CN105953819B - A kind of cooperative target device suitable for Optical Sensor Used in RVD and laser radar - Google Patents
A kind of cooperative target device suitable for Optical Sensor Used in RVD and laser radar Download PDFInfo
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- CN105953819B CN105953819B CN201610323697.5A CN201610323697A CN105953819B CN 105953819 B CN105953819 B CN 105953819B CN 201610323697 A CN201610323697 A CN 201610323697A CN 105953819 B CN105953819 B CN 105953819B
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- corner cube
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- laser radar
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
-
- G—PHYSICS
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/495—Counter-measures or counter-counter-measures using electronic or electro-optical means
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Optics & Photonics (AREA)
- Manufacturing & Machinery (AREA)
- Electromagnetism (AREA)
- Astronomy & Astrophysics (AREA)
- Automation & Control Theory (AREA)
- Optical Elements Other Than Lenses (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The present invention relates to a kind of cooperative target devices suitable for Optical Sensor Used in RVD and laser radar, including single central prism of corner cube, N number of edge prism of corner cube, annular optical filter and cooperative target shell；When lidar measurement, only central prism of corner cube light echo, visual field scope -20 spend~20 degree；When Optical Sensor Used in RVD measures, light echo, visual field scope -16 spend~16 degree simultaneously for central prism of corner cube and edge micro-prism array；Measuring basis is devised on cooperative target shell, for characterizing the measurement coordinate system of Optical Sensor Used in RVD and laser radar.The present invention can be applied to Optical Sensor Used in RVD and laser radar simultaneously, can reduce spacecrafts rendezvous aircraft layout difficulty, so that two kinds of nearest operating distances of sensor is reached 0.5m, complete docking, improve the reliability of spacecrafts rendezvous mode.
Description
Technical field
The present invention relates to a kind of cooperative target devices suitable for spacecrafts rendezvous Relative Navigation sensor, more particularly to one kind
The cooperative target device of Optical Sensor Used in RVD and laser radar.
Background technique
During Technique in Rendezvous and Docking task generallys use laser radar, Optical Sensor Used in RVD is used as closely extremely
The intersection measurement sensor of distance segment is completed in docking.Laser radar can provide two within the scope of relative distance 20km~0.5m and fly
Relative movement parameters between row device；Optical Sensor Used in RVD can provide two flights within the scope of 150m~0.5m
High-precision six-freedom degree relative pose navigation information between device.Previous laser radar is all made of with Optical Sensor Used in RVD
Cooperative target design, respectively measures respective cooperative target.Two kinds of nearest operating distances of sensor are limited to respective
Layout of the cooperative target on target aircraft.In the previous spacecrafts rendezvous task in China, since sensor is more on two aircraft
Cause to be laid out the reasons such as difficulty, the nearest operating distance of laser radar is generally in 10m with remote, therefore spacecrafts rendezvous optical imagery is quick
Sensor is unique Relative Navigation sensor of Butt Section, can be backed up without other sensors.
Currently, U.S.'s Marshall Space Flight Center reports Optical Sensor Used in RVD series of products, respectively
For VGS, AVGS, NGAVGS, cooperative target constitutes micro-prism array form using 3 prism of corner cubes, as shown in Figure 1.
Suitable for the cooperative target device of optical imagery sensor and laser radar, relevant report is had not yet to see.
Summary of the invention
Technology of the invention solves the problems, such as: overcoming the deficiencies of the prior art and provide one kind and leads relatively suitable for spacecrafts rendezvous
The cooperative target device of boat sensor, can be used for the measurement of two kinds of sensors simultaneously, make the nearest operating distance of two sensors extremely
Docking is completed, and is backed up mutually.
The technical solution of the invention is as follows: the present invention is a kind of to be suitable for Optical Sensor Used in RVD and laser thunder
The cooperative target device reached, including central prism of corner cube (1), N number of edge prism of corner cube (2), annular optical filter (3), cooperative target
It marks shell (4)；The central prism of corner cube (1) is located at the geometric center of cooperative target, the plane of refraction of central prism of corner cube (1)
It is coated with bilateral deielectric-coating, transmits the illumination light of Optical Sensor Used in RVD and laser radar；N number of edge prism of corner cube
(2) around central prism of corner cube (1) central symmetry distribution, annular optical filter (3) is covered in the refraction of N number of edge prism of corner cube
Face, cooperative target shell (4) is according to above-mentioned configuration by central prism of corner cube (1), N number of edge prism of corner cube (2), annular optical filter
(3) it positions and fastens；Annular optical filter (3) is coated with single-pass deielectric-coating, transmits the illumination light of Optical Sensor Used in RVD,
By the illumination light of laser radar；When the illumination of optical imagery sensor, through central prism of corner cube (1) plane of refraction
Deielectric-coating is again passed through deielectric-coating backtracking, optical imagery sensor receiving light path after central prism of corner cube (1) is turned back and penetrated
The illumination light for being irradiated to annular optical filter (3) respectively enters N number of edge prism of corner cube (2) after filter transmission, through N number of edge
Prism of corner cube (2), which is turned back, penetrates rear backtracking, optical imagery sensor receiving light path, when Mingguang City that laser radar shines is irradiated, thoroughly
The deielectric-coating for crossing central prism of corner cube (1) plane of refraction, is again passed through deielectric-coating original road after central prism of corner cube (1) is turned back and penetrated and returns
The illumination light that annular optical filter (3) is irradiated to by radar receiving light path is returned by optical filter by areflexia light.
The plane of refraction of N number of edge prism of corner cube (2) is coplanar.
N number of edge prism of corner cube (2) effective aperture is identical.
The N is 6 or 12.
The plane of refraction of N number of edge prism of corner cube (2) is completely covered in the annular optical filter (3), and does not cover central pyramid
The plane of refraction of prism (1).
Symmetrical 4 cross grooves in cooperative target shell (4) structure, characterization spacecrafts rendezvous optical imagery are sensitive
The measurement coordinate system of device and laser radar.
The effective aperture of the center prism of corner cube (1) is determined according to laser radar light path design, is 16mm~25mm.
The visual field scope -20 of the center prism of corner cube (1) spends~20 degree, and three fully reflecting surfaces plate silverskin.
Central prism of corner cube (1) effective aperture is determined according to Optical Sensor Used in RVD light path design, is 10mm
±1mm。
Any prism of corner cube visual field scope is not less than -16~16 degree of degree in N number of edge prism of corner cube (2).
Compared with the prior art, the present invention has the following advantages:
(1) light echo prism of corner cube of the invention uses the structure type of central prism of corner cube and N number of edge prism of corner cube, in
Entreat prism of corner cube that can reflect intersection pair with reflection laser radar illumination light, central prism of corner cube and N number of edge prism of corner cube
Optical imagery sensor illumination light is connect, same target can be used for two class spacecrafts rendezvous sensors.
(2) present invention is by using central prism of corner cube dual wavelength reflected light, N number of edge prism of corner cube Single wavelength reflection
Light echo realizes enhancing spacecrafts rendezvous imaging type sensor light echo energy and light echo symmetry, avoids laser radar by edge angle
The interference of cone prism light echo.
(3) present invention compared with prior art, solve sensor layout problem, make Optical Sensor Used in RVD and
The nearest operating distance of laser radar furthers to completing to dock, and increases the reliability of joint mode.
(4) when lidar measurement, only central prism of corner cube light echo, visual field scope -20 spend~20 degree；Spacecrafts rendezvous light
When studying image sensor measurement, light echo, visual field scope -16 spend~16 simultaneously for central prism of corner cube and edge micro-prism array
Degree；Measuring basis is devised on cooperative target shell, for characterizing the survey of Optical Sensor Used in RVD and laser radar
Measure coordinate system.The present invention can be applied to Optical Sensor Used in RVD and laser radar simultaneously, can reduce spacecrafts rendezvous
Aircraft is laid out difficulty, and two kinds of nearest operating distances of sensor is made to reach 0.5m, completes docking, improves spacecrafts rendezvous mode
Reliability.
Detailed description of the invention
Fig. 1 is U.S.'s Marshall Space Flight Center VGS series sensor object construction figure；
Fig. 2 is structure composition figure of the present invention.
Specific embodiment
The present invention is described in further detail in the following with reference to the drawings and specific embodiments:
As shown in Fig. 2, a kind of cooperative target suitable for Optical Sensor Used in RVD and laser radar of the present invention
Device, comprising: central prism of corner cube 1, N number of edge prism of corner cube 2, annular optical filter 4, cooperative target shell 4, N number of edge angle
Cone prism 2 is symmetrical centered on central pyramid mirror 1, the plane of refraction co-planar arrangement of N number of edge prism of corner cube 2, and N number of edge
2 effective aperture of prism of corner cube is identical, and N can take 6 or 12, and any prism of corner cube visual field scope is not in N number of edge prism of corner cube 2
Less than -16~16 degree of degree.
Annular optical filter 3 is completely covered on the plane of refraction of N number of edge prism of corner cube, and hollow space is in avoiding blocking
Entreat the plane of refraction of prism of corner cube 1, cooperative target shell 4 by necessary formwork support structure and pressing ring by central prism of corner cube 1,
N number of edge prism of corner cube 2, annular optical filter 3 are supported and are fastened, and 4 crosses are uniformly carved on 4 end face circumference of cooperative target shell and are carved
Line draws the coordinate system of cooperative target, is used for optical imagery sensor and lidar measurement.Central prism of corner cube 1 has
It imitates bore to determine according to laser radar light path design, is 16mm~25mm, central 1 effective aperture of prism of corner cube is according to spacecrafts rendezvous
Optical imagery sensor light path design determines, is 10mm ± 1mm.The visual field scope -20 of central prism of corner cube 1 spends~20 degree,
Three fully reflecting surfaces plate silverskin.
Optical imagery sensor illumination is to cooperative target, through the deielectric-coating of central 1 plane of refraction of prism of corner cube, warp
Central prism of corner cube 1 is turned back penetrate after be again passed through deielectric-coating original road and return optical imagery sensor receiving light path, be irradiated to annular filter
The illumination light of mating plate 3 respectively enters N number of edge prism of corner cube 2 after filter transmission, turns back and penetrates through N number of edge prism of corner cube 2
Backtracking optical imagery sensor receiving light path afterwards, central 1 light echo of prism of corner cube are overlapped with N number of 2 light echo of edge prism of corner cube,
Enhance the light echo energy for entering the imaging of optical imagery sensor, laser radar illumination to cooperative target, through center
The deielectric-coating of 1 plane of refraction of prism of corner cube is again passed through deielectric-coating original road after central prism of corner cube 1 is turned back and penetrated and returns radar reception light
Road is irradiated to the illumination light of annular optical filter 2 by optical filter by areflexia light, due to avoiding returning for edge prism of corner cube
Light interference, ensure that the measurement accuracy of laser radar.
As shown in Fig. 2, cooperative target housing design protection support lattice, for central prism of corner cube 1 and N number of edge prism of corner cube
2 layout and positioning, N=12 in implementation, 12 edge prism of corner cubes are laid out in regular hexagon, and plane of refraction co-planar arrangement surrounds
Central prism of corner cube 1 is symmetrical.Central pyramid mirror 1 effective clear aperture 19mm, edge prism of corner cube clear aperture 10mm, because
This central 1 height of prism of corner cube is higher than N number of edge prism of corner cube 2, while designing annular optical filter 3 and being covered on edge prism of corner cube
Plane of refraction.When adjustment, central prism of corner cube 1 penetrates annular optical filter, and plane of refraction is coplanar with 3 upper surface of annular optical filter.
The present invention is not described in detail content and is known to the skilled person technology.
Claims (10)
1. a kind of cooperative target device suitable for Optical Sensor Used in RVD and laser radar, it is characterised in that: packet
Include central prism of corner cube (1), N number of edge prism of corner cube (2), annular optical filter (3), cooperative target shell (4)；The center
Prism of corner cube (1) is located at the geometric center of cooperative target, and the plane of refraction of central prism of corner cube (1) is coated with bilateral deielectric-coating, transmission
The illumination light of Optical Sensor Used in RVD and laser radar；N number of edge prism of corner cube (2) surrounds central prism of corner cube
(1) central symmetry is distributed, and annular optical filter (3) is covered in the plane of refraction of N number of edge prism of corner cube, and cooperative target shell (4) is pressed
Central prism of corner cube (1), N number of edge prism of corner cube (2), annular optical filter (3) are positioned and fastened according to above-mentioned configuration；Annular filter
Mating plate (3) is coated with single-pass deielectric-coating, transmits the illumination light of Optical Sensor Used in RVD, by the illumination of laser radar
Light；When the illumination of optical imagery sensor, through the deielectric-coating of central prism of corner cube (1) plane of refraction, through central pyramid
Prism (1) is turned back penetrate after be again passed through deielectric-coating backtracking, optical imagery sensor receiving light path is irradiated to annular optical filter
(3) illumination light respectively enters N number of edge prism of corner cube (2) after filter transmission, turns back through N number of edge prism of corner cube (2)
Penetrate rear backtracking, optical imagery sensor receiving light path, when Mingguang City that laser radar shines is irradiated, through central prism of corner cube
(1) deielectric-coating of plane of refraction is again passed through deielectric-coating backtracking after central prism of corner cube (1) is turned back and penetrated and receives light by radar
Road is irradiated to the illumination light of annular optical filter (3) by optical filter by areflexia light.
2. a kind of cooperative target suitable for Optical Sensor Used in RVD and laser radar according to claim 1
Device, it is characterised in that: the plane of refraction of N number of edge prism of corner cube (2) is coplanar.
3. a kind of cooperation suitable for Optical Sensor Used in RVD and laser radar according to claim 1 or 2
Destination apparatus, it is characterised in that: N number of edge prism of corner cube (2) effective aperture is identical.
4. according to claim 1-2 it is one of any described in one kind be suitable for Optical Sensor Used in RVD and laser radar
Cooperative target device, it is characterised in that: the N be 6 or 12.
5. a kind of cooperation suitable for Optical Sensor Used in RVD and laser radar according to claim 1 or 2
Destination apparatus, it is characterised in that: the plane of refraction of N number of edge prism of corner cube (2) is completely covered in the annular optical filter (3), and not
Cover the plane of refraction of central prism of corner cube (1).
6. a kind of cooperative target suitable for Optical Sensor Used in RVD and laser radar according to claim 1
Device, it is characterised in that: symmetrical 4 cross grooves in cooperative target shell (4) structure characterize spacecrafts rendezvous optics
At the measurement coordinate system of image sensor and laser radar.
7. a kind of cooperative target suitable for Optical Sensor Used in RVD and laser radar according to claim 1
Device, it is characterised in that: the effective aperture of the center prism of corner cube (1) is determined according to laser radar light path design, is 16mm
~25mm.
8. a kind of cooperative target suitable for Optical Sensor Used in RVD and laser radar according to claim 1
Device, it is characterised in that: the visual field scope -20 of the center prism of corner cube (1) spends~20 degree, and three fully reflecting surfaces are silver-plated
Film.
9. a kind of cooperative target suitable for Optical Sensor Used in RVD and laser radar according to claim 1
Device, it is characterised in that: central prism of corner cube (1) effective aperture is determined according to Optical Sensor Used in RVD light path design
It is fixed, it is 10mm ± 1mm.
10. a kind of cooperative target suitable for Optical Sensor Used in RVD and laser radar according to claim 1
Device for mark, it is characterised in that: in N number of edge prism of corner cube (2) any prism of corner cube visual field scope not less than -16 degree~
16 degree.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610323697.5A CN105953819B (en) | 2016-05-16 | 2016-05-16 | A kind of cooperative target device suitable for Optical Sensor Used in RVD and laser radar |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610323697.5A CN105953819B (en) | 2016-05-16 | 2016-05-16 | A kind of cooperative target device suitable for Optical Sensor Used in RVD and laser radar |
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| Publication Number | Publication Date |
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| CN105953819A CN105953819A (en) | 2016-09-21 |
| CN105953819B true CN105953819B (en) | 2019-05-24 |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109459741B (en) * | 2018-12-07 | 2024-06-07 | 南京先进激光技术研究院 | Measurement debugging device for laser radar system |
| CN110988891B (en) * | 2019-12-26 | 2021-06-08 | 广州市慧建科技有限公司 | Laser scanning target identification system and method |
| CN112697075B (en) * | 2020-12-03 | 2022-08-02 | 中国科学院光电技术研究所 | Projection area analysis method for rendezvous and docking laser radar cooperative target |
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| CN102538793A (en) * | 2011-12-23 | 2012-07-04 | 北京控制工程研究所 | Double-base-line non-cooperative target binocular measurement system |
| CN102589526A (en) * | 2011-12-23 | 2012-07-18 | 北京控制工程研究所 | Single baseline binocular measuring system for measuring non-cooperative targets |
| CN102661746A (en) * | 2012-05-23 | 2012-09-12 | 北京科技大学 | Sensor main mounting boxes and passive optical sensor |
| CN104236554A (en) * | 2014-09-10 | 2014-12-24 | 北京控制工程研究所 | Far and near field switching use method of autonomous rendezvous and docking relative measurement sensor |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US20070171394A1 (en) * | 2006-01-25 | 2007-07-26 | Daniel Steiner | Flagstick with integrated reflectors for use with a laser range finder |
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|---|---|---|---|---|
| CN102288198A (en) * | 2011-05-09 | 2011-12-21 | 哈尔滨工业大学 | Laser cooperative object linearity calibrating and error measuring method thereof |
| CN102538793A (en) * | 2011-12-23 | 2012-07-04 | 北京控制工程研究所 | Double-base-line non-cooperative target binocular measurement system |
| CN102589526A (en) * | 2011-12-23 | 2012-07-18 | 北京控制工程研究所 | Single baseline binocular measuring system for measuring non-cooperative targets |
| CN102661746A (en) * | 2012-05-23 | 2012-09-12 | 北京科技大学 | Sensor main mounting boxes and passive optical sensor |
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