CN109459055B - Reference attitude multi-sensor fusion networking measuring device - Google Patents
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- CN109459055B CN109459055B CN201811294979.2A CN201811294979A CN109459055B CN 109459055 B CN109459055 B CN 109459055B CN 201811294979 A CN201811294979 A CN 201811294979A CN 109459055 B CN109459055 B CN 109459055B
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Abstract
The invention belongs to the technical field of multi-sensor fusion networking, and particularly relates to a reference attitude multi-sensor fusion networking measuring device. The invention relates to a reference attitude multi-sensor fusion networking measuring device which comprises four angular gauges, a reference reflector, a measuring electric control cabinet and a mounting bracket, so that the defect of measurement of reference attitude angles of a camera and a star sensor in a low-temperature environment in the prior art is overcome, an accurate and real-time space reference attitude angle measuring network is established by utilizing various sensors such as a photoelectric sensor, a temperature sensor, an accelerometer and the like, and the reference attitude angles in the low-temperature environment are quickly measured through data fusion and networking calculation.
Description
Technical Field
The invention belongs to the technical field of multi-sensor fusion networking, and particularly relates to a reference attitude multi-sensor fusion networking measuring device.
Background
A multi-sensor fusion networking measurement method for a reference attitude angle between a spacecraft camera and a star sensor in a low-temperature environment is not described in a public technical document.
At present, the measurement of the reference attitude angle between a camera and a star sensor on a spacecraft is mainly limited to the measurement under the static condition of a laboratory at normal temperature, and due to the relation of a measurement method, a real-time measurement result cannot be provided. The following are mainly available: calibrating a reference attitude angle in a manual measurement mode; and in the laboratory, the attitude angle is set in a computer simulation and small part parameter simulation mode.
The manual measurement is that a measurement system is formed by erecting four theodolites, and each theodolite telescope is respectively aligned with a corresponding reflecting surface of a reference prism outside the guidance unit. In the measuring process, vertical axis leveling errors and artificial collimation alignment errors of two theodolites are included, and the two errors are 1: 1 are directly introduced into the measurement data, which seriously affects the accuracy of the measurement result. When the angular difference of the two reference prisms in the yaw direction is measured, the self error and the aiming error of the other two theodolites are brought into the measurement result. The measuring method has the defects of more configuration quantity of measuring equipment, complex instrument erection, complex measuring procedure, more measuring error items and the like, and the accuracy of the measuring result is reduced; and the device is only suitable for static normal temperature measurement and has no real-time property and low-temperature environment adaptability. The computer simulation means that software simulation calculation is carried out on key parameters on three axes of azimuth, pitch and roll according to past empirical values, and a simulated attitude angle is given for subsequent space calculation, but the error is larger than the actual error and the consistency between the attitude and the ground is poor.
Due to the defects, a conventional technical scheme needs to be developed to provide a reference attitude multi-sensor fusion networking measuring device, so that the problems are solved.
Disclosure of Invention
The invention aims to solve the technical problem of providing a multi-sensor fusion networking measuring device for reference attitude, thereby overcoming the defect of measurement of reference attitude angles of a camera and a star sensor in a low-temperature environment in the prior art, establishing an accurate and real-time space reference attitude angle measuring network by using various sensors such as a photoelectric sensor, a temperature sensor, an accelerometer and the like, and realizing rapid measurement of the reference attitude angles in the low-temperature environment through data fusion and networking calculation.
In order to realize the purpose, the invention adopts the technical scheme that:
a reference attitude multi-sensor fusion networking measuring device comprises four goniometers, a reference reflector, a measuring electric control cabinet and a mounting bracket;
first, goniometer
The angle measuring instrument I, the inclinometer II and the inclinometer IV respectively comprise a double-shaft photoelectric autocollimator, a double-shaft inclination angle sensor, two temperature sensors and a temperature control module;
the goniometer III comprises two double-shaft photoelectric autocollimators, a double-shaft tilt angle sensor, two temperature sensors and a temperature control module; the measuring optical axes of the two double-axis photoelectric autocollimators are arranged at a fixed included angle, one photoelectric autocollimator is used for collimating the star sensor reference prism, the other photoelectric autocollimator is used for collimating the reference reflector on the goniometer II, and the transfer of the azimuth angle relation between the goniometer II and the goniometer III is realized;
Second, reference reflector
Three-dimensional attitude angles of the camera and the star sensor reference prism, which are measured by the goniometer, are transmitted through a reference reflector azimuth angle to build a measurement network;
third, measure the automatically controlled cupboard
The measurement electric control cabinet comprises six modules, namely a power module, an angle measurement unit processing module, a horizontal measurement processing module, a temperature control system processing module, an attitude angle fusion resolving module and a manual interaction module, and realizes the functions of power supply, data acquisition, signal processing, storage and manual interaction interface;
fourth, the mounting bracket
The mounting brackets are four independent brackets, are respectively connected with four corresponding goniometers, are placed on the floor of the test room and can freely move on the floor of the test room;
when the test is carried out, in order to meet the visual condition required by the test, an operator freely places the mounting bracket and the four goniometers according to the actual position of the tested object.
The measurement electric control cabinet is connected with the four goniometers through signal cables.
Furthermore, the reference attitude multi-sensor fusion networking measuring device comprises angle measuring instruments which are grouped in pairs and respectively measure the three-dimensional attitude angles of the camera reference prism and the star sensor reference prism;
The angular instrument I and the angular instrument IV are used for measuring the angles of the camera reference prism and the star sensor reference prism in the rotating direction around the X axis;
and the angular instrument II and the angular instrument III complete the angular measurement of the camera reference prism and the star sensor reference prism around the rotation directions of the Y axis and the Z axis.
Furthermore, according to the reference attitude multi-sensor fusion networking measuring device, the double-shaft photoelectric autocollimator is responsible for measuring the deflection angle between the normal of the reflecting surface of the reference prism and the optical axis at the zero auto-collimation position;
the double-shaft tilt angle sensor measures the included angle between the zero-position optical axis of each goniometer and the horizontal plane of the ground and the roll angle of the reference prism in real time;
the temperature sensor measures the temperature of the ambient temperature equipment;
the temperature control module outputs PWM waveforms through PID regulation, rapid temperature rise and constant temperature control are achieved, and the working environment temperature of the reference attitude multi-sensor fusion networking measuring device is controlled.
Furthermore, according to the reference attitude multi-sensor fusion networking measuring device, the reference reflector is fixedly connected to the goniometer II through the screw.
Furthermore, according to the reference attitude multi-sensor fusion networking measuring device, an included angle formed by the emergent normal of the reference reflector and the measuring optical axis of the goniometer II is fixed.
Further, according to the reference attitude multi-sensor fusion networking measuring device, coordinate conversion data processing including amplification, filtering and AD conversion is carried out on data in a measuring network through upper computer software of the measuring electric control cabinet, the processed data are sent to a computer of the measuring electric control cabinet to be subjected to feature extraction, signal fusion calculation and attitude conversion, and then a three-dimensional attitude difference between two reference prisms is obtained, so that a relative attitude relation between the camera and the star sensor is obtained.
Further, according to the reference attitude multi-sensor fusion networking measuring device, the power supply module achieves a power supply function;
the angle measurement unit processing module synchronously sends angle measurement instructions to the photoelectric angle measurement unit by means of a timer, and each serial port receives the azimuth value X and the pitch value Y of the five biaxial photoelectric autocollimators, displays the azimuth value X and the pitch value Y in real time and transmits the azimuth value X and the pitch value Y to the attitude angle resolving module;
the horizontal measurement processing module and the temperature control system processing module synchronously acquire azimuth X and pitch Y values of the four-way double-shaft tilt angle sensor and real-time temperature sampling values of the eight-channel temperature sensor by means of a timer, and display and transmit the real-time temperature sampling values to the attitude angle resolving module;
the attitude angle fusion resolving module obtains attitude deviation angles of the camera reference prism and the star sensor reference prism respectively around an X axis, a Y axis and a Z axis through three-dimensional coordinate conversion according to an actually received variable value and an initial calibration value known by the tool, and displays the attitude deviation angles in real time;
The manual interaction module realizes the display function of a manual interaction interface.
Furthermore, according to the reference attitude multi-sensor fusion networking measuring device, the three-dimensional attitude measurement of the camera reference prism is realized by the goniometer I and the goniometer II;
alpha is the deflection angle of the camera reference prism around the Z axis of the measurement coordinate system;
θ1the angle of a camera reference prism deflected around the X-axis direction relative to a zero position optical axis of a double-axis photoelectric auto-collimator I is set;
θ2the horizontal angle of the inclination angle sensor II around the X-axis direction is set;
the deflection angle of the camera reference prism around the X axis is as follows: theta1+θ2；
θ3The angle of the camera reference prism body deflected around the Y-axis direction relative to the zero position optical axis of the double-axis photoelectric auto-collimator II is determined;
θ4the horizontal angle of the tilt angle sensor I in the direction around the Y axis is set;
the deflection angle of the camera reference prism around the Y axis is as follows: theta3+θ4；
The temperature sensor I and the temperature sensor II are installed on the goniometer I, the temperature sensor III and the temperature sensor IV are installed on the goniometer II and are responsible for real-time sampling equipment and the current ambient temperature, and the temperature control module I on the goniometer I and the temperature control module II on the goniometer II adopt a closed-loop PID control algorithm and are used for overcoming the low-temperature environment and keeping the proper equipment and ambient temperature.
Furthermore, according to the multi-sensor fusion networking measuring device for the reference attitude, three-dimensional attitude measurement of the star sensor reference prism is realized by the goniometer III and the goniometer IV;
beta is the deflection angle of the star sensor reference prism around the X axis of the measuring coordinate system;
θ5the star-sensitive reference prism deflects upwards around the X-axis direction relative to an IV zero optical axis of the double-axis photoelectric auto-collimator by an angle;
θ6the horizontal angle of the inclination angle sensor IV around the X-axis direction is measured;
the deflection angle of the star sensor reference prism around the X axis is as follows: theta5+θ6；
θ7The deflection angle of the star-sensitive reference prism relative to a zero position optical axis of a double-axis photoelectric auto-collimator III around the Y-axis direction is determined;
θ8the horizontal angle of the tilt angle sensor III around the Y-axis direction is obtained;
the deflection angle of the star sensitive reference prism around the Y axis is as follows: theta7+θ8；
The temperature sensor VII and the temperature sensor VIII which are arranged on the goniometer III, the temperature sensor V and the temperature sensor VI which are arranged on the goniometer IV are responsible for sampling the equipment and the current environment temperature in real time, and the temperature control module III on the goniometer III and the temperature control module IV on the goniometer IV adopt a closed-loop PID control algorithm and are used for overcoming the low-temperature environment and keeping the proper equipment and environment temperature.
The technical scheme of the invention has the beneficial effects that:
The reference attitude multi-sensor fusion networking measuring device provided by the invention is established on the basis of optical auto-collimation imaging and azimuth angle transmission, integrates a plurality of photoelectric sensors, inclination sensors and temperature sensors to form a test network by comprehensively using photoelectric and angular position measuring technologies, and can realize automatic, rapid and accurate measurement of attitude deviation between two measured objects. Tests prove that the temperature can be rapidly raised in a low-temperature environment of 40 ℃ below zero, the constant temperature is kept at 25 ℃, and the measurement accuracy in the three directions of azimuth, pitch and roll is less than 6'.
The technical scheme fundamentally solves the technical problem of quick and accurate calibration of the reference attitude angle of the spacecraft camera and the star sensor in the low-temperature environment, eliminates the manual operation error and the difference between operators, improves the measurement accuracy and provides powerful measurement guarantee for the development of the space technical field in China; the method can also be popularized and applied to automatic measurement and calibration of the reference attitude angle between the camera and the star sensor on other carriers outside the technical field of space.
Drawings
FIG. 1 is a schematic structural diagram of a multi-sensor fusion networking measurement device according to the present invention;
FIG. 2 is a schematic diagram of a reference prism of a measuring camera of the goniometer I and II according to the present invention;
FIG. 3 is a schematic diagram of star-sensitive reference prism for measuring by goniometer III and IV.
In the figure: 1-measuring an electric control cabinet, 2-a signal cable, 3-a star sensor reference prism, 4-a camera reference prism, 5-an angle measuring instrument I, 6-an angle measuring instrument II, 7-a reference reflector, 8-an angle measuring instrument III, 9-a mounting bracket, 10-an angle measuring instrument IV, 11-a temperature control module II, 12-a double-shaft photoelectric autocollimator II, 13-a double-shaft inclination angle sensor II, 14-a temperature sensor III, 15-a temperature sensor IV, 16-a temperature control module I, 17-a double-shaft inclination angle sensor I, 18-a double-shaft photoelectric autocollimator I, 19-a temperature sensor I, 20-a temperature sensor II, 21-a double-shaft inclination angle sensor IV, 22-a temperature sensor V, 23-a double-shaft photoelectric autocollimator IV and 24-a temperature sensor VI, 25-temperature control modules IV, 26-temperature sensors VII, 27-temperature sensors VIII, 28-double-shaft tilt angle sensors III, 29-double-shaft photoelectric autocollimator III, and 30-temperature control modules III.
Detailed Description
The technical scheme of the invention is explained in detail in the following by combining the drawings and the specific embodiment.
As shown in fig. 1, the reference attitude multi-sensor fusion networking measuring device of the invention comprises four angular meters, a reference reflector, a measurement electric control cabinet and a mounting bracket;
First, goniometer
The 5-degree angle gauge I, the 6-degree angle gauge II and the 10-degree angle gauge IV respectively comprise a double-shaft photoelectric autocollimator, a double-shaft tilt angle sensor, two temperature sensors and a temperature control module;
the 8-degree angle gauge III comprises two double-shaft photoelectric autocollimators, a double-shaft tilt angle sensor, two temperature sensors and a temperature control module; the measuring optical axes of the two double-axis photoelectric autocollimators are arranged at a fixed included angle, one photoelectric autocollimator is used for collimating the star sensor reference prism, the other photoelectric autocollimator is used for collimating the 7 reference reflector on the 6 goniometer II, and the transfer of the azimuth angle relation between the 6 goniometer II and the 8 goniometer III is realized;
grouping the goniometers in pairs, and respectively measuring three-dimensional attitude angles of the camera reference prism and the star sensor reference prism;
5, completing angle measurement of the reference prism of the 4 cameras and the reference prism of the 3 star sensor around the X-axis rotation direction by using an angle measuring instrument I and an angle measuring instrument IV;
and the 6 goniometer II and the 8 goniometer III complete angle measurement of the 4 camera reference prism body and the 3 star sensor reference prism body around the rotation directions of the Y axis and the Z axis.
The double-shaft photoelectric autocollimator is responsible for measuring the deflection angle between the normal of the reflecting surface of the reference prism and an autocollimation zero optical axis;
The double-shaft tilt angle sensor measures the included angle between the zero-position optical axis of each goniometer and the ground horizontal plane and the roll angle of the reference prism in real time;
the temperature sensor measures the temperature of the ambient temperature equipment;
the temperature control module outputs PWM waveforms through PID regulation, so that rapid temperature rise and constant temperature control are realized, and the working environment temperature of the reference attitude multi-sensor fusion networking measuring device is controlled;
second, reference reflector
The three-dimensional attitude angle of the camera and the star sensor reference prism, which is measured by the goniometer, is transmitted through the azimuth angle of the 7 reference reflectors, and a measurement network is built;
the 7 reference reflecting mirror is fixedly connected to the 6 goniometer II through screws;
the outgoing normal line of the 7 reference reflector and the included angle of the measuring optical axis of the 6 goniometer II form a fixed angle;
third, measure the automatically controlled cupboard
The measurement electric control cabinet comprises six modules, namely a power module, an angle measurement unit processing module, a horizontal measurement processing module, a temperature control system processing module, an attitude angle fusion resolving module and a manual interaction module, and realizes the functions of power supply, data acquisition, signal processing, storage and a manual interaction interface;
and (2) carrying out coordinate conversion data processing including amplification, filtering and AD conversion on data in the measurement network through 1 upper computer software of the measurement electric control cabinet, sending the processed data into a computer of the measurement electric control cabinet for feature extraction, signal fusion calculation and posture conversion, and obtaining a three-dimensional posture difference between the two reference prisms so as to obtain a relative posture relation between the camera and the star sensor.
The power supply module realizes a power supply function;
the angle measurement unit processing module synchronously sends angle measurement instructions to the photoelectric angle measurement unit by means of the timer 1, and each serial port receives the azimuth value X and the pitch value Y of the 5 double-axis photoelectric autocollimators, displays the azimuth value X and the pitch value Y in real time and transmits the azimuth value X and the pitch value Y to the attitude angle resolving module;
the horizontal measurement processing module and the temperature control system processing module synchronously acquire the azimuth X and the pitching Y values of the 4-channel double-shaft tilt angle sensor and the real-time temperature sampling value of the 8-channel temperature sensor by means of the timer 2, and display and transmit the real-time temperature sampling values to the attitude angle resolving module;
the attitude angle fusion resolving module obtains attitude deviation angles of the camera reference prism and the star sensor reference prism respectively around an X axis, a Y axis and a Z axis through three-dimensional coordinate conversion according to an actually received variable value and an initial calibration value known by the tool, and displays the attitude deviation angles in real time;
the manual interaction module realizes the display function of a manual interaction interface;
fourth, the mounting bracket
The mounting brackets are four independent brackets, are respectively connected with four corresponding goniometers, are placed on the floor of the test room and can freely move on the floor of the test room;
when the test is carried out, in order to meet the visual condition of the test requirement, an operator can freely place the mounting bracket and the four goniometers according to the actual position of the tested object.
The measurement electric control cabinet is connected with the four goniometers through signal cables.
As shown in fig. 2, a 5-angle gauge I and a 6-angle gauge II realize three-dimensional attitude measurement of a camera reference prism;
alpha is a deflection angle of the 4-camera reference prism around the Z axis of the measurement coordinate system;
θ1the angle of a 4-camera reference prism deflected around the X-axis direction relative to a zero position optical axis of an 18-biaxial photoelectric autocollimator I is set;
the deflection angle of the reference prism of the 4-camera around the X axis is as follows: theta1+θ2；
θ3The deflection angle of a 4-camera reference prism relative to a zero position optical axis of a 12-biaxial photoelectric autocollimator II around the Y-axis direction is determined;
θ4the horizontal angle of the tilt angle sensor I in the Y-axis direction is 13;
the deflection angle of the camera reference prism around the Y axis is as follows: theta3+θ4；
The temperature control system comprises a first temperature sensor I, a second temperature sensor II, a first temperature sensor III, a second temperature sensor IV, a third temperature sensor IV, a fourth temperature sensor III, a fourth temperature sensor IV, a third temperature sensor IV and a fourth temperature sensor IV, wherein the first temperature sensor I and the second temperature sensor II are installed on a first goniometer I and a second goniometer 6, the first temperature control module I on the first goniometer 5 and the second temperature control module II on the second goniometer 6 adopt a closed-loop PID control algorithm and are used for overcoming low-temperature environment and keeping proper equipment and environment temperature.
As shown in fig. 3, an 8 goniometer iii and a 10 goniometer iv realize three-dimensional attitude measurement of the star sensor reference prism;
Beta is the deflection angle of the 3 star sensor reference prism around the X axis of the measuring coordinate system;
θ5the 3-star sensitive reference prism deflects by an angle around the X-axis direction relative to an IV zero optical axis of the 23-axis photoelectric auto-collimator;
θ6the horizontal angle of the tilt angle sensor IV around the X-axis direction is 21;
the deflection angle of the 3 star sensor reference prism around the X axis is as follows: theta.theta.5+θ6；
θ7The deflection angle of the 3 star-sensitive reference prism relative to the zero position optical axis of the 29 biaxial photoelectric auto-collimator in the Y-axis direction is determined;
θ8the horizontal angle of the tilt angle sensor III around the Y-axis direction is 28;
the deflection angle of the star sensor reference prism around the Y axis is as follows: theta7+θ8；
26 temperature sensors VII and 27 temperature sensors VIII arranged on an 8-degree angle gauge III, 22 temperature sensors V and 24 temperature sensors VI arranged on a 10-degree angle gauge IV are responsible for real-time sampling of equipment and the current ambient temperature, and a 30-degree temperature control module III on the 8-degree angle gauge III and a 25-degree temperature control module IV on the 10-degree angle gauge IV adopt a closed-loop PID control algorithm and are used for overcoming the low-temperature environment and keeping the proper equipment and ambient temperature.
In the design process of the technical scheme, based on the fact that the camera and the star sensor in the known load both have the self reference prisms, the spatial attitude angle of the reference prism can be defined as the angle of rotation around the respective measuring coordinate axis. For the purpose of the invention, the invention adopts the following solution: the method comprises the steps of networking 5 paths of double-shaft photoelectric self-sensors, 4 paths of double-shaft tilt sensors, 8 paths of temperature sensors and 8 paths of temperature control modules to form four angular meters, grouping two angular meters in pairs, respectively measuring three-dimensional attitude angles of reference prisms of a camera and a star sensor, transmitting the three-dimensional attitude angles through azimuth angles of reference mirrors, building a measuring network, and calculating the relative attitude relationship between two measured objects through coordinate conversion of upper computer software.
The technical scheme of the invention is based on the principles of optical auto-collimation and azimuth angle transmission measurement, synchronously measures the attitude change of two measured object reference prisms around X, Y, Z three axes, settles the relative attitude relationship between the measured objects through azimuth angle transmission coordinate conversion, realizes the automatic measurement of the reference attitude angle, and overcomes the defects of fussy manual measurement, inaccurate simulation, incapability of adapting to low-temperature environment and the like in the prior art.
Claims (9)
1. The utility model provides a benchmark gesture multisensor fuses network deployment measuring device which characterized in that: the device comprises four goniometers, a reference reflector, a measurement electric control cabinet and a mounting bracket;
first, goniometer
The angle measuring instrument I (5), the angle measuring instrument II (6) and the angle measuring instrument IV (10) respectively comprise a double-shaft photoelectric autocollimator, a double-shaft tilt angle sensor, two temperature sensors and a temperature control module;
the goniometer III (8) comprises two double-shaft photoelectric autocollimators, a double-shaft tilt angle sensor, two temperature sensors and a temperature control module; the measuring optical axes of the two double-axis photoelectric autocollimators form a fixed included angle to be installed, one photoelectric autocollimator is used for collimating the star sensor reference prism, the other photoelectric autocollimator is used for collimating a reference reflector (7) on the angle measuring instrument II (6), and the transmission of the azimuth angle relation between the angle measuring instrument II (6) and the angle measuring instrument III (8) is realized;
Second, reference reflector
The three-dimensional attitude angle of the camera and the star sensor reference prism body measured by the goniometer is transmitted through the azimuth angle of the reference reflector (7) to build a measurement network;
third, measure the automatically controlled cupboard
(1) The measurement electric control cabinet comprises six modules, namely a power module, an angle measurement unit processing module, a horizontal measurement processing module, a temperature control system processing module, an attitude angle fusion resolving module and a manual interaction module, and realizes the functions of power supply, data acquisition, signal processing, storage and a manual interaction interface;
fourth, mounting bracket
The mounting brackets are four independent brackets, are respectively connected with four corresponding goniometers, are placed on the floor of the test room and can freely move on the floor of the test room;
during testing, in order to meet the through-view condition required by the test, an operator freely places the mounting bracket and the four goniometers according to the actual position of a tested object;
the measurement electric control cabinet is connected with the four goniometers through signal cables.
2. The reference attitude multi-sensor fusion networking measurement device according to claim 1, wherein: grouping the goniometers in pairs, and respectively measuring three-dimensional attitude angles of the camera reference prism and the star sensor reference prism;
The goniometer I (5) and the goniometer IV (10) complete the angle measurement of the camera reference prism body (4) and the star sensor reference prism body (3) around the X-axis rotation direction;
and the goniometer II (6) and the goniometer III (8) complete the angle measurement of the camera reference prism body (4) and the star sensor reference prism body (3) around the rotation directions of the Y axis and the Z axis.
3. The reference attitude multi-sensor fusion networking measurement device according to claim 2, wherein: the double-shaft photoelectric autocollimator is responsible for measuring the deflection angle between the normal of the reflecting surface of the reference prism and an autocollimation zero optical axis;
the double-shaft tilt angle sensor measures the included angle between the zero-position optical axis of each goniometer and the horizontal plane of the ground and the roll angle of the reference prism in real time;
the temperature sensor measures the temperature of the ambient temperature equipment;
the temperature control module outputs PWM waveforms through PID regulation, rapid temperature rise and constant temperature control are achieved, and the working environment temperature of the reference attitude multi-sensor fusion networking measuring device is controlled.
4. The reference attitude multi-sensor fusion networking measurement device according to claim 1, wherein: the reference reflector (7) is fixedly connected to the goniometer II (6) through screws.
5. The reference attitude multi-sensor fusion networking measurement device according to claim 4, wherein: the emergent normal of the reference reflector (7) and the included angle of the measuring optical axis of the goniometer II (6) form a fixed angle.
6. The reference attitude multi-sensor fusion networking measurement device according to claim 1, wherein: and the data in the measurement network is subjected to coordinate conversion data processing including amplification, filtering and AD conversion through upper computer software of the measurement electric control cabinet (1), and the processed data is sent to a computer of the measurement electric control cabinet for feature extraction, signal fusion calculation and attitude conversion to obtain a three-dimensional attitude difference between the two reference prisms, so that the relative attitude relationship between the camera and the star sensor is obtained.
7. The reference attitude multi-sensor fusion networking measurement device according to claim 6, wherein: the power supply module realizes a power supply function;
the angle measurement unit processing module synchronously sends an angle measurement instruction to the photoelectric angle measurement unit by means of the timer I, and each serial port receives the azimuth value X and the pitch value Y of the five biaxial photoelectric autocollimators, displays the azimuth value X and the pitch value Y in real time and transmits the values to the attitude angle resolving module;
the horizontal measurement processing module and the temperature control system processing module synchronously acquire the azimuth X and the pitch Y values of the four-way double-shaft tilt angle sensor and the real-time temperature sampling values of the eight-channel temperature sensor by virtue of the timer II, and display and transmit the real-time temperature sampling values to the attitude angle resolving module;
The attitude angle fusion resolving module obtains attitude deviation angles of the camera reference prism and the star sensor reference prism respectively around an X axis, a Y axis and a Z axis through three-dimensional coordinate conversion according to an actually received variable value and an initial calibration value known by the tool, and displays the attitude deviation angles in real time;
the manual interaction module realizes the display function of a manual interaction interface.
8. The reference attitude multi-sensor fusion networking measurement device according to claim 1, wherein: the three-dimensional attitude measurement of the camera reference prism is realized by the goniometer I (5) and the goniometer II (6);
alpha is the deflection angle of the camera reference prism (4) around the Z axis of the measuring coordinate system;
θ1the zero position optical axis of a camera reference prism (4) relative to a double-axis photoelectric auto-collimator I (18) deflects by an angle in the X-axis direction;
θ2the horizontal angle of the inclination angle sensor II (17) around the X-axis direction is formed;
the deflection angle of the camera reference prism (4) around the X axis is as follows: theta1+θ2；
θ3The zero position optical axis of the camera reference prism (4) relative to the double-axis photoelectric auto-collimator II (12) deflects by an angle around the Y-axis direction;
θ4the horizontal angle of the tilt angle sensor I (13) around the Y-axis direction is set;
the deflection angle of the camera reference prism (4) around the Y axis is as follows: theta3+θ4；
The temperature sensor I (19) and the temperature sensor II (20) are installed on the goniometer I (5), the temperature sensor III (14) and the temperature sensor IV (15) are installed on the goniometer II (6) and are responsible for real-time sampling equipment and current environment temperature, and the temperature control module I (16) on the goniometer I (5) and the temperature control module II (11) on the goniometer II (6) adopt a closed-loop PID control algorithm and are used for overcoming low-temperature environment and keeping proper equipment and environment temperature.
9. The reference attitude multi-sensor fusion networking measurement device according to claim 1, wherein: the three-dimensional attitude measurement of the star sensor reference prism body is realized by an angle measuring instrument III (8) and an angle measuring instrument (10) IV;
beta is the deflection angle of the star sensor reference prism body (3) around the X axis of the measuring coordinate system;
θ5the star-sensitive reference prism (3) deflects at an angle around the X-axis direction relative to the zero-position optical axis of the double-axis photoelectric autocollimator IV (23);
θ6the horizontal angle of the inclination angle sensor IV (21) around the X-axis direction is set;
the deflection angle of the star sensor reference prism (3) around the X axis is as follows: theta5+θ6；
θ7The star-sensitive reference prism (3) deflects at an angle around the Y-axis direction relative to the zero-position optical axis of the biaxial photoelectric autocollimator III (29);
θ8the horizontal angle of the tilt angle sensor III (28) around the Y-axis direction is shown;
(3) the deflection angle of the star sensitive reference prism around the Y axis is as follows: theta7+θ8；
The temperature sensor VII (26) and the temperature sensor VIII (27) are installed on the goniometer III (8), the temperature sensor V (22) and the temperature sensor VI (24) are installed on the goniometer IV (10) and are responsible for real-time sampling of equipment and current environment temperature, and the temperature control module III (30) on the goniometer III (8) and the temperature control module IV (25) on the goniometer IV (10) adopt a closed-loop PID control algorithm and are used for overcoming low-temperature environment and keeping proper equipment and environment temperature.
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| CN201811294979.2A CN109459055B (en) | 2018-11-01 | 2018-11-01 | Reference attitude multi-sensor fusion networking measuring device |
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