CN104296754B - Autonomous navigation system and its autonomous navigation method based on laser space communication terminal - Google Patents
Autonomous navigation system and its autonomous navigation method based on laser space communication terminal Download PDFInfo
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- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/24—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for cosmonautical navigation
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Abstract
The invention discloses a kind of autonomous navigation system and its autonomous navigation method based on laser space communication terminal.The present invention is on the basis of traditional laser space communication terminal, add celestial body capture systems, so as to recognize fixed star and planet or its satellite and obtain azimuth information, by calculating the angle between fixed star spacecraft planet (or its satellite), the final positional information for obtaining spacecraft itself, realizes navigation procedure.The present invention need not use a set of extra autonomous navigation device again, and laser space communication terminal itself is obtained with navigation information, save the expense of the research and development, transmitting and operation of correlation, reduce the volume, weight and power consumption of spacecraft payload；Be conducive to improving the overall performance of autonomous navigation system；Near-real-time is provided for survey of deep space according to navigation results and carry out flight track correction, can not only eliminate the signal round-trip delay between star ground, can also save ground data processing.
Description
Technical field
The present invention relates to Spacecraft Autonomous Navigation Technology, more particularly to a kind of dominating certainly based on laser space communication terminal
Boat system and its autonomous navigation method.
Background technology
With continuing to develop for space technology and survey of deep space technology, the performance requirement navigated to spacecraft is also increasingly
It is high.The independent navigation of spacecraft has obtained generally weighing for people because having the advantages that real-time, cost are low and survival ability is strong
Depending on.Early in twentieth century seventies, Spacecraft Autonomous Navigation device is summarised as following four feature by LeMay：(1) from master control
System；(2) real-time operation；(3) without the help of the communication with other celestial bodies；(4) independent of earth station.The independent navigation of spacecraft is just
It is to rely on satellite borne equipment and technology, provides accurately orbit and attitude parameter in real time for in-orbit spacecraft, it is not only spacecraft
One importance of independence, and for the in-orbit survival ability of spacecraft and it is extended in space application ability all with non-
Often important meaning.As the various high-precision sensors towards complicated applications background are emerged in multitude, Spacecraft Autonomous Navigation skill
Art is developed rapidly, and its technological approaches mainly includes：(1) celestial navigation；(2) earth's magnetic field is navigated；(3) nautical star navigates；(4)
Inter-satellite relative measure navigates.Compared with nautical star navigation and Inter-satellite relative measure, celestial navigation is a kind of entirely autonomous navigation.
The main method of celestial navigation is high using star sensor, sun sensor, earth sensor, magnetometer, laser
The instruments such as degree meter realize independent navigation function, and this method is characterized in need using special, independent equipment, its consequence without
It is suspected to be and adds spacecraft overall cost, volume, weight and power consumption, and the expense launched and safeguarded.
The content of the invention
For above problems of the prior art, the present invention propose it is a kind of based on laser space communication terminal from
Principle navigation system and its autonomous navigation method, incorporate navigation feature in communication terminal equipment, are set from without increasing extra navigation
It is standby, and with independent navigation function.
It is an object of the present invention to provide a kind of autonomous navigation system based on laser space communication terminal.
The autonomous navigation system based on laser space communication terminal of the present invention includes：Optical telescope, smart collimation device, letter
Mark electro-optical device, light splitting optical path, transmitting receive caliberating device, slightly take aim at mechanical indicator device, celestial body capture systems, control system and boat
Its device platform interface；Wherein, slightly take aim at mechanical indicator device and be connected to optical telescope, control it to be directed at dimensional orientation；Optics is hoped
The incident beam that remote mirror is collected takes aim at tilting mirror by essence, and through light splitting optical path, light beam is into celestial body capture systems all the way, and another road is entered
Enter transmitting and receive caliberating device；Beacon electro-optical device, transmitting receive caliberating device, slightly take aim at mechanical indicator device and celestial body capture systems
It is connected respectively with control system；Control system is connected with spacecraft platform interface；Celestial body capture systems capture and recognize perseverance
Star, and the azimuth information of fixed star is obtained, and capture certain planet or its satellite and obtain its center azimuth information.
The autonomous navigation system of the present invention has two kinds of mode of operations, and one kind is navigation pattern, and one kind is that space laser leads to
Letter pattern.When autonomous navigation system is in navigation pattern, mechanical indicator device is slightly taken aim under control of the control system, by optics
Telescope, which is aligned in a direction in space, the visual field of celestial body capture systems, occurs many (more than three) fixed stars, and optics is hoped
The light beam that fixed star is sent is entered line convergence by remote mirror, is changed into arrow beam of light；Smart collimation device receives the essence in caliberating device according to transmitting and taken aim at
The launching spot azimuth information that reception device is provided, alignment is tracked to incident beam, to compensate the vibration of spacecraft platform
The shake of the incident beam brought；Incident beam enters in celestial body capture systems after light splitting optical path；Celestial body capture systems
Fixed star is identified；Then, then control slightly to take aim at mechanical indicator device optical telescope is directed at a planet or its satellite, lead to
Cross and planet or its satellite image are handled, using rim detection, be fitted, seek the methods such as barycenter, obtain planet or its satellite
Center hold information；Finally, select an identified fixed star to be connected with spacecraft and obtains a straight line, then by planet or its defend
The center of star is connected with spacecraft, obtains other straight line, according to the angle of the two straight lines, utilizes spacecraft orbit side
Journey, you can obtain the position of spacecraft at a time, i.e. navigation information.
Celestial body capture systems include focused light passages, array image sensor, image variants device, navigation calculating electricity
Road and star storehouse memorizer；Wherein, the light beam for entering celestial body capture systems first passes around focused light passages and is focused, and then projects
Onto array image sensor；Array image sensor receives incident beam, and completes opto-electronic conversion, so that capturing star figure
Picture, image variants device carries out preliminary treatment to image, obtains enhancing image；Navigation counting circuit is done to image into one
Step processing, calculates relevant parameter, and is matched with the fixed star data message in star storehouse memorizer, finally identifies what is aimed at
Fixed star.Image variants device carries out preliminary treatment to image, obtains enhanced image.Navigation counting circuit is done to image
Further processing, is matched using star Pattern Recognition Algorithm, and with the fixed star data message in star storehouse memorizer, is finally identified
The fixed star aimed at.Then, the planet aimed at or its satellite are handled, obtains the azimuth information at its center, final root
According to orbit equation, the position where computing system, i.e. navigation information.Celestial body capture systems can carry out data friendship with control system
Change.If in optical telescope, directly incident beam focus, be then not required here plus focused light passages.
The effect of light splitting optical path is that celestial body capture systems are received caliberating device with transmitting to separate.When system swashs in space
Optical communication modes, optical telescope collects incident beam or transmitting laser beam；Smart collimation device is tracked to incident beam
Alignment, the shake for the incident beam that the vibration to compensate spacecraft platform is brought, the communication terminal equipment of final alignment other side；Through dividing
After light light path, incident beam enters transmitting and receives caliberating device, carries out normal spacecraft communication.
Transmitting reception caliberating device generally comprises communication receiving device, communication launcher, the thick capture sensor, essence taken aim at and taken aim at
Reception device and caliberating device etc.., can be variant in the design of each device because of the difference of different transmitting reception caliberating devices；
Wherein, communication receiving device receives the modulation communication signal that the transmitting of counterparting communications terminal comes；Communication launcher is to be transmitted
Information is modulated coding, forms Communication ray；Caliberating device is calibrated to the orientation consistency of transmission channel and receiving channel,
Make the two consistent.It is thick to take aim at reception and detection that capture sensor is mainly used to carry out incident light wide visual field, to incident hot spot
Coarse positioning is carried out, and essence takes aim at the exact position that reception device is used to determine launching spot on photosurface, both of which can use four
Quadrant detector 4QD, CCD camera or CMOS cameras are realized.
Each subsystem or each function system that control system receives caliberating device to whole transmitting are coordinated and controlled
System, collection related data, issue perform order, and possess the function that data exchange is carried out with spacecraft platform interface, can adopt
Realized with embedded computer and interface.
Spacecraft platform interface is mainly used in reading related data from spacecraft platform, for example, transmitting receives caliberating device
Almanac data, attitudes vibration data of platform inertia gyroscope for needing etc..These data can be used for the capture of laser space communication
Process and the platform stance change of compensation spacecraft, are conducive to the quick foundation of laser link.
It is another object of the present invention to provide oneself of a kind of autonomous navigation system based on laser space communication terminal
Main air navigation aid.
The autonomous navigation method of the autonomous navigation system based on laser space communication terminal of the present invention, including following step
Suddenly：
1) autonomous navigation system is in navigation pattern, mechanical indicator device is slightly taken aim under control of the control system, by optics
Telescope, which is aligned in a direction in space, the visual field of celestial body capture systems, occurs more than three fixed stars, and optical telescope will
The light beam that fixed star is sent enters line convergence, is changed into narrow collimated light beam or convergent beam；
2) smart collimation device is tracked alignment to incident beam, the incident light that the vibration to compensate spacecraft platform is brought
The shake of beam, incident beam enters in celestial body capture systems after light splitting optical path；
3) fixed star is identified celestial body capture systems, then obtains the azimuth information of fixed star；
4) control system control slightly takes aim at mechanical indicator device and optical telescope is aligned into a planet or its satellite, then by star
Body capture systems obtain planet or the center hold information of its satellite；
5) the navigation counting circuit in celestial body capture systems will select a fixed star and boat from many fixed stars of identified
The connection of its device obtains straight line, then the center of planet or its satellite is connected with spacecraft, obtains other straight line, according to
The angle of the two straight lines, utilizes spacecraft orbit equation, you can obtain the position of spacecraft at a time, i.e. navigation letter
Breath.
Wherein, in step 3) in, the light beam for entering celestial body capture systems first passes around focused light passages and is focused, then
Project on array image sensor；Array image sensor receives incident beam, and completes opto-electronic conversion, so that capturing star
Image；Image variants device carries out preliminary treatment to image, obtains enhancing image；Navigation counting circuit image is done into
The processing of one step, is matched using star Pattern Recognition Algorithm, such as starlight angular distance, and with the fixed star data message in star storehouse memorizer,
Finally identify aimed at fixed star.
Laser space communication terminal is carried on spacecraft as the payload of spacecraft, itself is had capture and is communicated
Function, the present invention adds celestial body capture systems, so as to recognize perseverance on the basis of traditional laser space communication terminal
Star and planet or its satellite simultaneously obtain azimuth information, by calculating the folder between fixed star-spacecraft-planet (or its satellite)
Angle, the final positional information for obtaining spacecraft itself, realizes navigation procedure.
Advantages of the present invention：
(1) a set of extra autonomous navigation device need not be used again, and laser space communication terminal is obtained with itself
Navigation information, saves the expense of the research and development, transmitting and operation of correlation, reduce the volume of spacecraft payload, weight and
Power consumption；
(2) attitude data of autonomous navigation system can be obtained in navigation procedure, this data can be used for laser and lead to
Believe the foundation of link, relative to the attitude data provided using spacecraft platform, laser space communication terminal can be greatly reduced
Open loop aim at uncertain region, it is final to reduce the link establishment time, be conducive to improving the overall performance of autonomous navigation system；
(3) determine appearance navigation feature using what the present invention was provided, another new independent navigation can be provided for survey of deep space
Technology, its advantage is can to carry out flight track correction with near-real-time according to navigation results, with can not only eliminating star it
Between signal round-trip delay, can also save ground data processing.
Brief description of the drawings
Fig. 1 is the structured flowchart of the autonomous navigation system based on laser space communication terminal of the present invention；
Fig. 2 is the structural frames of the celestial body capture systems of the autonomous navigation system based on laser space communication terminal of the present invention
Figure；
Fig. 3 is the schematic diagram of one embodiment of the autonomous navigation system based on laser space communication terminal of the present invention；
Fig. 4 is the schematic diagram of the optical telescope of the autonomous navigation system based on laser space communication terminal of the present invention；
Fig. 5 is the image variants device of the present invention, the annexation figure of navigate counting circuit and star storehouse memorizer.
Embodiment
Below in conjunction with the accompanying drawings, by embodiment, the present invention will be further described.
As shown in figure 1, the autonomous navigation system based on laser space communication terminal of the present invention includes：Optical telescope,
Smart collimation device, beacon electro-optical device, light splitting optical path, transmitting receive caliberating device, slightly take aim at mechanical indicator device, celestial body capture systems,
Control system and spacecraft platform interface；Wherein, slightly take aim at mechanical indicator device and be connected to optical telescope, control it to be directed at space
Orientation；The incident beam that optical telescope is collected takes aim at tilting mirror by essence, through light splitting optical path, and light beam is captured into celestial body all the way is
System, another road enters transmitting and receives caliberating device；Beacon electro-optical device, transmitting receive caliberating device, slightly take aim at mechanical indicator device and
Celestial body capture systems are connected with control system respectively；Control system is connected with spacecraft platform interface；Celestial body capture systems
Capture and recognize fixed star, and obtain the azimuth information of fixed star, and capture a nearer planet or its satellite and obtain wherein
Heart azimuth information.
As shown in Fig. 2 celestial body capture systems include focused light passages, array image sensor, image variants device,
Navigate counting circuit and star storehouse memorizer；Wherein, the light beam for entering celestial body capture systems first passes around focused light passages and gathered
Jiao, then projects on array image sensor；Array image sensor receives incident beam, and completes opto-electronic conversion, so that
Capturing star image, after one or many celestial body acquisition procedures, image variants device carries out preliminary to image
Processing, obtains enhanced image；Navigation counting circuit image is further processed, using star Pattern Recognition Algorithm, and with star storehouse
Fixed star data message in memory is matched, and finally identifies fixed star.Celestial body capture systems can also aim at nearer row
Star or its satellite, obtain its center azimuth information.Navigation counting circuit will select a fixed star from many fixed stars of identified
It is connected with spacecraft and obtains straight line, then the center of planet or its satellite is connected with spacecraft, obtains other straight line,
According to the angle of the two straight lines, spacecraft orbit equation is utilized, you can obtain the position of spacecraft at a time, that is, navigate
Information.
As shown in figure 3, in the present embodiment, the autonomous navigation system based on laser space communication terminal includes：Optics is looked in the distance
Mirror 1, smart collimation device 2, light splitting optical path 3, beacon electro-optical device 9, transmitting, which receive caliberating device, slightly takes aim at mechanical indicator device 4, celestial body catches
Obtain system 5, control system 7 and spacecraft platform interface 8；Celestial body capture systems 5 include focused light passages 51, array image sensor
52nd, image variants device 53, navigation counting circuit 54 and star storehouse memorizer 55.Optical telescope 1 is hoped using reflective
Remote mirror, advantage is no color differnece, compact dimensions.Autocollimator is looked in the distance using Cassegrain, R-C and other aspheric forms
Mirror.Smart collimation device 2 takes aim at tilting mirror using essence, incident beam is done two-dimensional high speed rotation, can be realized by high speed PZT.Light splitting light
Road 3 uses semi-transparent semi-reflecting lens, or two-phase color spectroscope.Array image sensor 52 uses CCD or cmos device.
Transmitting, which receives caliberating device, to be included spike interference filter 61, focused light passages 62, slightly takes aim at capture sensor 63, shutter
64th, it is Amici prism that prism of corner cube 65, communication receiving device 66, essence, which take aim at reception device 67 and communication launcher 68,69,；Its
In, spike interference filter 61 passes through very narrow spectrum incident beam, reduces bias light and other jamming light sources；Shutter 64 can be
Open, otherwise close when receiving channel is demarcated with transmission channel uniformity；Prism of corner cube 65 makes incident beam along former direction
Return；Communication receiving device 66 receives the Communication ray launched from counterparting communications terminal；Essence takes aim at the essence of reception device 67 and takes aim at reception dress
It is exactly a high speed optoelectronic sensor to put, the position for determining hot spot on photosurface, can use 4 quadrant detector 4QD,
CCD camera or CMOS cameras, carry out Electrophotosensitive to the light beam from counterparting communications terminal, obtain its direction, be that smart pointing is carried
For feedback data, it can be realized using high-speed CCD or CMOS cameras, 4QD.68 mainly communication laser light sources are modulated, compiled
After code, collimation, quasi-parallel light beam is obtained, communication launcher is constituted.
The autocollimator system visual field of traditional structure is typically smaller so that generally required in celestial body acquisition phase many
Secondary capture fixed star, by field stitching, could recognize constellation, to improve acquisition speed, optical telescope 1 such as Fig. 4 of the invention
It is shown, including three aspherical mirrors 11,12 and 13, and a plane mirror 14,15 is eyepiece；Parallel beam incident is to non-
After spherical mirror 12, converge and reflex to aspherical mirror 11, plane reflection is incident to by 11 through holes being reflected through in the middle of 12 and 13
Mirror 14, then reflexes to 13, by 13 reflections, focuses on, eyepiece 15 is incident to by the through hole of plane mirror 14；By 11,12,
13 and 14 light path is burnt with the copolymerization of eyepiece 15.Using Fig. 4 optical telescope, visual field can reach 2.5., can obtain well
Aberration correction.
Fig. 5 is the annexation figure of image variants device, navigation counting circuit and star storehouse memorizer, IMAQ
And processing unit includes image interface, on-site programmable gate array FPGA and programmable read only memory PROM；Navigation calculates electricity
Road includes SRAM SRAM and digital signal processor DSP；The field programmable gate of image variants device
It is connected between array and the digital signal processor for the counting circuit that navigates by data/address bus level conversion；Navigate counting circuit
Digital signal processor is connected with star storehouse memorizer, and star storehouse memorizer uses flash memory FLASH.
Below so that the earth is the planet chosen as an example, the autonomous navigation method of the present invention is illustrated.
The autonomous navigation method of the autonomous navigation system based on laser space communication terminal of the present invention, including following step
Suddenly：
1) control system control autonomous navigation system is in navigation pattern, slightly takes aim at mechanical indicator device 4 in control system 7
Under control, optical telescope 1 is aligned in a direction in space, the visual field of celestial body capture systems 5 and some fixed stars, light occur
Learn telescope 1 and the light beam that fixed star is sent is entered into line convergence, be changed into arrow beam of light；
2) smart collimation device 2 is tracked alignment to incident beam, the incidence that the vibration to compensate spacecraft platform is brought
The shake of light beam；Incident beam enters in celestial body capture systems 5 after light splitting optical path 3；
3) light beam for entering celestial body capture systems first passes around focused light passages 51 and is focused, and then projects the face system of battle formations
As on sensor 52, array image sensor 52 receives incident beam, and completes opto-electronic conversion, so that capturing star image, warp
Cross after one or many celestial body acquisition procedures, image variants device 53 and navigation counting circuit 54 to image at
Reason, is matched with the fixed star data message in star storehouse memorizer 55, finally identifies aimed at fixed star；
4) control system 7 controls slightly to take aim at mechanical indicator device 4 and optical telescope 1 is aligned into the earth, then is captured by celestial body and be
System 5 is obtained, and Horizon information can be obtained using the mode of indirect sensitive Horizon, obtains the earth's core center hold；
5) identified fixed star is connected with spacecraft and obtains a straight line, then the earth's core is connected with spacecraft, obtained in addition
Straight line, according to the angle of the two straight lines, utilizes spacecraft orbit equation, you can obtain the position of spacecraft at a time
Put, i.e. navigation information.
In fact, when autonomous navigation system is just started working, after fixed star is identified, determining to calculate using posture
Method, it is possible to obtain the attitude data of communication terminal equipment, the data are different from the posture of spacecraft platform, and it is more accurate.
Wherein, in step 4) in, the principle of sensitivity Horizon is when starlight is by earth atmosphere, due to atmospheric density indirectly
It is uneven, light can be reflected, bend towards the earth's core direction, so that star apparent place is moved up than physical location.Refraction angle takes
Certainly in starlight frequency and atmospheric density.The starlight of refraction is obtained using the celestial body capture systems 5 in the present invention, is reflected by setting up
Light obtains Horizon information, obtains the earth's core azimuth information relative to the observational equation between earth apparent altitude and refraction angle.
Navigation procedure described above lays particular emphasis on the closer situation of liftoff ball, using stellar refraction angle, obtains the earth's core side
Position information；When the liftoff ball of spacecraft is distant, such as survey of deep space still simply can identify perseverance using the present invention
Star seat after, the profile of the next step planet nearer by repeatedly aiming at or its satellite, by image procossing (rim detection,
Discrete point is fitted), it is possible to planet or the center hold information of its satellite are calculated, navigation bits are calculated using similar algorithm
Confidence ceases.
The autonomous navigation system of the present invention, itself is had as the laser space communication terminal of the payload of spacecraft
Independent navigation function, can realize the space communication function of traditional laser communication terminal, while can realize independent navigation again
Function, it is not necessary to add extra navigation equipment, saves weight, volume, power consumption and the expense of payload.
If it should be noted that the visual field of celestial body capture systems 5 can realize that a celestial body captures many than larger
Fixed star, so as to complete the identification of fixed star；If the visual field of celestial body capture systems 5 is smaller, multiple capturing star is needed, is utilized
The method of image mosaic, completes the identification of fixed star.
It is finally noted that, the purpose for publicizing and implementing mode is that help further understands the present invention, but ability
The technical staff in domain is appreciated that：Without departing from the spirit and scope of the invention and the appended claims, it is various replacement and
Modification is all possible.Therefore, the present invention should not be limited to embodiment disclosure of that, the scope of protection of present invention with
The scope that claims are defined is defined.
Claims (5)
1. a kind of autonomous navigation method of the autonomous navigation system based on laser space communication terminal, it is characterised in that it is described from
Main air navigation aid comprises the following steps：
1) autonomous navigation system is in navigation pattern, slightly takes aim at mechanical indicator device under control of the control system, optics is looked in the distance
Mirror, which is aligned in a direction in space, the visual field of celestial body capture systems, there are more than three fixed stars, and optical telescope sends out fixed star
The light beam gone out enters line convergence；
2) smart collimation device is tracked alignment to incident beam, the incident beam that the vibration to compensate spacecraft platform is brought
Shake, incident beam enters in celestial body capture systems after light splitting optical path；
3) fixed star is identified celestial body capture systems, then obtains the azimuth information of fixed star；
4) control system control slightly takes aim at mechanical indicator device and optical telescope is aligned into a planet or its satellite, then is caught by celestial body
Obtain system and obtain planet or the center hold information of its satellite；
5) the navigation counting circuit in celestial body capture systems will select a fixed star and spacecraft from many fixed stars of identified
Connection obtains straight line, then the center of planet or its satellite is connected with spacecraft, obtains other straight line, according to this two
The angle of individual straight line, utilizes spacecraft orbit equation, you can obtain the position of spacecraft at a time, i.e. navigation information；
The autonomous navigation system includes：Optical telescope, smart collimation device, beacon electro-optical device, light splitting optical path, transmitting receive demarcation
Device, slightly take aim at mechanical indicator device, celestial body capture systems, control system and spacecraft platform interface；Wherein, mechanical sensing is slightly taken aim at
Device is connected to optical telescope, controls it to be directed at dimensional orientation；The incident beam that optical telescope is collected is taken aim at by essence to be turned
Mirror, through light splitting optical path, light beam is into celestial body capture systems all the way, and another road enters transmitting and receives caliberating device；Beacon electro-optical device,
Transmitting receives caliberating device, slightly takes aim at mechanical indicator device and celestial body capture systems are connected with control system respectively；Control system
It is connected with spacecraft platform interface；Celestial body capture systems capture and recognize fixed star, and obtain the azimuth information of fixed star, and catch
Obtain certain planet or its satellite and obtain its center azimuth information.
2. autonomous navigation method as claimed in claim 1, it is characterised in that in step 3) in, enter celestial body capture systems
Light beam first pass around focused light passages and be focused, then project on array image sensor；Array image sensor is received
Incident beam, and opto-electronic conversion is completed, so that capturing star image；Image variants device carries out preliminary treatment to image
Obtain enhanced image；Navigation counting circuit image is further processed, using star Pattern Recognition Algorithm, and with star storehouse memorizer
In fixed star data message matched, finally identify aimed at fixed star.
3. a kind of autonomous navigation system based on laser space communication terminal, it is characterised in that the autonomous navigation system includes：
Optical telescope, smart collimation device, beacon electro-optical device, light splitting optical path, transmitting receive caliberating device, slightly take aim at mechanical indicator device, star
Body capture systems, control system and spacecraft platform interface；Wherein, slightly take aim at mechanical indicator device and be connected to optical telescope, control
Make it and be directed at dimensional orientation；The incident beam that optical telescope is collected takes aim at tilting mirror by essence, through light splitting optical path, and light beam enters all the way
Enter celestial body capture systems, another road enters transmitting and receives caliberating device；Beacon electro-optical device, transmitting receive caliberating device, slightly take aim at machine
Tool indicator device and celestial body capture systems are connected with control system respectively；Control system is connected with spacecraft platform interface；
Celestial body capture systems capture and recognize fixed star, and obtain the azimuth information of fixed star, and capture certain planet or its satellite and obtain
Its center azimuth information；Wherein, optical telescope includes three aspherical mirrors, and a plane mirror and eyepiece；It is parallel
Light beam is incident to after the second aspherical mirror, is converged and is reflexed to the first aspherical mirror, second is reflected through by the first aspherical mirror
Plane mirror is incident to the through hole in the middle of the 3rd aspherical mirror, the 3rd aspherical mirror is then reflexed to, it is aspherical by the 3rd
Mirror is reflected and focused on, and eyepiece is incident to by the through hole of plane mirror；Pass through three aspherical mirrors and the light of plane mirror
Road is burnt with eyepiece copolymerization.
4. autonomous navigation system as claimed in claim 3, it is characterised in that the celestial body capture systems include focused light passages,
Array image sensor, image variants device, navigation counting circuit and star storehouse memorizer；Wherein, celestial body is entered to catch
The light beam for obtaining system first passes around focused light passages and is focused, and then projects on array image sensor；Face battle array image sensing
Device receives incident beam, and completes opto-electronic conversion, so that capturing star image；Image variants device is carried out just to image
Step processing, obtains enhanced image；Navigation counting circuit is further processed to image, using star Pattern Recognition Algorithm, and and star
Fixed star data message in storehouse memorizer is matched, and finally identifies aimed at fixed star.
5. autonomous navigation system as claimed in claim 4, it is characterised in that described image is gathered and processing unit includes image
Interface, field programmable gate array and programmable read only memory；The counting circuit that navigates includes SRAM and numeral
Signal processor；The digital signal processor of the field programmable gate array of image variants device and navigation counting circuit
Between by data/address bus level conversion be connected；The digital signal processor of navigation counting circuit is connected with star storehouse memorizer.
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| CN109188679A (en) * | 2018-10-30 | 2019-01-11 | 宁波光舟通信技术有限公司 | Method of adjustment, device and the lens apparatus of lens apparatus |
| CN109474339A (en) * | 2018-10-30 | 2019-03-15 | 宁波光舟通信技术有限公司 | Signal adjusting method and device between star |
| CN111901032B (en) * | 2020-08-25 | 2021-09-07 | 中国科学院微小卫星创新研究院 | Integrated satellite-borne optical sensor system |
| CN111970054B (en) * | 2020-09-14 | 2023-07-21 | 长春理工大学 | View field spliced wide-area rapid capturing laser communication terminal |
| CN112129323B (en) * | 2020-09-23 | 2023-05-09 | 中科院南京天文仪器有限公司 | Jitter compensation type star simulation system based on beam splitting and window sealing |
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| CN1777063B (en) * | 2005-12-16 | 2011-07-27 | 北京大学 | Trapping system for satellite laser communication |
| CN1777064B (en) * | 2005-12-16 | 2011-08-24 | 北京大学 | Satellite laser communication terminal |
| CN100575877C (en) * | 2007-12-12 | 2009-12-30 | 南京航空航天大学 | Spacecraft shading device combined navigation methods based on many information fusion |
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