次镜均采用微晶玻璃。该系统是理想扩束系统，在±0.5’范围内引入波像差很小，导致星点畸变可以忽略。
显微成像系统9，对得到的400mm光束进行汇聚，汇聚系统同样采用两反式设计，焦距为5000mm。主镜设计为正轴抛物面，次镜采用正轴双曲面设计。由于是反射系统，不用考虑色差的影响。
探测成像系统10，具有高灵敏度，能够探测到在10Mv反射回光能量，具备开窗提取的功能，实现大于500Hz的星点提取。
如图2所示，抖动补偿过程如下：分划板的准直像被分束镜分成两束，一束信号光(测试光)，一束参考光，信号光经过整个抖动补偿系统进入敏感器，轴上光点部分能量经过敏感器前端反射镜反射回到显微成像系统中，得到一个信号光光点，另外一束参考光直接进入行为成像系统中，得到另外一个参考光点，显微成像系统对探测到的两个光点进行质心提取，与无抖动补偿情况相比确认偏移量，如果有偏移，驱动抖动补偿镜的俯仰偏航轴进行补偿，重新判断信号光光点与参考光光点的偏移情况，循环上述过程直到信号光点与参考光点之间无偏移，抖动补偿结束后进行下一个时刻的监视，由于抖动补偿系统的响应频率与探测成像频率均不小于500Hz，因此上述抖动补偿过程完成时间在毫秒级别。
本发明说明书中未作详细描述的内容属本领域技术人员的公知技术。

Claims (10)

  1. 一种高精度指向系统用抖动补偿装置，其特征在于包括：可调色温光源(1)、分划板(2)、可调光阑(3)、光源准直系统(4)、分束系统(5)、中性衰减片(6)、反射镜(7)、抖动补偿系统(11)、信号光扩束系统(12)、参考光扩束系统(8)、显微成像系统(9)、探测器(10)、敏感器(13)及其安装支架(14)；
    可调色温光源(1)出射准单色光与不同色温的复合光，照亮分化板(2)，经过光源准直系统(4)准直成准平行光，经过分束系统(5)分束成参考光束和测试光束，其中参考光束朝向中性衰减片(6)传播，测试光束朝向抖动补偿系统(11)传播，分化板(2)和光源准直系统(4)之间设有可调光阑(3)，用于控制通光量和抑制杂光；
    参考光束先通过中性衰减片(6)进行首次能量衰减，之后通过反射镜(7)反射后再次通过中性衰减片(6)进行第二次能量衰减，二次能量衰减后的光束通过分束系统(5)实现分光，形成第二参考光束与第三参考光束，其中第二参考光束朝向参考光扩束系统(8)传播，第三参考光束朝向光源准直系统(4)传播，该第三参考光束为非工作光束，被结构吸收，第二参考光束扩束后，经过显微成像系统(9)进行直接成像，被探测器(10)接收；
    测试光束经过抖动补偿系统(11)，信号光扩束系统(12)，最终到达敏感器(13)焦面，敏感器次镜入口位置设置有一个反射镜，测试光束有一部分被该反射镜反射回信号光扩束系统(12)，再经过抖动补偿系统(11)传播至分束系统(5)，形成第二测试光束与第三测试光束，其中第三测试光束朝向光源准直系统(4)传播，该第三测试光束为非工作光束，被结构吸收，第二测试光束朝向参考光扩束系统(8)传播，经过扩束系统扩束与显微系统放大同样被探测器(10)接收。
  2. 根据权利要求1所述的一种高精度指向系统用抖动补偿装置，其特征在于：可调色温光源(1)采用LED作为光源，出射准单色光与不同色温的复 合光，其出射光的能量满足指向测量敏感器(13)对恒星敏感的范围为0Mv～10Mv的灵敏度要求；可调色温光源(1)的光谱范围为400nm～900nm全谱段。
  3. 根据权利要求1所述的一种高精度指向系统用抖动补偿装置，其特征在于：分划板(2)采用掩膜刻蚀的方式加工，分划板上分布的恒星星点种类包括特定天区的恒星、阵列星点，分布的星点具有不同口径，为了保证信号光回光能量的强度，中心星点的直径设计为400微米，外围星点通过不同星点星等关系等效到星点直径进行刻蚀。
  4. 根据权利要求3所述的一种高精度指向系统用抖动补偿装置，其特征在于：光源准直系统(4)对整个全谱段进行消像差处理，保证弥散斑的尺寸小于分划板最小星点直径。
  5. 根据权利要求1所述的一种高精度指向系统用抖动补偿装置，其特征在于：分光系统(5)的分光比控制为50％：50％，对准直光束进行分光。
  6. 根据权利要求1所述的一种高精度指向系统用抖动补偿装置，其特征在于：中性衰减片(6)对参考光束进行能量衰减，保证最终得到的第二测试光束光点与第二参考光束光点能量差别在10％以内，中性衰减片(6)还对参考光的口径进行了限制；
    反射镜(7)与光轴夹角在90.2°，使得第二参考光束回光光点与第二测试光束回光光点像素间距大于50像素。
  7. 根据权利要求1所述的一种高精度指向系统用抖动补偿装置，其特征在于：抖动补偿反射镜(11)能够绕着两个轴进行转动，进而调整出射光方向，抖动补偿反射镜(11)的抖动频率大于500HZ，采用PID控制抖动补偿镜的摆动，从而实现不大于100HZ环境抖动的补偿；其中所述两个轴分别是俯仰轴与偏航轴。
  8. 根据权利要求1所述的一种高精度指向系统用抖动补偿装置，其特征在于：信号光扩束系统(12)为一个望远系统，将30mm的光束扩大到200mm， 该信号光扩束系统(12)采用两反设计，主镜为正轴抛物面，次镜采用正轴双曲面；
    敏感器(13)为被测星敏感器，安装支架(14)用于敏感器(13)的安装；
    参考光扩束系统(8)包含两级扩束，扩束过程为首先将3.2mm光束扩束成40mm，再将40mm的光束扩束至400mm，一级扩束采用透射式望远系统的结构形式，二级扩束系统采用两反式设计，扩束倍率12.5倍，主次镜设计为正轴抛物镜，主次镜均采用微晶玻璃。
  9. 根据权利要求8所述的一种高精度指向系统用抖动补偿装置，其特征在于：显微成像系统(9)对参考光和信号光进行放大成像，显微成像系统(9)采用两反式设计，对得到的400mm光束进行汇聚，焦距为5000mm，主镜为正轴抛物面，次镜采用正轴双曲面；
    探测成像系统(10)能够探测到在10Mv反射回光能量，实现大于500Hz的星点提取。
  10. 一种基于权利要求1～9中任一项所述的高精度指向系统用抖动补偿装置实现的抖动补偿方法，其特征在于步骤如下：
    步骤一、显微成像系统对探测到的两个光点进行质心提取；
    步骤二、第二测试光束返回得到质心与无抖动补偿情况相比确认偏移量，如果有偏移，驱动抖动补偿镜的俯仰偏航轴进行补偿。
    步骤三、通过显微成像系统重新判断第二测试光束与第二参考光束形成的光点偏移情况，循环步骤二、三，直到第二测试光束与第二参考光束形成的光点无偏移，则抖动补偿结束后进行下一个时刻的监视。
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