CN104089594A - Automatic accurate measurement method for satellite large-size planar array SAR antenna - Google Patents
Automatic accurate measurement method for satellite large-size planar array SAR antenna Download PDFInfo
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Abstract
The invention discloses an automatic accurate measurement method for a satellite large-size planar array SAR antenna. The method comprises the steps that target points on the antenna array surface are measured through a laser radar measuring system, and the least square fit is utilized for calculating the array surface planeness and the plane normal direction; a transit measuring system is utilized for measuring a satellite benchmark mirror and a public target ball point so as to build the relation between the public target ball point and a satellite mechanical coordinate system; laser radar is utilized for measuring the public target ball point so as to build the relation between the satellite mechanical coordinate system and a laser radar measuring coordinate system, and finally the antenna array surface normal direction under the satellite coordinate system is obtained; in multiple antenna unfolding tests, the radar single-point automatic measurement function is utilized, plane measurement conducted after unfolding is automatically completed, and unfolding planeness and pointing repeatability are evaluated. According to the automatic accurate measurement method for the satellite large-size planar array SAR antenna, the planeness and pointing accuracy of the antenna can be automatically measured with high precision, the requirement for precision of plane point coordinate precision being 0.2 mm and angle measurement precision being 20'' within 30 m is met, and measurement efficiency is greatly improved.
Description
Technical field
The invention belongs to commercial measurement technical field, be specifically related to a kind of SAR days line automation accurate measurement methods of satellite large scale planar array.
Background technology
Along with satellite is more and more wider to the demand of antenna, the size of antenna is increasing, and profile and installation accuracy require also more and more higher.SAR antenna accurate measurement is the key link that this satellite development quality is controlled, and its installation accuracy and SAR antenna launch configuration directly affects satellite image quality in-orbit.SAR antenna can be formed by polylith antenna panel combination, in total process of assembling, need to measure antenna and be installed to the integral planar degree of deployed condition after satellite and the front pointing accuracy under satellite machinery coordinate system, planar point measurement of coordinates accuracy requirement 0.2mm, angle-measurement accuracy requires 20 ".
In recent years, the technical development of antenna accurate measurement is rapid, from the measuring method of traditional machinery, optics and electricity, develops into the ripe commercialization high precision industrial measuring system of application.According to different accurate measurement projects and tested antenna feature, use different measuring system and design specific measuring method.At present, antenna accurate measurement instrument and equipment used mainly comprises both at home and abroad: transit survey system, Digital Photogrammetric System, coordinate measuring machine, laser tracking measurement system, Laser Radar Scanning measuring system etc.
At present, in domestic spacecraft accurate measurement process, satellite machinery coordinate system and satellite instrument device coordinate system are that the coordinate system of the prism square installed characterizes.By transit survey system, realize the measurement of minute surface normal and minute surface centre coordinate point.Minute surface normal measure principle is self-collimation measurement principle, and point coordinate measuring principle is forward intersection measuring principle.
Transit survey system, when measuring point, needs two transit calibrations to measure, and needs two people manually to take aim at a little, and measuring accuracy is low, speed is slow.In antenna expansion process, need to take multiple measurements, expend time in large with manpower.Lidar measurement system, its measurement range can reach 30m, and the three-dimensional scanning measurement to target is set up the mathematics three-dimensional model of target, and sweep velocity can reach for 1000 point/seconds, and maximum scan precision reaches 0.1mm.By the associating accurate measurement method of lidar measurement system and transit survey system, can realize high precision, the automatic measurement of antenna.
Summary of the invention
The object of the present invention is to provide a kind of SAR days line automation accurate measurement methods of new satellite large scale planar array, the robotization duplicate measurements of test is measured and repeatedly launched to front pointing accuracy under the aerial array integral planar degree of realizing, celestial body mechanical coordinate system, is intended to improve measurement range, measuring accuracy and automaticity.
For reaching above object, the present invention adopts following technical scheme:
SAR days line automation accurate measurement methods of satellite large scale planar array, comprise the following steps:
(1) before antenna is installed to satellite, evenly paste light echo reflective marker point on the tested front of antenna, the quantity of point is abundant with reflection antenna integral planar degree;
(2) after antenna is installed to satellite, near antenna launches to measure station, paste the target ball pedestal that quantity is no less than 4, avoid pedestal to be positioned on same straight line or same plane; One of them target ball pedestal is public target ball pedestal, on each target ball pedestal, is provided with target ball;
(3) after antenna launches, the correct position in dead ahead, antenna array center sets up lidar measurement system, makes the monumented point on all fronts can be in the measurement range of radar, and in measuring process, laser radar position is fixed;
(4) utilize the single-point manual measurement function of laser radar, under laser radar system coordinate system, measure the monumented point of pasting on antenna array, and by least square fitting, calculate the direction of front flatness and plane normal;
(5) set up 3 transits, to characterizing the prism square of satellite machinery coordinate system on satellite, measure, and the target ball on public target ball pedestal is measured, obtain public target ball's dead center at the three-dimensional point coordinate of satellite machinery coordinate system;
(6) utilize the target ball measurement function of laser radar to measure the target ball on public target ball pedestal, obtain public target ball's dead center at the three-dimensional point coordinate of laser radar coordinate system;
(7) by public target ball point conversion, set up the transformational relation of laser radar coordinate system and co-ordinates of satellite system, thereby obtain the lower antenna array normal of co-ordinates of satellite system;
(8) repeatedly launching, in test, to utilize the automatic measurement function of multiple spot of laser radar, measure the monumented point of pasting on antenna array, by least square fitting, calculate the direction of front flatness and plane normal.
Wherein, the quantity of reflective marker point is more than 120, preferably more than 150, and more preferably 180-200.
Wherein, the tested front of antenna (antenna array) is that 4 SAR antenna veneer symmetries are successively set on satellite both sides and launch the rear front forming.
The high precision, the automatic measurement technical barrier that the invention solves large scale planar array SAR antenna, have following effect:
Break through the restriction that adopts traditionally transit to survey target point, utilized lidar measurement antenna array monumented point, improved point measurement precision and efficiency, alleviated operating personnel's labour intensity.By the combined measurement of laser radar and transit, obtain the antenna array normal angle under satellite machinery coordinate system, improved angle-measurement accuracy.Repeatedly launching, in test, to utilize the automatic measurement function of multiple spot of laser radar, robotization, Quick Measurement have been realized.
Measuring method of the present invention can meet 30m measurement range internal antenna front point coordinate 0.2mm and angle-measurement accuracy 20 " accuracy requirement.
Accompanying drawing explanation
Fig. 1 is the position view that in accurate measurement method of the present invention, SAR antenna array is pasted light echo reflective marker point.
Fig. 2 is the schematic diagram of single light echo reflective marker point in accurate measurement method of the present invention.
Fig. 3 is SAR days line automation accurate measurement method schematic layout patterns of large scale planar array, and wherein, 1 is satellite, and 2 is the SAR antenna array that four aerial panels form, and 3 is electronic theodolite, and 4 is laser radar, and 5 is pedestal and target ball, and 6 is prism square.
Embodiment
Below in conjunction with accompanying drawing, measuring process of the present invention is elaborated, these explanations are only schematically, are not intended to protection scope of the present invention to carry out any restriction.
Fig. 1 is that SAR antenna array is pasted the signal of light echo reflective marker point, in figure, with stain, represents monumented point, on monolithic antenna array 2 panels, has evenly pasted 192 monumented points.As shown in Figure 2, outside is black region to actual light echo reflective marker point, and inner circular is white reflection region, and inner reflecting brightness exceeds hundreds of times than outside, to facilitate radar to extract circular boundary, obtains monumented point center.
Fig. 3 is SAR days line automation accurate measurement method schematic layout patterns of large scale planar array, and satellite is horizontal positioned state, and 4 SAR antenna veneers (2-1,2-2,2-3,2-4) are arranged on satellite 1 and successively and launch completely.At celestial body, on ground, lay 5 target balls and pedestal 5 around, and with hot melt adhesive, pedestal is sticky on the ground.In antenna array dead ahead, set up three transits and set up lidar measurement system.
Transit 3-1 and transit 3-2 respectively with two adjacent face collimations of prism square 6, measure minute surface normal direction, transit 3-3 and transit 3-1 calibration, measure prism square center point coordinate, the relation of prism square and satellite machinery coordinate system is set up before this, therefore, now the coordinate system by prism square has obtained satellite machinery coordinate system.Recycling transit 3-1 and 3-3 measure the target ball's dead center on public target ball pedestal, obtain public target ball's dead center at the three-dimensional point coordinate figure of satellite machinery coordinate system.
Utilize the single-point manual measurement function of laser radar 4, under laser radar system coordinate system, measure the monumented point of pasting on antenna array, obtain its three-dimensional point coordinate figure under laser radar coordinate system.Measurement point, by least square fitting, is calculated to least square fitting plane, find the minimum and maximum value apart from this plane, the difference of the two is front flatness, and the normal of this fit Plane is front normal.Utilize the target ball measurement function of laser radar 4 to measure the target ball on public target ball pedestal, obtain public target ball's dead center at the three-dimensional point coordinate of laser radar coordinate system.By public target ball point conversion, set up the transformational relation of laser radar coordinate system and co-ordinates of satellite system, thereby obtain antenna array 2 normal directions under co-ordinates of satellite system.
Repeatedly launching in test, because the relation before the point on every aerial panel remains unchanged substantially, only have the displacement of every aerial panel integral body, therefore utilize the automatic measurement function of multiple spot of laser radar, measure the monumented point of pasting on antenna array, to improve measurement efficiency.Each, launch in test, 4 or 4 above not monumented points on same straight line on every aerial panel of manual measurement, choose again the corresponding point of preliminary survey, can utilize the automatic measurement function of multiple spot of laser radar 4, automatically calculate the theoretical position of institute's measuring point, and automatically measure, the measuring method of four aerial panels is consistent.Each expansion test all can adopt the method to measure all monumented points, and the data processing method of surveying after fixed point is the same.
Although above the specific embodiment of the present invention is described in detail and is illustrated, but what should indicate is, we can make various changes and modifications above-mentioned embodiment, but these do not depart from the scope that spirit of the present invention and appended claim are recorded.
Claims (5)
1. a robotization accurate measurement method for satellite large scale planar array SAR antenna, comprises the following steps:
(1) before antenna is installed to satellite, evenly paste light echo reflective marker point on the tested front of antenna, the quantity of point is abundant with reflection antenna integral planar degree;
(2) after antenna is installed to satellite, near antenna launches to measure station, paste the target ball pedestal that quantity is no less than 4, avoid pedestal to be positioned on same straight line or same plane; One of them target ball pedestal is public target ball pedestal, on each target ball pedestal, is provided with target ball;
(3) after antenna launches, the correct position in dead ahead, antenna array center sets up lidar measurement system, makes the monumented point on all fronts can be in the measurement range of radar, and in measuring process, laser radar position is fixed;
(4) utilize the single-point manual measurement function of laser radar, under laser radar system coordinate system, measure the monumented point of pasting on antenna array, and by least square fitting, calculate the direction of front flatness and plane normal;
(5) set up 3 transits, to characterizing the prism square of satellite machinery coordinate system on satellite, measure, and the target ball on public target ball pedestal is measured, obtain public target ball's dead center at the three-dimensional point coordinate of satellite machinery coordinate system;
(6) utilize the target ball measurement function of laser radar to measure the target ball on public target ball pedestal, obtain public target ball's dead center at the three-dimensional point coordinate of laser radar coordinate system;
(7) by public target ball point conversion, set up the transformational relation of laser radar coordinate system and co-ordinates of satellite system, thereby obtain the lower antenna array normal of co-ordinates of satellite system;
(8) repeatedly launching, in test, to utilize the automatic measurement function of multiple spot of laser radar, measure the monumented point of pasting on antenna array, by least square fitting, calculate the direction of front flatness and plane normal.
2. robotization accurate measurement method as claimed in claim 1, wherein, the quantity of reflective marker point is more than 120.
3. robotization accurate measurement method as claimed in claim 2, wherein, the quantity of reflective marker point is more than 150.
4. robotization accurate measurement method as claimed in claim 3, wherein, the quantity of reflective marker point is 180-200.
5. the robotization accurate measurement method as described in claim 3-4, wherein, the tested front of antenna be 4 SAR antenna veneer symmetries be successively set on satellite both sides and launch after the front that forms.
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| CN104949690A (en) * | 2015-06-18 | 2015-09-30 | 中国船舶重工集团公司第七一九研究所 | Standard transmission method based on point measurement |
| CN106094562A (en) * | 2016-05-27 | 2016-11-09 | 中国人民解放军国防科学技术大学 | Membrane structure deformation measurement and Control release system |
| US9684023B2 (en) | 2015-06-30 | 2017-06-20 | Microsoft Technology Licensing, Llc | RF measurement device and system |
| CN106989684A (en) * | 2017-05-19 | 2017-07-28 | 上海宇航***工程研究所 | Splice the non-visual portion structure gap measuring apparatus of antenna and measuring method |
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