KR20000045960A - Satellite alignment system and method for measuring orientation - Google Patents

Satellite alignment system and method for measuring orientation Download PDF

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KR20000045960A
KR20000045960A KR1019980062610A KR19980062610A KR20000045960A KR 20000045960 A KR20000045960 A KR 20000045960A KR 1019980062610 A KR1019980062610 A KR 1019980062610A KR 19980062610 A KR19980062610 A KR 19980062610A KR 20000045960 A KR20000045960 A KR 20000045960A
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measuring
satellite
data processing
sensor
target
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KR1019980062610A
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KR100298650B1 (en
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류장수
이주진
최종연
윤용식
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장근호
한국항공우주연구소
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
    • B64G1/00—Cosmonautic vehicles
    • B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
    • B64G1/222—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles for deploying structures between a stowed and deployed state
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
    • B64G1/00—Cosmonautic vehicles
    • B64G1/10—Artificial satellites; Systems of such satellites; Interplanetary vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
    • B64G1/00—Cosmonautic vehicles
    • B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
    • B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes

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  • Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Astronomy & Astrophysics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

PURPOSE: A satellite alignment system and method for measuring a setting orientation is provided to measure the setting orientation of a sensor for controlling the attitude of a satellite body and an optical sensor. CONSTITUTION: In a satellite alignment system and method for measuring the setting orientation, the satellite alignment system comprises a seismic mass(10), a vertical tooling bar(20), a theodolite(30), a rotating table(40), an azimuth prism(50), an automatic inclinometer(60), and a data acquisition system(70). In the method for measuring a setting orientation, an auto collimation between target mirrors attached to sensors and a theodolite(30) is carried out by rotating a rotating table(40) on which a satellite body is mounted under the state of connecting the theodolite(30), an automatic inclinometer(60), and the rotating table(40) to a data acquisition system(70) with a data transferring cable. Then, after an auto collimation against the azimuth prism(50) is carried out again by rotating the theodolite(30), measuring of an orientation of a target is performed in the data acquisition system(70) by using a rotating angle measured in the theodolite(30) and the rotating table(40).

Description

위성체 얼라인먼트 시스템 및 측정방법Satellite alignment system and measurement method

본 발명은 위성체에 설치된 위성체 자세제어 센서 및 광학센서의 설치방향성을 측정하는 위성체 얼라인먼트 시스템 및 측정방법에 관한 것이다.The present invention relates to a satellite alignment system and a measuring method for measuring the installation orientation of the satellite attitude control sensor and the optical sensor installed in the satellite.

임의 공간에 설치된 방향성을 가진 센서 즉 위성체 자세제어 센서 및 광학센서에 대한 설치방향성은 정확한 측정이 요구되는 것으로 얼라인먼트의 정밀도에 따라 약간의 차이는 있지만 일반적으로 0.1도(Degree)에서 0.01도(Degree)를 정확하게 측정할 수 있어야 한다.Accurate measurement is required for sensors with directional sensors installed in arbitrary spaces, ie satellite attitude control sensors and optical sensors. Although there is a slight difference depending on the accuracy of alignment, it is generally 0.1 degree to 0.01 degree. Should be able to accurately measure.

그러나 기존에는 위성체 자세제어 센서 및 광학센서의 설치방향성을 측정하는 시스템이 없어 설치방향성 측정을 할 수 없는 것이었다.However, there was no system to measure the installation orientation of satellite attitude control sensors and optical sensors.

본 발명은 임의공간에 설치된 방향성을 가진 센서의 위치를 더욱 정밀하게 측정할 수 있는 정확도를 가진 위성체 얼라인먼트 시스템을 제공하는 한편 그 측정방법을 제공하고저 하는 것이다.The present invention provides a satellite alignment system having an accuracy that can more accurately measure the position of a sensor having a directional sensor installed in an arbitrary space, while providing a measuring method thereof.

본 발명의 위성체 얼라인먼트 시스템은 측정시 발생할 수 있는 진동을 방지하는 방진대(Seismic mass)와,Satellite alignment system of the present invention is a dustproof (Seismic mass) to prevent the vibration that may occur during the measurement;

방진대 상부에 고정되는 수직툴링바(Vertical tooling bar) 상기 수직 툴링바에 상하 이송가능하게 설치된 데오도라이트(Theodolite)와,Vertical tooling bar (Vertical tooling bar) is fixed to the upper part of the vibration stand and the theodolite (Theodolite) is installed to be transported up and down on the vertical tooling bar,

방진대 상부 중앙에 설치되어 위성체를 회전시키는 회전테이블(Rotating table)과,Rotating table installed in the upper center of the vibration stand to rotate the satellite body,

상기 회전테이블 상부에 설치되는 자동수평측정계(Inclinometer)와,An automatic inclinometer installed on the rotary table;

방진대에 고정된 재치대 상부에 설치되는 반사경(Azimuth Prizm)과,Reflector (Azimuth Prizm) installed in the upper part of the mounting table fixed to the dustproof stand,

테이블 회전각도와 자동수평측정계 및 데오도라이트 측정데이타를 전송받아 목표의 방향성을 계산하는 데이타 처리시스템(Data acquistion system)으로 이루어진다.It is composed of data acquistion system that calculates the direction of the target by receiving table rotation angle, automatic level meter and deodorite measurement data.

본 발명의 위성체 얼라인먼트 측정방법은 데오도라이트, 자동수평측정계, 회전테이블을 데이타 전송선으로 데이타처리 시스템과 연결시킨 상태에서 위성체가 설치된 회전테이블을 회전시켜 센서에 부착된 표적(Target Mirror)를 데오도라이트와 오토클리메이션(Autocollimation)하고, 데오도라이트를 회전하여 반사경에 다시 오토콜리메이션한 후 데오도라이트와 회전테이블에서 측정된 회전각을 이용하여 데이타처리시스템에서 목표의 방향성을 측정하도록 하므로써 이루어진다.Satellite alignment measurement method according to the present invention is a deodorant, automatic horizontal measuring system, the rotation table is connected to the data processing system by the data transmission line to rotate the rotary table equipped with the satellite deodorization target (Target Mirror) attached to the sensor This is done by autocollimating the light, rotating the deodorite, autocollimating it again on the reflector, and then using the rotation angles measured by the deodorant and the rotating table to measure the direction of the target in the data processing system. .

도 1 은 본 발명 시스템의 설치상태 평면도1 is a plan view of the installation state of the present invention system

도 2 는 본 발명 시스템의 설치상태 측면도Figure 2 is a side view of the installation state of the system of the present invention

도 3 은 본 발명 시스템의 설치상태 회전테이블 사시도3 is a perspective view of a rotary table installation state of the present invention system

〈도면의 주요부분에 대한 부호의 설명〉<Explanation of symbols for main parts of drawing>

10 : 방진대 20 : 수직툴링바 30 : 데오도라이트10: dustproof stand 20: vertical tooling bar 30: deodorite

40 : 회전테이블 50 : 반사경 60 : 자동수평측정계40: rotation table 50: reflector 60: automatic level measuring system

70 : 데이터처리시스템70: data processing system

본 발명의 위성체 얼라인먼트 시스템은 방진대(10), 수직툴링바(20), 데오도라이트(30), 회전테이블(40), 반사경(50), 자동수평측정계(60), 데이타처리시스템(70)으로 구성된다.Satellite alignment system of the present invention is a vibration stand 10, vertical tooling bar 20, theodolite 30, rotary table 40, reflector 50, automatic level gauge 60, data processing system 70 It is composed of

방진대(0)는 측정기간동안 외부로부터의 진동을 막아주고 시스템 구동 중 발생할 수 있는 진동을 감쇄시키는 것으로 건물기초 위에 설치시키되 감쇄장치(11) 등을 이용하여 목적달성이 가능하도록 한다.The vibration isolator 0 prevents vibrations from the outside during the measurement period and attenuates vibrations that may occur during system operation, and thus is installed on the foundation of the building to achieve the purpose using the attenuation device 11 or the like.

방진대(11)의 상부 일측에는 수직툴링바(20)가 설치 고정되고 방진대(10)의 중앙에는 회전테이블(40)이 설치 고정되며 상기 수직툴링바(20)의 대향된 위치에 방진대(10)위에 반사경(50)이 설치된다.A vertical tooling bar 20 is installed and fixed at an upper side of the dustproof table 11, and a rotary table 40 is installed and fixed at the center of the dustproof table 10, and the dustproof table is disposed at an opposite position of the vertical tooling bar 20. Reflector 50 is installed on (10).

수직툴링바(20)는 대형위성체까지 얼라인먼트의 측정이 가능하게 6m 이상의 높이를 갖도록 하고, 자체의 움직임이 없도록 방진대(10)위에 구멍을 내고 나사를 이용하여 단단히 고정시킨다.The vertical tooling bar 20 has a height of 6 m or more to allow alignment measurements up to large satellites, and a hole is formed on the dustproof table 10 so as not to move itself and firmly fixed using a screw.

여기서 얼라인먼트 측정시스템은 건물 내부의 클린룸에 설치되므로 수직툴링바(20)는 길이가 길더라도 방진대(10)를 통하여 진동이 전달되지 않는 한 움직이지 않게 된다.Since the alignment measuring system is installed in a clean room inside the building, the vertical tooling bar 20 may not move unless the vibration is transmitted through the dustproof table 10 even if the length is long.

수직툴링바(20)의 일측에는 데오도라이트(30)가 받침판(31)위에 착탈 가능하게 결합되며 상기 받침판(31)은 견인줄(32)에 의해 상,하이동되어진다.On one side of the vertical tooling bar 20, the deodorite 30 is detachably coupled to the support plate 31, and the support plate 31 is moved up and down by the traction line 32.

즉 데오도라이트(30)는 수직툴링바(20)를 타고 상,하이동되어진다.That is, the deodorant 30 is moved up and down by the vertical tooling bar 20.

여기서 데오도라이트(30)는 0.5초(Second)이상의 각도를 측정할 수 있는 센서를 내장하고 있어야 하며 RS232 케이블로 데이타처리시스템(70)과 연결시킴으로써 측정데이타를 전송시킬 수 있어야 한다.Here, the deodorite 30 should be equipped with a sensor capable of measuring an angle of more than 0.5 seconds (Second) and should be able to transmit the measurement data by connecting to the data processing system 70 with an RS232 cable.

회전테이블(40)은 방진대(10)위에 설치시키되 자체진동에 위한 변위가 발생되지 않도록 하여야 하고 상단의 평편도가 좋아야 하며 위성체(41)가 상부에 설치되어진다.The rotary table 40 should be installed on the dustproof table 10 so as not to cause displacement for self-vibration, the flatness of the upper end should be good, and the satellite body 41 is installed on the upper side.

회전테이블(40)에도 0.5초(Second)이상의 각도를 측정할 수 있는 센서가 내장되며 상기 센서에 의해 측정된 데이타는 RS232 케이블에 의해 데이타처리시스템(70)에 전송시킬 수 있어야 한다.The rotary table 40 has a sensor that can measure an angle of 0.5 seconds or more, and the data measured by the sensor should be able to be transmitted to the data processing system 70 by an RS232 cable.

자동수평측정계(60)는 회전테이블(40) 상부에 설치되며 얼라인먼트 측정기간동안 0.1초∼ 5초 내의 방진대(10)진동변위를 측정할 수 있어야 한다.The automatic horizontal measuring system 60 is installed above the rotary table 40 and should be able to measure the vibration displacement of the vibration stand 10 within 0.1 to 5 seconds during the alignment measurement period.

반사경(50)은 방진대(10)에 고정된 재치대(51)에 설치되는 것으로 데오도라이트(30)와 오토콜리메이션이 용이한 것을 사용하게 된다.The reflecting mirror 50 is installed on the mounting table 51 fixed to the dustproof table 10, so that the deodorant 30 and the auto collimation can be used easily.

데이타처리시스템(70)은 데오도라이트(30), 자동수평측정계(60), 회전테이블(40)의 센서와 RS232 데이타 전송선으로 연결되어 측정데이타를 전송받음으로서 내부프로그램에 의해 목표의 방향성을 자동 계산하게 된다.The data processing system 70 is connected to the deodorite 30, the automatic horizontal measuring system 60, the sensor of the rotary table 40 and the RS232 data transmission line, and receives the measurement data so that the direction of the target is automatically controlled by an internal program. Calculate.

또한 본 발명의 위성체 얼라인먼트 측정방법은 자동수평 측정계(60)를 이용하여 방진대(10) 및 회전테이블(40)의 평편도를 측정하여 데이타처리시스템(70)에 전송시키는 단계와,In addition, the satellite alignment measurement method of the present invention by measuring the flatness of the vibration stand 10 and the rotary table 40 using the automatic horizontal measuring system 60 and transmitting to the data processing system 70,

위성체(41)가 설치된 회전테이블(40)을 회전시켜 위성체 센서에 부착된 표적(Target mirror)과 데오도라이트를 오토콜리메이션시키고 이때의 회전테이블(40)회전각도를 데이타처리시스템(70)에 전송시키는 단계와,Rotating the rotary table 40 in which the satellite body 41 is installed, auto targets the target mirror and theodolite attached to the satellite sensor, and rotates the rotary table 40 at this time to the data processing system 70. Transmitting it,

데오도라이트(30)를 조정하여 센서의 목표와 오토콜리메이션시키고 이때의 측정데이타를 데이타처리시스템(70)에 전송시키는 단계와,Adjusting the deodorite 30 to autocollimate the target of the sensor and transmitting the measured data to the data processing system 70;

데오도라이트(30)를 반사경(50)과 오토콜리메이션시키고 이때의 측정데이타를 데이타처리시스템(70)에 전송시켜 목표의 방향성을 계산하는 단계를 수행시킴으로써 이루어진다.The deodorite 30 is autocollimated with the reflector 50 and the measured data at this time is transmitted to the data processing system 70 to perform the step of calculating the target orientation.

이러한 본 발명을 얼라인먼트 방법을 시스템에 연견되게 설명하면 다음과 같다.The present invention will be described in connection with the system as follows.

① 자동수평측정계(60)를 이용하여 방진대(10)의 편평도를 측정 및 조정한다.① Measure and adjust the flatness of the dustproof stand 10 using the automatic horizontal measuring system 60.

② 자동수평측정계(60)를 이용하여 회전테이블(40)의 편평도를 측정 및 조정한다.② Measure and adjust the flatness of the rotary table 40 using the automatic horizontal measuring system 60.

③ 위성체(41)가 설치된 회전테이블(40)을 회전시켜, 위성체 센서에 부착된 목표와 데오도라이트(30)가 오토콜리메이션되도록 한다.(3) Rotate the rotary table 40 provided with the satellite body 41 so that the target and deodorite 30 attached to the satellite body sensor are autocollimated.

이때 회전테이블(40)의 회전각도가 자동으로 데이터처리시스템(70)에 전송된다.At this time, the rotation angle of the rotation table 40 is automatically transmitted to the data processing system 70.

④ 데오도라이트(30)를 조정하여 센서의 목표와 오토콜리메이션이 되면, 이때 측정된 데이터를 데이터처리시스템(70)에 입력한다.(4) When the deodorite 30 is adjusted to autocollimate with the target of the sensor, the measured data is input to the data processing system 70.

⑤ 다음에 데오도라이트(30)를 회전시켜 반사경(50)과 오토콜리메이션을 하고, 이때의데이터오 데이터 처리시스템(70)에 입력한다.(5) Then, the deodorant 30 is rotated to autocollimate with the reflector 50, and input to the data / data processing system 70 at this time.

⑥ 상기 ③에서 ⑤까지의 순서가 끝나면, 데이터처리시스템(70)에서 자동으로 목표의 방향성을 계산하여 출력한다.⑥ After the above steps 3 to 5, the data processing system 70 automatically calculates and outputs the target direction.

본 발명은 임의 공간에 설치된 방향성을 가진 센서의 위치를 측정하는 것으로 10초(Second)이상의 정밀도를 요구하는 기기 및 센서의 조립 또는 정밀산업기기의 조립 및 확인작업이 사용된다.The present invention is to measure the position of the sensor having a direction installed in an arbitrary space is used for the assembly of the device and the sensor or the assembly and verification of precision industrial equipment requiring a precision of 10 seconds (Second) or more.

Claims (2)

외부로부터의 진동과 시스템작동 중 발생하는 진동을 감쇄시키는 방진대(10)와,Dustproof table 10 for attenuating the vibration from the outside and the system operation, and 방진대(10)상부에 고정 설치되는 수직툴링바(20)와,A vertical tooling bar 20 fixed to the upper part of the dustproof table 10, 상기 수직툴링바(20)에 설치되고 0.5초 이상의 각도측정용 센서가 내장된 데오도라이트(30)와,Deodorite 30 is installed in the vertical tooling bar 20 and the built-in angle measuring sensor for 0.5 seconds or more, 방진대(10)위에 설치되어 위성체(41)가 설치되며 0.5초 이상의 각도측정용 센서가 내장된 회전테이블(40)과,The rotary table 40 is installed on the vibration stand 10, the satellite body 41 is installed and the angle sensor for 0.5 seconds or more is built-in, 회전테이블(40)상부에 설치되고 0.1-5초내의 방진대(10)진동변위를 측정하는 자동수평측정계(60)와,An automatic horizontal measuring system (60) installed above the rotating table (40) for measuring vibration displacement of the vibration stand (10) within 0.1-5 seconds; 수직툴링바(20)와 대향된 위치에 설치되는 반사경(50)과,Reflector 50 is installed in a position opposite to the vertical tooling bar 20, 상기 데오도라이트(30)와 자동수평측정계(60) 및 회전테이블(40)의 측정데이타를 전송받아 목표의 방향성을 계산하는 데이터처리시스템(70)으로 구성된 것을 특징으로 하는 위성체 얼라인먼트 시스템.And a data processing system (70) for receiving the measurement data of the deodorant (30), the automatic horizontal measuring system (60), and the rotation table (40) to calculate the direction of the target. 자동수평 측정계(60)를 이용하여 방진대(10) 및 회전테이블(40)의 평편도를 측정하여 데이타처리시스템(70)에 전송시키는 단계와,Measuring the flatness of the dustproof table 10 and the rotary table 40 by using the automatic horizontal measuring system 60 and transmitting it to the data processing system 70; 위성체(41)가 설치된 회전테이블(40)을 회전시켜 위성체 센서에 부착된 표적(Target mirror)과 데오도라이트를 오토콜리메이션시키고 이때의 회전테이블(40)회전각도를 데이타처리시스템(70)에 전송시키는 단계와,Rotating the rotary table 40 in which the satellite body 41 is installed, auto targets the target mirror and theodolite attached to the satellite sensor, and rotates the rotary table 40 at this time to the data processing system 70. Transmitting it, 데오도라이트(30)를 조정하여 센서의 목표와 오토콜리메이션시키고 이때의 측정데이타를 데이타처리시스템(70)에 전송시키는 단계와,Adjusting the deodorite 30 to autocollimate the target of the sensor and transmitting the measured data to the data processing system 70; 데오도라이트(30)를 반사경(50)과 오토콜리메이션시키고 이때의 측정데이타를 데이타처리시스템(70)에 전송시켜 목표의 방향성을 계산하는 단계를 수행시키는 것을 특징으로 하는 위성체 얼라인먼트 측정방법.And auto-collimating the deodorite (30) with the reflector (50) and transmitting the measurement data at this time to the data processing system (70) to calculate the direction of the target.
KR1019980062610A 1998-12-30 1998-12-30 Satellito alignment system and mesuring method KR100298650B1 (en)

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