CN105318891A - Star sensor reference cube-prism installation error calibration apparatus - Google Patents
Star sensor reference cube-prism installation error calibration apparatus Download PDFInfo
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Abstract
本发明属于光电设备标定技术领域，具体涉及一种星敏感器基准立方镜安装误差的标定装置。在基准平面上的两个正交的轴上分别放置光电自准直仪和单星模拟器，在两轴的交点处放置被测星敏感器，使被测星敏感器基准棱体的两正交反光面的法线与两正交的轴分别平行，经纬仪分别将光电自准直仪和单星模拟器的光轴调节至与基准平面平行；星敏感器安装在其三维调整基座上，通过星敏感器三维调整基座将星敏感器的输入光轴和单星模拟器的输出光轴调至平行；被测基准立方镜安装在被测星敏感器壳体上表面；运用光电自准直测量基准立方镜绕X轴和Y轴的安装角度误差，将星敏感器三维调整基座旋转90°，测量基准立方镜绕Z轴的安装角度误差。
The invention belongs to the technical field of photoelectric equipment calibration, and in particular relates to a calibration device for installation errors of star sensor reference cube mirrors. Place a photoelectric autocollimator and a single star simulator on two orthogonal axes on the reference plane, and place the star sensor to be measured at the intersection of the two axes so that the two positive sides of the reference prism of the star sensor to be measured The normal line of the cross-reflective surface is parallel to the two orthogonal axes respectively, and the theodolite adjusts the optical axes of the photoelectric autocollimator and the single-star simulator to be parallel to the reference plane; the star sensor is installed on its three-dimensional adjustment base, The input optical axis of the star sensor and the output optical axis of the single star simulator are adjusted to be parallel through the three-dimensional adjustment base of the star sensor; the measured reference cube mirror is installed on the upper surface of the measured star sensor housing; photoelectric self-alignment is used Directly measure the installation angle error of the reference cube mirror around the X-axis and Y-axis, rotate the three-dimensional adjustment base of the star sensor by 90°, and measure the installation angle error of the reference cube mirror around the Z-axis.
Description
Technical field
The invention belongs to optoelectronic device calibration technique field, be specifically related to a kind of caliberating device of star sensor benchmark prism square alignment error.
Background technology
Star sensor, as the high-precision spatial attitude optical sensor of one, obtains extensive and deep application at space industry.Surving coordinate system due to star sensor is virtual sightless, must accurately measure position and attitude relation, the i.e. alignment error of benchmark prism square of benchmark prism square coordinate system on star sensor surving coordinate system and its housing when ground-mounted.Namely star sensor is realized in the requirement of spaceborne geometry installation accuracy by the benchmark prism square measured on star sensor.
The domestic method for star sensor reference-calibrating prism square alignment error mainly contains two kinds at present: one adopts heavy caliber autocollimator mensuration, and one is by light pipe and star simulator multiple measurement method.Heavy caliber autocollimator mensuration is enough large with a bore, simultaneously to cover star sensor and benchmark prism square autocollimator, by light pipe and benchmark prism square being collimated, the position coordinates then reading autocollimator inner cross cross hair focus in star sensor resolves star sensor and the alignment error of benchmark prism square in pitching and orientation two-dimensional direction.Light pipe and star simulator multiple measurement method are that autocollimator and star simulator are installed on a logical support, and both keep optical axis parallel.During calibrated error, the benchmark prism square above autocollimator collimation star sensor, then reads the image space coordinate of star simulator, namely calculates star sensor and the alignment error of benchmark prism square in pitching and azimuth direction in star sensor.
Heavy caliber light pipe mensuration due to light pipe objective lens diameter large, its machining precision is difficult to ensure, processing cost is high.In addition owing to adopting off-axis light to measure, optical path is by the aberration after optical system, and spherical aberration iseikonia missionary society causes the loss of certain measuring accuracy, cannot meet the requirement of high-acruracy survey.Secondly, this measuring method can only measure star sensor and the alignment error of benchmark prism square in pitching and azimuth direction, cannot measure the alignment error in rolling direction.
Though light pipe and star simulator multiple measurement method larger caliber light pipe mensuration improve measuring accuracy, but still cannot measure the alignment error in rolling direction.
Summary of the invention
The object of the present invention is to provide a kind of caliberating device of star sensor benchmark prism square alignment error, to overcome the deficiency that prior art can only measure two-dimentional alignment error.
For achieving the above object, the technical solution used in the present invention is:
A caliberating device for star sensor benchmark prism square alignment error, what define star sensor input optical axis is reversed Y-axis, and on benchmark prism square, the outgoing normal direction of plane is X-axis, and Z axis is by right-hand rule Nature creating; Two on reference plane orthogonal axles place photoelectric auto-collimator and single star simulator respectively, tested star sensor is placed in the point of intersection of diaxon, make the normal of the pairwise orthogonal reflective surface of tested star sensor benchmark rib body parallel respectively with the axle of pairwise orthogonal, photoelectric auto-collimator and single star simulator are arranged on photoelectric auto-collimator two-dimension adjustment pedestal and single star simulator two-dimension adjustment pedestal respectively, and photoelectric auto-collimator is adjusted to parallel with reference plane with the optical axis of single star simulator by transit respectively; Star sensor is arranged on star sensor three-dimensional adjustment pedestal, when star sensor and single star simulator are all started shooting, is adjusted to parallel by star sensor three-dimensional adjustment pedestal by the input optical axis of star sensor with the output optical axis of single star simulator; Tested benchmark prism square is arranged on tested star sensor housing upper surface; Use photoelectric auto-collimator measuring basis prism square around the setting angle error of X-axis and Y-axis, by star sensor three-dimensional adjustment pedestal half-twist, measuring basis prism square is around the setting angle error of Z axis.
The central axes of benchmark prism square on the rotation of described star sensor three-dimensional adjustment pedestal and tested star sensor.
This device course of work is as follows: be placed on reference plane by standard rib body, with reflective surface before transit collimation standard rib body, then resets transit pitching reading θ V; Keep transit state constant, remove standard rib body; Transit and photoelectric auto-collimator are collimated, adjustment photoelectric auto-collimator two-dimension adjustment pedestal, the output making photoelectric auto-collimator is 0 °, illustrates that the optical axis of photoelectric auto-collimator is parallel with reference plane, fixing photoelectric auto-collimator; Transit and single star simulator are collimated, adjustment single star simulator two-dimension adjustment pedestal, make the output of light single star simulator be 0 °, the output optical axis of instruction book star simulator is parallel with reference plane, fixing single star simulator; Remove described standard rib body, place tested star sensor and star sensor three-dimensional adjustment pedestal in the point of intersection of diaxon; Tested benchmark prism square is arranged on tested star sensor housing upper surface; Star sensor is alignd with single star simulator outline, then adjusts star sensor three-dimensional adjustment pedestal, make the output of star sensor for (0 °, 0 °), the optical axis coincidence of star sensor and single star simulator is described; Now reading (the θ of photoelectric auto-collimator
x, θ
y) be the alignment error that benchmark prism square 10 and star sensor surving coordinate tie up to X and Y-direction; Rotate star sensor three-dimensional adjustment pedestal, make it rotate 90 °, now reading (the θ of photoelectric auto-collimator
x, θ
z) be the alignment error that benchmark prism square and star sensor surving coordinate tie up to X and Z-direction; Complete the alignment error (θ of benchmark prism square and star sensor surving coordinate system thus
x, θ
y, θ
z).
Beneficial effect acquired by the present invention is:
The present invention directly can calibrate the three-dimensional alignment error of benchmark prism square by one-step installation, avoids repeatedly repeating to install the stochastic error brought; Calibration system is simple to operate, and require low to operating personnel's technical merit, operating personnel only need the reading value of reference star sensor and autocollimator, regulate the attitude of corresponding instrument; The process alignment error calibration of quick, high-precision benchmark prism square can be realized.
Accompanying drawing explanation
Fig. 1 is coordinate system definition schematic diagram;
Fig. 2 calibration system photoelectric auto-collimator adjustment schematic diagram;
Fig. 3 benchmark prism square around X, around Y-direction setting angle error calibration schematic diagram;
Fig. 4 benchmark prism square is around Z-direction setting angle error calibration schematic diagram;
In figure: 1, transit; 2, standard rib body; 3, photoelectric auto-collimator two-dimension adjustment pedestal; 4, photoelectric auto-collimator; 5, single star simulator; 6, single star simulator two-dimension adjustment pedestal; 7, reference plane; 8, star sensor three-dimensional adjustment pedestal; 9, star sensor; 10, benchmark prism square.
Embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in detail.
As shown in Figure 1, what definition star sensor 9 inputted optical axis is reversed Y-axis, and on benchmark prism square 10, the outgoing normal direction of plane is X-axis, and Z axis is by right-hand rule Nature creating.
As shown in Figure 2, two on reference plane 7 orthogonal axles place photoelectric auto-collimator 4 and single star simulator 5 respectively, tested star sensor 9 is placed in the point of intersection of described diaxon, photoelectric auto-collimator 4 and single star simulator 5 are arranged on photoelectric auto-collimator two-dimension adjustment pedestal 3 and single star simulator two-dimension adjustment pedestal 6 respectively, and described photoelectric auto-collimator 4 and the optical axis of single star simulator 5 are adjusted to parallel with reference plane 7 by transit 1 respectively; Star sensor 9 is arranged on star sensor three-dimensional adjustment pedestal 8, when star sensor 9 and single star simulator 5 are all started shooting, by star sensor three-dimensional adjustment pedestal 8, the input optical axis of star sensor 9 is adjusted to parallel with the output optical axis of single star simulator 5, now use described photoelectric auto-collimator 4 measuring basis prism square 10 around the setting angle error of X-axis and Y-axis, by star sensor three-dimensional adjustment pedestal 8 half-twist, measuring basis prism square 10 is around the setting angle error of Z axis.The central axes of benchmark prism square 10 on the rotation of described star sensor three-dimensional adjustment pedestal 8 and tested star sensor 9.
Standard rib body 2 is placed on reference plane 7, collimates reflective surface before standard rib body 2 with transit 1, then reset transit 1 pitching reading θ
v; Keep transit 1 state constant, remove standard rib body 2; Transit 1 and photoelectric auto-collimator 4 are collimated, adjustment photoelectric auto-collimator two-dimension adjustment pedestal 3, the output making photoelectric auto-collimator 4 is 0 °, illustrates that the optical axis of photoelectric auto-collimator 4 is parallel with reference plane 7, fixing photoelectric auto-collimator 4; Transit 1 and single star simulator 5 are collimated, adjustment single star simulator two-dimension adjustment pedestal 6, make the output of light single star simulator 5 be 0 °, the output optical axis of instruction book star simulator 5 is parallel with reference plane 7, fixing single star simulator 5;
As shown in Figure 3, remove described standard rib body 2, place tested star sensor 9 and star sensor three-dimensional adjustment pedestal 8 in the point of intersection of diaxon; Tested benchmark prism square 10 is arranged on tested star sensor 9 housing upper surface; Star sensor 9 is alignd with single star simulator 5 outline, then adjusts star sensor three-dimensional adjustment pedestal 8, make the output of star sensor 9 for (0 °, 0 °), the optical axis coincidence of star sensor 9 and single star simulator 5 is described; Now reading (the θ of photoelectric auto-collimator 4
x, θ
y) be the alignment error that benchmark prism square 10 and star sensor 9 surving coordinate tie up to X and Y-direction.
As shown in Figure 4, rotate star sensor three-dimensional adjustment pedestal 8, make it rotate 90 °, now reading (the θ of photoelectric auto-collimator
x, θ
z) be the alignment error that benchmark prism square 10 and star sensor 9 surving coordinate tie up to X and Z-direction.Complete the alignment error (θ of benchmark prism square 10 and star sensor 9 surving coordinate system thus
x, θ
y, θ
z).
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| CN105953803A (en) * | 2016-04-25 | 2016-09-21 | 上海航天控制技术研究所 | Method for measuring deviation between digital sun sensor measuring coordinate system and prism coordinate system |
| CN106184821A (en) * | 2016-08-12 | 2016-12-07 | 上海卫星工程研究所 | The remote sensing instrument of a kind of high precision high stability configuration integrated with star sensor |
| CN106546413A (en) * | 2016-10-19 | 2017-03-29 | 中国科学院西安光学精密机械研究所 | Optical transmission equipment instrument constant calibration system and calibration method thereof |
| CN106767902A (en) * | 2016-11-25 | 2017-05-31 | 上海航天控制技术研究所 | A kind of star sensor principal point measurement apparatus and its method |
| CN108020244A (en) * | 2018-02-05 | 2018-05-11 | 北京国电高科科技有限公司 | A kind of caliberating device and method of star sensor benchmark prism square installation error |
| CN108132027A (en) * | 2016-11-30 | 2018-06-08 | 北京航天计量测试技术研究所 | Alignment measurement instrument integration school zero and alignment device |
| CN108344427A (en) * | 2018-02-02 | 2018-07-31 | 江苏北方湖光光电有限公司 | A kind of calibration method and calibration mechanism of the pitching speculum of star sensor |
| CN109141468A (en) * | 2017-06-15 | 2019-01-04 | 北京航天计量测试技术研究所 | The caliberating device at spaceborne mapping system reference attitude angle in thermal vacuum environment |
| CN109387226A (en) * | 2018-10-29 | 2019-02-26 | 中国科学院长春光学精密机械与物理研究所 | A kind of star simulator system |
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| CN109459059A (en) * | 2018-11-21 | 2019-03-12 | 北京航天计量测试技术研究所 | A kind of star sensor outfield conversion benchmark measurement system and method |
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| CN109520526A (en) * | 2019-01-24 | 2019-03-26 | 中科院南京天文仪器有限公司 | A kind of star simulator calibration and self-collimation measurement system and method based on total optical path |
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| CN105953803B (en) * | 2016-04-25 | 2018-11-06 | 上海航天控制技术研究所 | Digital sun sensor measuring coordinate system and prism coordinate system bias measurement method |
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| CN108132027A (en) * | 2016-11-30 | 2018-06-08 | 北京航天计量测试技术研究所 | Alignment measurement instrument integration school zero and alignment device |
| CN109141468A (en) * | 2017-06-15 | 2019-01-04 | 北京航天计量测试技术研究所 | The caliberating device at spaceborne mapping system reference attitude angle in thermal vacuum environment |
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| CN108344427A (en) * | 2018-02-02 | 2018-07-31 | 江苏北方湖光光电有限公司 | A kind of calibration method and calibration mechanism of the pitching speculum of star sensor |
| CN108020244A (en) * | 2018-02-05 | 2018-05-11 | 北京国电高科科技有限公司 | A kind of caliberating device and method of star sensor benchmark prism square installation error |
| CN108020244B (en) * | 2018-02-05 | 2024-01-02 | 北京国电高科科技有限公司 | Calibration device and method for star sensor reference cube mirror installation error |
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| CN109459055A (en) * | 2018-11-01 | 2019-03-12 | 北京航天计量测试技术研究所 | A kind of reference attitude Multi-sensor Fusion networking measuring device |
| CN109459055B (en) * | 2018-11-01 | 2022-06-28 | 北京航天计量测试技术研究所 | A reference attitude multi-sensor fusion network measurement device |
| CN109459059A (en) * | 2018-11-21 | 2019-03-12 | 北京航天计量测试技术研究所 | A kind of star sensor outfield conversion benchmark measurement system and method |
| CN109579743A (en) * | 2018-11-26 | 2019-04-05 | 北京航天计量测试技术研究所 | A kind of photoelectric angle measuring device applied under thermal vacuum environment |
| CN109655079A (en) * | 2018-12-12 | 2019-04-19 | 上海航天控制技术研究所 | Star sensor measures coordinate system to prism coordinate system measurement method and system |
| CN109655079B (en) * | 2018-12-12 | 2021-08-06 | 上海航天控制技术研究所 | Method for measuring coordinate system from star sensor to prism coordinate system |
| CN109405853B (en) * | 2018-12-26 | 2022-03-22 | 北京航天计量测试技术研究所 | Star sensor integrated calibration device and method |
| CN109405853A (en) * | 2018-12-26 | 2019-03-01 | 北京航天计量测试技术研究所 | Star sensor integration calibrating installation and method |
| CN109520526A (en) * | 2019-01-24 | 2019-03-26 | 中科院南京天文仪器有限公司 | A kind of star simulator calibration and self-collimation measurement system and method based on total optical path |
| CN109520526B (en) * | 2019-01-24 | 2023-04-18 | 中科院南京天文仪器有限公司 | Common-light-path-based star simulator calibration and auto-collimation measurement system and method |
| CN110006446A (en) * | 2019-03-21 | 2019-07-12 | 湖北三江航天红峰控制有限公司 | A kind of used group of output Calibration Method based on prism |
| CN110345970A (en) * | 2019-08-06 | 2019-10-18 | 西安中科微星光电科技有限公司 | A kind of optical navigation sensor scaling method and its equipment |
| CN110345970B (en) * | 2019-08-06 | 2024-03-19 | 西安中科微星光电科技有限公司 | Optical navigation sensor calibration method and equipment |
| CN111707291A (en) * | 2020-06-23 | 2020-09-25 | 上海航天控制技术研究所 | Automatic assembling and calibrating device and automatic assembling and calibrating method for star sensor focal plane |
| CN112629523A (en) * | 2020-12-12 | 2021-04-09 | 华中光电技术研究所（中国船舶重工集团公司第七一七研究所） | Star sensor measuring reference fixing device and preparation method thereof |
| CN112629523B (en) * | 2020-12-12 | 2023-10-13 | 华中光电技术研究所（中国船舶重工集团公司第七一七研究所） | Star sensor measurement reference fixing device and preparation method thereof |
| CN113607188A (en) * | 2021-08-02 | 2021-11-05 | 北京航空航天大学 | Calibration system and method for multi-field star sensor based on theodolite cross-wire imaging |
| CN114236734A (en) * | 2021-12-27 | 2022-03-25 | 中国科学院光电技术研究所 | Angle alignment device of combined optical element |
| CN115628689A (en) * | 2022-10-20 | 2023-01-20 | 湖南航天远望科技有限公司 | Calibration device and method for camera attitude installation error |
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