CN100504301C - Heavenly body sensor measuring reference transform method and apparatus thereof - Google Patents
Heavenly body sensor measuring reference transform method and apparatus thereof Download PDFInfo
- Publication number
- CN100504301C CN100504301C CNB2007101187918A CN200710118791A CN100504301C CN 100504301 C CN100504301 C CN 100504301C CN B2007101187918 A CNB2007101187918 A CN B2007101187918A CN 200710118791 A CN200710118791 A CN 200710118791A CN 100504301 C CN100504301 C CN 100504301C
- Authority
- CN
- China
- Prior art keywords
- body sensor
- heavenly body
- axle table
- collimator
- minute surface
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Landscapes
- Length Measuring Devices By Optical Means (AREA)
Abstract
This invention discloses a sort of measuring benchmark conversion method of the astronomical sensing device. The lamp-house simulator, the three-axes rotating floor and the photoelectric autocollimator shelves are fixed in the optical table, the astronomical sensing device is fixed in the inner frame of the three-axes rotating floor. A. Adjust the photoelectric autocollimator shelf and make the light axis to parallel with the inner frame of the rotating shaft. B. The middle frame and the outer frame of the rotational rotating floor obtain the data of the fixed point in different angle, and demarcate the inner parameter and outer parameter of the astronomical sensing device. Ensure the conversion matrix which is from the coordinate of the rotating floor to the coordinate of the astronomical sensing device. C. Measure the vector relation between the vertical vector of the two reflecting surface of the mirror cube and the light axes of the photoelectric autocollimator. Compute the conversion matrix which is from the coordinate of the rotating floor to the coordinate of the mirror cube. D. Compute the conversion matrix which is from the coordinate of the astronomical sensing device to the coordinate of the mirror cube. The product between the ray vectors of the astronomical sensing device and the conversion matrix is the vector direction after conversion. This invention discloses a sort of set which can realize the above method at the same time. The realization of this invention is simple and its precision is high.
Description
Technical field
The present invention relates to the heavenly body sensor measuring technique, relate in particular to a kind of heavenly body sensor measuring basis conversion method and device.
Background technology
Heavenly body sensor is to the responsive orientation of spacecraft with respect to fixed star that also obtain whereby of stellar radiation, typical heavenly body sensor has sun sensor, star sensor and earth sensor, it is mainly used to measure angle between fixed star sight line and a certain axon of spacecraft or the plane.The ray vectors direction that heavenly body sensor directly measures defines in the heavenly body sensor measurement coordinate system, is measuring basis with the heavenly body sensor measurement coordinate system in other words conj.or perhaps.In order the ray vectors direction that directly measures to be transformed into the motion carrier coordinate system in actual use, need on the heavenly body sensor casing, to set up an observable measuring basis, promptly at first set a conversion parameter, satisfy the conversion parameter of this setting by processing accurately.Conventional measuring basis conversion method generally is at first to process a high precision minute surface cube, then by strictness accurately physical construction and mounting process the minute surface cube is installed to the reference position that strict accurately position relation is arranged with the heavenly body sensor measurement coordinate system, thereby realize by the minute surface cube being the measuring basis conversion of measuring basis.This method needs this minute surface cube is installed to the reference position that strict accurately position relation is arranged with the heavenly body sensor measurement coordinate system, so not only depend on mach precision, but also depend on installation accuracy, cause like this that difficulty of processing is big, mounting process is complicated, and because the heavenly body sensor measurement coordinate system is sightless, mechanically be difficult to direct hi-Fix, cause the benchmark conversion accuracy low.
Summary of the invention
In view of this, fundamental purpose of the present invention is to provide a kind of heavenly body sensor measuring basis conversion method and device.The ray vectors direction that this method and device can be fast, directly measure heavenly body sensor accurately, easily is transformed into the may observe measuring basis on the heavenly body sensor casing.
Technical scheme of the present invention is achieved in that
A kind of heavenly body sensor measuring basis conversion method is set up light source simulator, three-axle table and photoelectric auto-collimator on optical table, be pasted with plane mirror on the inside casing of three-axle table; Be equipped with on the inside casing installed surface that the cubical heavenly body sensor of minute surface is installed in three-axle table; The parallel beam of described photoelectric auto-collimator outgoing shines described plane reflection minute surface; The simulation light of described light source simulator is radiated on the described heavenly body sensor; This method may further comprise the steps:
A, the center of three-axle table and housing are rotated to zero-bit fix,, adjust the support of described photoelectric auto-collimator, make the inside casing shaft parallel of its optical axis and described three-axle table according to the photoelectric auto-collimator reading;
B, the inside casing of three-axle table is rotated to zero-bit fix, make the irradiation optical system of light source simulation light by heavenly body sensor on its imageing sensor; Rotate three-axle table center and housing respectively to different angles, and write down each anglec of rotation and the imaging point coordinate on this location drawing image-position sensor imaging surface, calibrate the intrinsic parameter and the outer parameter of heavenly body sensor according to the data of calibration point of record; Go out the transition matrix Rsr that the turntable coordinate is tied to the heavenly body sensor coordinate system according to described outer calculation of parameter;
C, by photoelectric auto-collimator measure minute surface cube two reflecting surface normal direction respectively with the vector correlation of its optical axis; Calculate the transition matrix Rrr that the turntable coordinate is tied to minute surface cube coordinate system according to described vector correlation;
D, calculate the transition matrix Rrs that the heavenly body sensor coordinate is tied to minute surface cube coordinate system according to resulting transition matrix Rsr of step B, C and Rrr; The ray vectors direction that directly measures under the heavenly body sensor coordinate system multiply by Rrs and is direction vector under the minute surface cube frame of reference.
Wherein, the demarcation of heavenly body sensor intrinsic parameter described in the step B and outer parameter is specially:
With calibration point coordinate data substitution heavenly body sensor imaging inside and outside parameter unified Modeling model, and obtain the intrinsic parameter of heavenly body sensor and outer parameter with the least square optimization.
Wherein, described step C comprises:
C1, rotation three-axle table center 90 degree shine on the heavenly body sensor on the cubical reflecting surface of minute surface the parallel beam of described photoelectric auto-collimator outgoing; Finely tune the center and the housing of described three-axle table, make this reflecting surface normal direction of described minute surface cube parallel, write down described three-axle table center and housing anglec of rotation θ with the optical axis of described photoelectric auto-collimator
1And θ
2
C2, rotation three-axle table center 180 degree shine on the heavenly body sensor on cubical another reflecting surface of minute surface the parallel beam of described photoelectric auto-collimator outgoing; Finely tune the center and the housing of described three-axle table, make this reflecting surface normal direction of described minute surface cube parallel, write down described three-axle table center and housing anglec of rotation θ with the optical axis of described photoelectric auto-collimator
3And θ
4
C3, according to described θ
1, θ
2, θ
3And θ
4Calculate the transition matrix Rrr that the turntable coordinate is tied to minute surface cube coordinate system.
A kind of heavenly body sensor measuring basis conversion equipment, include optical table, light source simulator, three-axle table, plane mirror and photoelectric auto-collimator, wherein, described light source simulator, three-axle table and photoelectric auto-collimator are erected on the optical table, the inside casing of described three-axle table fixedly installs a plane mirror, and the parallel beam of described photoelectric auto-collimator outgoing shines described plane reflection minute surface; Be equipped with on the inside casing installed surface that the cubical heavenly body sensor of minute surface is arranged on three-axle table, the irradiation optical system of the simulation light of described light source simulator by described heavenly body sensor is on its imageing sensor; Described plane mirror is used to finish the adjustment of described photoelectric auto-collimator optical axis and described three-axle table inside casing shaft parallel; Described light source simulator and three-axle table are used to finish the demarcation of heavenly body sensor inside and outside parameter; Described photoelectric auto-collimator is used to finish the measurement of minute surface cube two reflecting surface normal direction and its optical axis vector correlation.
Wherein, the demarcation of finishing the heavenly body sensor inside and outside parameter of described light source simulator and three-axle table comprises:
The inside casing of three-axle table is rotated to zero-bit to be fixed, rotate center and housing respectively to different angles, write down each anglec of rotation and the imaging point coordinate on this location drawing image-position sensor imaging surface, with the data of calibration point substitution heavenly body sensor intrinsic parameter and the outer improve parameter unification modeler model of record, and obtain the intrinsic parameter of heavenly body sensor and outer parameter with the least square optimization.
Wherein, the measurement of finishing minute surface cube two reflecting surface normal direction and its optical axis vector correlation of described photoelectric auto-collimator comprises:
A, rotation three-axle table center 90 degree shine on the heavenly body sensor on the cubical reflecting surface of minute surface the parallel beam of described photoelectric auto-collimator outgoing; Finely tune the center and the housing of described three-axle table, make this reflecting surface normal direction of described minute surface cube parallel, write down described three-axle table center and housing anglec of rotation θ with the optical axis of described photoelectric auto-collimator
1And θ
2
B, rotation three-axle table center 180 degree shine on the heavenly body sensor on cubical another reflecting surface of minute surface the parallel beam of described photoelectric auto-collimator outgoing; Finely tune the center and the housing of described three-axle table, make this reflecting surface normal direction of described minute surface cube parallel, write down described three-axle table center and housing anglec of rotation θ with the optical axis of described photoelectric auto-collimator
3And θ
4
The present invention utilizes existing heavenly body sensor caliberating device and photoelectric auto-collimator, and has been realized the conversion of heavenly body sensor measuring basis by corresponding conversion method and step.This method and device do not need the minute surface cube is installed to the reference position that strict accurately position relation is arranged with the heavenly body sensor measurement coordinate system, installation and processing technology is simple, easy to operate, can be fast, the ray vectors direction that accurately, easily heavenly body sensor directly measured is transformed into the may observe measuring basis on the heavenly body sensor casing.
Description of drawings
Fig. 1 is the structural representation of conversion equipment of the present invention.
Embodiment
The present invention will be described in more detail below in conjunction with accompanying drawing.
Fig. 1 is the structural representation of conversion equipment of the present invention, as shown in Figure 1, conversion equipment of the present invention includes optical table 10, light source simulator 11, high precision three-axle table 12, plane mirror 13 and photoelectric auto-collimator 14, wherein, light source simulator 11, high precision three-axle table 12 and photoelectric auto-collimator 14 are erected on the optical table 10, and the heavenly body sensor 15 that minute surface cube 16 is installed is fixedly installed on the inside casing installed surface of three-axle table 12.Optical table 10, light source simulator 11, high precision three-axle table 12 and photoelectric auto-collimator 14 are existing device, optical table 10 adopts Tianjin to open up the WSZ-1 type Experiments of Optics platform of general company limited, light source simulator 11 adopts the high collimated light source simulator of Changchun photoelectric technology Research Institute, three servo turntables that high precision three-axle table 12 adopts Beijing space flight 102 to be developed, it is the unidirectional digital display autocollimator of CZ-2 that photoelectric auto-collimator 14 adopts the model of Beijing Zhong Ante mechanical ﹠ electronic equipment corporation, Ltd.Three-axle table comprises orthogonal three rotating shafts, is respectively inside casing rotating shaft 120, center rotating shaft 121 and housing rotating shaft 122, the angle position precision is 0.1 '.Plane mirror 13 sticks on plane of inside casing of high precision three-axle table 12, and the error of perpendicularity of pasting accuracy requirement itself and the rotating shaft of turntable inside casing is less than 10 rads.Photoelectric auto-collimator 14 comprises three adjustment supports 140, and its measuring accuracy is 0.1 ".The effective area of irradiation diameter of light source simulator 11 is 200mm, the beam collimation angle is 32 '.The simulation light of light source simulator 11 outgoing is radiated at after by heavenly body sensor 15 optical systems on the imageing sensor in the heavenly body sensor 15, to different angles, can obtain to simulate light different imaging point coordinate on imageing sensor by the rotation center of three-axle table 12 and housing.
Measuring basis conversion method of the present invention just is being based on that aforesaid device carries out, and the present invention needn't guarantee the machining precision of heavenly body sensor 15 casings, needn't guarantee that also minute surface cube 16 is installed to the positional precision on heavenly body sensor 15 casings.Before describing measuring basis conversion method of the present invention, relevant with conversion method of the present invention several coordinate systems at first are described, once at large to describe technical scheme of the present invention.
The coordinate system relevant with measuring basis conversion method of the present invention comprises: with the behavior X-axis of the imageing sensor imaging surface of heavenly body sensor 15, classify Y-axis as, and set the Z axle perpendicular to the XY plane, form heavenly body sensor coordinate system sun.Center rotating shaft 121 and housing rotating shaft 122 with three-axle table 12 that heavenly body sensor is installed are respectively X ' and Y ' axle, and 120 liang of rotating shaft intersection points of inside casing rotating shaft are that coordinate is a Z ' axle, and three intersection points are true origin formation turntable coordinate system rot.An angle point with the minute surface cube 16 on the heavenly body sensor is a true origin, and the plane, three reflecting surface places of crossing this initial point is respectively X ＂ Y ＂, X ＂ Z ＂, Y ＂ Z ＂ face, forms minute surface cube coordinate system ref.Heavenly body sensor coordinate system of the present invention, turntable coordinate system and minute surface cube coordinate system are all right-handed coordinate system or left-handed coordinate system.
Measuring basis conversion method of the present invention is: set up light source simulator 11, high precision three-axle table 12 and photoelectric auto-collimator 14 on optical table 10, paste a plane mirror 13 on the inside casing of three-axle table 12, the heavenly body sensor 15 that minute surface cube 16 is installed is installed on the installed surface of three-axle table 12 inside casings.At first, three-axle table 12 centers and housing are rotated to zero-bit fix, according to photoelectric auto-collimator 14 readings, the support of adjusting the straight collimator 14 of photoelectricity makes its optical axis and three-axle table 12 inside casing shaft parallels; Then, the inside casing of three-axle table 12 is rotated to zero-bit to be fixed, rotation three-axle table 12 center axles 121 and housing axle 122 are to different angles, and write down each anglec of rotation and different imaging point coordinate on this location drawing image-position sensor, finish the demarcation of heavenly body sensor 15 inside and outside parameter according to this as data of calibration point, determine that according to outer parameter wherein the turntable coordinate is tied to the transition matrix of heavenly body sensor coordinate system.At last, by photoelectric auto-collimator 14 measure 16 liang of reflecting surface normal directions of minute surface cube respectively with the vector correlation of photoelectric auto-collimator 14 optical axises, determine that by this vector correlation the turntable coordinate is tied to the transition matrix of minute surface cube coordinate system.Like this, the ray vectors direction of measuring under the heavenly body sensor coordinate system just can be exchanged into the direction vector under the minute surface cube coordinate system.Below describe its concrete performing step in detail:
Step 1: set up light source simulator 11, high precision three-axle table 12 and photoelectric auto-collimator 14 on optical table 10, paste a plane mirror 13 on the inside casing of three-axle table 12, itself and three-axle table 12 inside casing rotating shafts 120 error of perpendicularitys are less than 10 rads; The center 121 of three-axle table 12 and housing 122 are rotated to zero-bit to be fixed, the parallel beam of photoelectric auto-collimator 14 outgoing is shone on the minute surface of this plane mirror 13, if this moment, the reading of photoelectric auto-collimator 14 was 0, the optical axis and the three-axle table 12 inside casing shaft parallels of photoelectric auto-collimator 14 are described, if be not 0, it is not parallel that both are described, by adjusting the support of photoelectric auto-collimator 14, makes both parallel.
Step 2: the inside casing of three-axle table 12 is rotated to zero-bit fix, the irradiation optical system of the simulation light that makes light source simulator 11 by heavenly body sensor 15 is on its imageing sensor; Revolving-turret center 121 and housing 122 arrive different angles respectively then, and write down each anglec of rotation and imaging point coordinate on this location drawing image-position sensor imaging surface, as this system's inside and outside parameter unified Modeling model of data of calibration point substitution, and obtain the intrinsic parameter of heavenly body sensor and outer parameter alpha with this with the least square optimization
1, β
1,
Wherein, α
1, β
1,
Be that the turntable coordinate system is transformed into the heavenly body sensor measurement coordinate system, the angle that turntable rotates around X ' axle, Y-axis and z ' axle respectively.Data of calibration point is many more, and the inside and outside parameter value that obtains is accurate more, in the practical application, can choose an amount of data of calibration point according to the field range of heavenly body sensor.For example, the situation of right ± 60 ° field range can be chosen a data of calibration point every 5 °.Can determine that thus the turntable coordinate system is transformed into the transition matrix Rsr of heavenly body sensor measurement coordinate system, it uses outer parameter alpha
1, β
1,
Be expressed as:
Wherein, and Rot (X ', α
1), Rot (Y ', β
1),
Be respectively that the turntable coordinate system is transformed into the heavenly body sensor coordinate system, turntable is around X ' axle rotation alpha 1, around Y ' axle rotation β 1, rotate around Z ' axle
Pairing rotation matrix.The specific implementation method that inside and outside parameter is demarcated can referring to the applicant in application on July 6th, 2007, number of patent application is 200710118498.1, the technical scheme of denomination of invention for putting down in writing in the patent application document of " a kind of digital sun sensor calibration method and device ".
Step 3: the vector correlation of measuring 16 liang of reflecting surface normal direction of minute surface cube and photoelectric auto-collimator 14 optical axises by photoelectric auto-collimator 14, and determine that by described vector correlation the turntable coordinate is tied to the rotation matrix of minute surface cube coordinate system, the specific implementation method is as follows:
Step 301: rotation three-axle table 12 centers 90 degree, the parallel beam of photoelectric auto-collimator 14 outgoing is shone on the reflecting surface of the minute surface cube of installing on the heavenly body sensor 15 16, center and housing by fine setting three-axle table 12, make these minute surface cube 16 reflecting surface normal directions parallel with the optical axis of photoelectric auto-collimator 14, even the reading of photoelectric auto-collimator is 0, record three-axle table 12 centers this moment and housing anglec of rotation θ
1And θ
2
Step 302: rotation three-axle table 12 centers 180 degree, the parallel beam of photoelectric auto-collimator 14 outgoing is shone on another reflecting surface of the minute surface cube of installing on the heavenly body sensor 15 16, the center and the housing of fine setting three-axle table 12, make minute surface cube 16 reflecting surface normal directions parallel with the optical axis of photoelectric auto-collimator 14, even the reading of photoelectric auto-collimator 14 is 0, record three-axle table 12 centers this moment and housing anglec of rotation θ
3And θ
4
Step 303: adopt two vector method for determining posture to calculate the rotation matrix Rrr that the turntable coordinate is tied to minute surface cube coordinate system.As two measurement vectors, establishing its direction vector under minute surface cube coordinate system ref is n1, n2 with two reflecting surface normal directions in the step 301,302, and the direction vector under turntable coordinate system rot is r1, r2.
Set up reference frame S with these two measurement vectors, the orthogonal basis of S under the ref coordinate system is
a＝n1，b＝(n1×n2)/|n1×n2|，c＝a×b (2)
Then S to the transition matrix R of ref (ref ← S) be:
In like manner, the normal coordinates base of S under the rot coordinate system is
A＝r1，B＝(r1×r2)/|r1×r2|，C＝A×B (4)
S to the transition matrix R of rot (rot ← S) be:
As from the foregoing, turntable coordinate system rot to the transition matrix Rrr of minute surface cube ref is:
R(ref←rot)＝R(ref←s)×R(rot←s)
-1 (6)
By step 301,302 as can be known:
r1＝Rot(Y′，θ
2)
-1×Rot(X′，θ
1)
-1×n1，r2＝Rot(Y′，θ
4)
-1×Rot(X′，θ
3)
-1×n2 (8)
Wherein, and Rot (X ', θ
1), Rot (Y ', θ
2), Rot (X ', θ
3), Rot (Y ', θ
4) be respectively that three-axle table 12 rotates corresponding rotation matrix around center and housing in the step 301,302.With equation (7) and (8) difference substitution equation (2) and (4), obtain the transition matrix Rrr of turntable coordinate system rot to minute surface cube coordinate system ref according to above-mentioned conversion formula.
Step 4: Rsr and Rrr substitution following formula with obtaining in step 2 and the step 3 calculate the transition matrix Rrs that the heavenly body sensor coordinate is tied to minute surface cube coordinate system.
R(ref←sun)＝R(ref←rot)×R(sun←rot)
-1 (9)
Like this, when being applied to spacecrafts such as satellite when celestial body sensor 15, for directly measuring ray vectors A under the heavenly body sensor coordinate system, the direction vector Aref that is transformed under the minute surface cube frame of reference just is: A
Ref=R (ref ← sun) * A.Be the ray vectors direction that heavenly body sensor 15 directly measures, multiply by matrix Rrs after, just obtain the ray vectors direction under the minute surface cube frame of reference.Thereby the ray vectors direction is transformed into may observe measuring basis on the heavenly body sensor casing.
With aforementioned optical table 10, light source simulator 11, high precision three-axle table 12 and photoelectric auto-collimator 14 is conversion equipment, provides a heavenly body sensor and adopts the determined transition matrix of above-mentioned conversion method.
Table 1 is the outer parameter alpha of certain heavenly body sensor that draws by scaling method of the present invention
1, β
1With
1The least square optimal value:
Table 1
Table 2 is to utilize photoelectric auto-collimator 14 to make the X ＂ Y ＂ face of minute surface cube 16 and Y ＂ Z ＂ face normal direction be parallel to the photoelectric auto-collimator optical axis, the angle θ that turntable turns over around diaxon respectively respectively
1, θ
2, θ
3, θ
4Value:
| Parameter | θ 1 | θ 2 | θ 3 | θ 4 |
| Measured value (degree) | 181.398 | -0.528 | 91.386 | -0.048 |
Table 2
Its corresponding theory formula in the above-mentioned conversion method of substitution obtains the heavenly body sensor measurement coordinate system and to the transition matrix Rrs of may observe minute surface cube coordinate system is:
The above is preferred embodiment of the present invention only, is not to be used to limit protection scope of the present invention.
Claims (6)
1, a kind of heavenly body sensor measuring basis conversion method is characterized in that, sets up light source simulator, three-axle table and photoelectric auto-collimator on optical table, is pasted with plane mirror on the inside casing of three-axle table; Be equipped with on the inside casing installed surface that the cubical heavenly body sensor of minute surface is installed in three-axle table; The parallel beam of described photoelectric auto-collimator outgoing shines described plane reflection minute surface; The simulation light of described light source simulator is radiated on the described heavenly body sensor; This method may further comprise the steps:
A, the center of three-axle table and housing are rotated to zero-bit fix,, adjust the support of described photoelectric auto-collimator, make the inside casing shaft parallel of its optical axis and described three-axle table according to the photoelectric auto-collimator reading;
B, the inside casing of three-axle table is rotated to zero-bit fix, make the irradiation optical system of light source simulation light by heavenly body sensor on its imageing sensor; Rotate three-axle table center and housing respectively to different angles, and write down each anglec of rotation and the imaging point coordinate on this location drawing image-position sensor imaging surface, calibrate the intrinsic parameter and the outer parameter of heavenly body sensor according to the data of calibration point of record; Go out the transition matrix Rsr that the turntable coordinate is tied to the heavenly body sensor coordinate system according to described outer calculation of parameter;
C, by photoelectric auto-collimator measure minute surface cube two reflecting surface normal direction respectively with the vector correlation of its optical axis; Calculate the transition matrix Rrr that the turntable coordinate is tied to minute surface cube coordinate system according to described vector correlation;
D, calculate the transition matrix Rrs that the heavenly body sensor coordinate is tied to minute surface cube coordinate system according to resulting transition matrix Rsr of step B, C and Rrr; The ray vectors direction that directly measures under the heavenly body sensor coordinate system multiply by Rrs and is direction vector under the minute surface cube frame of reference.
2, heavenly body sensor measuring basis conversion method according to claim 1 is characterized in that, the demarcation of intrinsic parameter of heavenly body sensor described in the step B and outer parameter is specially:
With calibration point coordinate data substitution heavenly body sensor imaging inside and outside parameter unified Modeling model, and obtain the intrinsic parameter of heavenly body sensor and outer parameter with the least square optimization.
3, heavenly body sensor measuring basis conversion method according to claim 1 is characterized in that described step C comprises:
C1, rotation three-axle table center 90 degree shine on the heavenly body sensor on the cubical reflecting surface of minute surface the parallel beam of described photoelectric auto-collimator outgoing; Finely tune the center and the housing of described three-axle table, make this reflecting surface normal direction of described minute surface cube parallel, write down described three-axle table center and housing anglec of rotation θ with the optical axis of described photoelectric auto-collimator
1And θ
2
C2, rotation three-axle table center 180 degree shine on the heavenly body sensor on cubical another reflecting surface of minute surface the parallel beam of described photoelectric auto-collimator outgoing; Finely tune the center and the housing of described three-axle table, make this reflecting surface normal direction of described minute surface cube parallel, write down described three-axle table center and housing anglec of rotation θ with the optical axis of described photoelectric auto-collimator
3And θ
4
C3, according to described θ
1, θ
2, θ
3And θ
4Calculate the transition matrix Rrr that the turntable coordinate is tied to minute surface cube coordinate system.
4, a kind of heavenly body sensor measuring basis conversion equipment, it is characterized in that, this device includes optical table, light source simulator, three-axle table, plane mirror and photoelectric auto-collimator, wherein, described light source simulator, three-axle table and photoelectric auto-collimator are erected on the optical table, the inside casing of described three-axle table fixedly installs a plane mirror, and the parallel beam of described photoelectric auto-collimator outgoing shines described plane reflection minute surface; Be equipped with on the inside casing installed surface that the cubical heavenly body sensor of minute surface is arranged on three-axle table, the irradiation optical system of the simulation light of described light source simulator by described heavenly body sensor is on its imageing sensor; Described plane mirror is used to finish the adjustment of described photoelectric auto-collimator optical axis and described three-axle table inside casing shaft parallel; Described light source simulator and three-axle table are used to finish the demarcation of heavenly body sensor inside and outside parameter; Described photoelectric auto-collimator is used to finish the measurement of minute surface cube two reflecting surface normal direction and its optical axis vector correlation.
5, heavenly body sensor measuring basis conversion equipment according to claim 4 is characterized in that, the demarcation that described light source simulator and three-axle table are finished the heavenly body sensor inside and outside parameter comprises:
The inside casing of three-axle table is rotated to zero-bit to be fixed, rotate center and housing respectively to different angles, write down each anglec of rotation and the imaging point coordinate on this location drawing image-position sensor imaging surface, with the data of calibration point substitution heavenly body sensor intrinsic parameter and the outer improve parameter unification modeler model of record, and obtain the intrinsic parameter of heavenly body sensor and outer parameter with the least square optimization.
6, heavenly body sensor measuring basis conversion equipment according to claim 5 is characterized in that, the measurement that described photoelectric auto-collimator is finished minute surface cube two reflecting surface normal direction and its optical axis vector correlation comprises:
A, rotation three-axle table center 90 degree shine on the heavenly body sensor on the cubical reflecting surface of minute surface the parallel beam of described photoelectric auto-collimator outgoing; Finely tune the center and the housing of described three-axle table, make this reflecting surface normal direction of described minute surface cube parallel, write down described three-axle table center and housing anglec of rotation θ with the optical axis of described photoelectric auto-collimator
1And θ
2
B, rotation three-axle table center 180 degree shine on the heavenly body sensor on cubical another reflecting surface of minute surface the parallel beam of described photoelectric auto-collimator outgoing; Finely tune the center and the housing of described three-axle table, make this reflecting surface normal direction of described minute surface cube parallel, write down described three-axle table center and housing anglec of rotation θ with the optical axis of described photoelectric auto-collimator
3And θ
4
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007101187918A CN100504301C (en) | 2007-07-13 | 2007-07-13 | Heavenly body sensor measuring reference transform method and apparatus thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007101187918A CN100504301C (en) | 2007-07-13 | 2007-07-13 | Heavenly body sensor measuring reference transform method and apparatus thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101082497A CN101082497A (en) | 2007-12-05 |
| CN100504301C true CN100504301C (en) | 2009-06-24 |
Family
ID=38912185
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2007101187918A Expired - Fee Related CN100504301C (en) | 2007-07-13 | 2007-07-13 | Heavenly body sensor measuring reference transform method and apparatus thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN100504301C (en) |
Families Citing this family (30)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101187705B (en) * | 2007-12-19 | 2011-05-18 | 中国科学院空间科学与应用研究中心 | Spectrum irradiance standard light source for ultraviolet optical instrument radiometric calibration |
| CN101674424B (en) * | 2009-09-27 | 2011-04-06 | 北京航空航天大学 | Virtually expanding imaging device and method |
| CN102901482B (en) * | 2012-09-24 | 2015-02-18 | 清华大学 | Method for improving accuracy of angle measurement adopting simulated sun sensor |
| CN103837126B (en) * | 2012-11-22 | 2016-01-20 | 施浒立 | Using position of heavenly body as the three-dimensional space direction angle measuring device of calibration benchmark and method |
| CN104724298A (en) * | 2013-12-20 | 2015-06-24 | 中国科学院沈阳自动化研究所 | Three-axle turntable capable of moving in all directions |
| 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 |
| CN104406607B (en) * | 2014-11-21 | 2016-04-27 | 北京航空航天大学 | The caliberating device of a kind of many visual fields complex optics sensor and method |
| CN104792346B (en) * | 2015-02-15 | 2017-05-24 | 中国科学院光电研究院 | Indoor simulation device for space target optical characteristic actual measurement conditions |
| CN104792347B (en) * | 2015-02-15 | 2017-05-24 | 中国科学院光电研究院 | Indoor simulation method for space target optical characteristic actual measurement conditions |
| CN105270640A (en) * | 2015-10-29 | 2016-01-27 | 上海交通大学 | Attitude control test device with external frame, for unmanned aerial vehicle |
| CN105301556B (en) * | 2015-11-30 | 2017-11-03 | 江苏中海达海洋信息技术有限公司 | The calibration method of ultra-short baseline alignment error calibrating installation |
| CN105910627B (en) * | 2016-07-08 | 2018-08-10 | 哈尔滨工业大学 | Kinetic-simulator for spatial vision navigation sensor |
| CN106483333A (en) * | 2016-07-14 | 2017-03-08 | 中北大学 | A kind of three axle inertia calibrating platforms with scalable spademan device |
| CN105973240B (en) * | 2016-07-15 | 2018-11-23 | 哈尔滨工大服务机器人有限公司 | A kind of conversion method of navigation module coordinate system and robot coordinate system |
| CN108344427B (en) * | 2018-02-02 | 2021-07-02 | 江苏北方湖光光电有限公司 | Calibration method and calibration mechanism for pitching reflector of star sensor |
| CN108645428A (en) * | 2018-05-10 | 2018-10-12 | 天津大学 | The monoblock type scaling method of six degree of freedom laser target |
| CN110487509B (en) * | 2018-05-14 | 2021-05-04 | 哈尔滨工业大学 | Three-channel pupil coupling laser semi-active target simulator |
| CN109459058B (en) * | 2018-11-16 | 2022-10-21 | 北京航天计量测试技术研究所 | Calibration method of multi-view-field star sensor based on three-axis turntable |
| CN110160445B (en) * | 2019-06-07 | 2020-12-25 | 宝鸡文理学院 | Vision measuring instrument based on telecentric optics technology |
| CN110389022B (en) * | 2019-07-15 | 2021-11-16 | 西安应用光学研究所 | Method for calibrating consistency of installed optical axis suitable for precise photoelectric equipment |
| CN110836635B (en) * | 2019-09-30 | 2021-07-13 | 上海航天设备制造总厂有限公司 | Measuring reference establishing and measuring method for light honeycomb sandwich box type structure |
| CN111023988B (en) * | 2019-12-02 | 2021-06-22 | 南京航空航天大学 | Device and method for dynamically monitoring micro-change of magnetic vector and light vector installation matrix |
| CN111053601B (en) * | 2020-01-01 | 2020-08-21 | 麻继臣 | Thorax puncture instrument robot fixing device |
| CN112212888B (en) * | 2020-08-28 | 2023-05-12 | 北京航天万鸿高科技有限公司 | Strapdown inertial measurement unit reference plane mirror calibration device and method based on double-shaft turntable |
| CN112697140B (en) * | 2020-12-07 | 2023-10-13 | 华中光电技术研究所（中国船舶重工集团公司第七一七研究所） | Measuring device and measuring and calculating method for attitude angle of inertial navigation IMU (inertial measurement unit) component relative to inner ring frame |
| CN112629523B (en) * | 2020-12-12 | 2023-10-13 | 华中光电技术研究所（中国船舶重工集团公司第七一七研究所） | Star sensor measurement reference fixing device and preparation method thereof |
| CN112882245B (en) * | 2021-01-20 | 2022-08-05 | 四川中科友成科技有限公司 | External field optical axis calibration device and calibration method |
| CN113358024B (en) * | 2021-05-08 | 2022-08-12 | 上海卫星工程研究所 | Satellite instrument relative precision measurement data processing method and system |
| CN114646440B (en) * | 2022-03-16 | 2023-06-20 | 北京卫星环境工程研究所 | Three-axis six-degree-of-freedom vibration control input/output coordinate transformation matrix construction method |
| CN115793721B (en) * | 2023-01-30 | 2023-06-27 | 中国科学院空天信息创新研究院 | Sun tracking control method, device, calibration device, equipment and storage medium |
-
2007
- 2007-07-13 CN CNB2007101187918A patent/CN100504301C/en not_active Expired - Fee Related
Non-Patent Citations (6)
| Title |
|---|
| 三自由度动态角度实时测量***. 尚鸿雁，张广军.光电工程，第33卷第1期. 2006 |
| 三自由度动态角度实时测量***. 尚鸿雁，张广军.光电工程，第33卷第1期. 2006 * |
| 星敏感器模型参数分析与校准方法研究. 郝雪涛，张广军，江洁.光电工程，第32卷第3期. 2005 |
| 星敏感器模型参数分析与校准方法研究. 郝雪涛，张广军，江洁.光电工程，第32卷第3期. 2005 * |
| 飞行器三轴姿态测量方法. 海涛，徐嫣，高翔.广西大学学报（自然科学版），第29卷. 2004 |
| 飞行器三轴姿态测量方法. 海涛，徐嫣，高翔.广西大学学报（自然科学版），第29卷. 2004 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101082497A (en) | 2007-12-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN100504301C (en) | Heavenly body sensor measuring reference transform method and apparatus thereof | |
| CN104406607B (en) | The caliberating device of a kind of many visual fields complex optics sensor and method | |
| US8433515B2 (en) | Method for measuring precision of star sensor and system using the same | |
| CN105910624B (en) | A kind of scaling method of used group of optical laying prism installation error | |
| JP6613236B2 (en) | High-precision optical fiber gyro inertial surveying method | |
| CN104154928B (en) | Installation error calibrating method applicable to built-in star sensor of inertial platform | |
| CN103323026B (en) | The attitude reference estimation of deviation of star sensor and useful load and modification method | |
| CN102116641B (en) | Semi-physical simulation testing system and method for deep space autonomous navigation star sensor | |
| CN101799271B (en) | Method for obtaining camera calibration point under large viewing field condition | |
| CN100432628C (en) | Converting method and device for measuring daturm of sun sensor | |
| CN102252673A (en) | Correction method for on-track aberration of star sensor | |
| CN103852085B (en) | A kind of fiber strapdown inertial navigation system system for field scaling method based on least square fitting | |
| CN105318891A (en) | Star sensor reference cube-prism installation error calibration apparatus | |
| CN108413887A (en) | Fiber grating assists wing deformation measurement method, device and the platform of distribution POS | |
| CN105953803A (en) | Method for measuring deviation between digital sun sensor measuring coordinate system and prism coordinate system | |
| CN104457688B (en) | High-precision automatic measurement device for batch equipment attitude angle matrix on satellite | |
| CN104990533B (en) | Satellite ground physical simulation system superhigh precision attitude measurement method and device | |
| CN105737858A (en) | Attitude parameter calibration method and attitude parameter calibration device of airborne inertial navigation system | |
| CN105783944B (en) | sun sensor calibration method and system | |
| CN106871929A (en) | A kind of method for measuring star sensor measurement coordinate system and prism coordinate system relation | |
| CN103852078A (en) | Device and method for measuring stray light protection angle of space optical attitude sensor | |
| CN102706363A (en) | Precision measuring method of high-precision star sensor | |
| CN102288201A (en) | Precision measurement method for star sensor | |
| CN106586041A (en) | Simulation method of Mars object for deep space exploration | |
| CN105737848B (en) | System-level star sensor star viewing system and star viewing method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20090624 Termination date: 20160713 |