CCD星敏感器星图识别算法及DSP实现
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摘要
星敏感器是一种高精度的卫星姿态确定敏感器。在过去大约30年的时间里,已经研制了两代CCD星敏感器。第二代CCD星敏感器由于无姿态累计误差、姿态确定精度高、快速的故障恢复能力和具有完全自主的姿态确定能力而受到人们的关注,成为当前和未来空间飞行器姿态测量的首选敏感器。
本论文对全天自主式CCD星敏感器进行了星图识别算法的软硬件系统设计。
论文首先介绍了基于径向和环向特征的星图识别算法,它将星的特征模式分解成径向和环向两部分,采用多步匹配的方法来进行匹配识别,使用查找表的方式构建径向模式库以提高搜索速度,并引入验证识别环节为观测星图中尽可能多的星找到对应的匹配星。本部分还对星图识别中所要用到的基本概念和思想(星角距、星图的空间思维等)进行了详细说明。
接着论文详细阐述了各部分算法的设计思想,以此为基础在C++ Builder开发环境中用C语言实现了利用径向和环向特征的星图识别算法,并创建了支持此算法的导航星库与模拟星图。
论文最后对星敏感器的总体硬件结构进行了介绍。本文研究的主要硬件部分是其中的星图识别算法的硬件电路系统。经过性能分析、芯片型号选则、电路原理图设计,完成了以TMS320C6713 DSP为处理核心的星图识别算法硬件电路系统设计,制作完成了PCB电路板,经过调试确定硬件系统设计正确无误。
总结列出了本论文中的主要成果和问题,并指明了未来研究的方向。
Star sensor is a high accuracy sensor for satellite attitude determination. In the past three decades, CCD star sensors have been developed with two generations. Because the second generation star sensor has no attitude error accumulation, high attitude determination accuracy, fast fault-restore ability, and completely autonomous attitude determination capability, it draws lots of attention. It is becoming the prior choice of attitude measurement sensors for current and future spacecrafts.
This thesis describes the design of star map identification software and hardware system of fully autonomous CCD star sensor.
Firstly, this thesis introduces a star map identification algorithm using radial and cyclic features. In the algorithm, the features of star are divided into radial and cyclic features, multi-step matching is used, and radial pattern lookup-table library is constructed to improve the effect of searching. The verification mode is introduced to find as more as possible matching-stars of observed stars. In this part, the thesis also explains some basic concepts and ideas (star angle distance, star map space imaginary etc.) in detail.
Secondly, this thesis elaborates the design thoughts of programs, develops C language code of the algorithm in the C++ Builder environment, and establishes the navigation library and a simulation star map to support the algorithm.
Finally, it introduces the hardware frame of CCD star sensor. The main object of circuit design of this thesis is to realize the star map identification unit. On the basis of character analysis, chip model selection, and schematic design, this thesis builds the hardware system with TMS320 C6713 DSP as core processor. The PCB (Printed-Circuit-Board) is draw according to the schematic. Verifying works indicates the hardware system is correct.
In the summary, the achievements and problems left of this thesis are pointed out, and recommendations for future work are given.
本论文对全天自主式CCD星敏感器进行了星图识别算法的软硬件系统设计。
论文首先介绍了基于径向和环向特征的星图识别算法,它将星的特征模式分解成径向和环向两部分,采用多步匹配的方法来进行匹配识别,使用查找表的方式构建径向模式库以提高搜索速度,并引入验证识别环节为观测星图中尽可能多的星找到对应的匹配星。本部分还对星图识别中所要用到的基本概念和思想(星角距、星图的空间思维等)进行了详细说明。
接着论文详细阐述了各部分算法的设计思想,以此为基础在C++ Builder开发环境中用C语言实现了利用径向和环向特征的星图识别算法,并创建了支持此算法的导航星库与模拟星图。
论文最后对星敏感器的总体硬件结构进行了介绍。本文研究的主要硬件部分是其中的星图识别算法的硬件电路系统。经过性能分析、芯片型号选则、电路原理图设计,完成了以TMS320C6713 DSP为处理核心的星图识别算法硬件电路系统设计,制作完成了PCB电路板,经过调试确定硬件系统设计正确无误。
总结列出了本论文中的主要成果和问题,并指明了未来研究的方向。
Star sensor is a high accuracy sensor for satellite attitude determination. In the past three decades, CCD star sensors have been developed with two generations. Because the second generation star sensor has no attitude error accumulation, high attitude determination accuracy, fast fault-restore ability, and completely autonomous attitude determination capability, it draws lots of attention. It is becoming the prior choice of attitude measurement sensors for current and future spacecrafts.
This thesis describes the design of star map identification software and hardware system of fully autonomous CCD star sensor.
Firstly, this thesis introduces a star map identification algorithm using radial and cyclic features. In the algorithm, the features of star are divided into radial and cyclic features, multi-step matching is used, and radial pattern lookup-table library is constructed to improve the effect of searching. The verification mode is introduced to find as more as possible matching-stars of observed stars. In this part, the thesis also explains some basic concepts and ideas (star angle distance, star map space imaginary etc.) in detail.
Secondly, this thesis elaborates the design thoughts of programs, develops C language code of the algorithm in the C++ Builder environment, and establishes the navigation library and a simulation star map to support the algorithm.
Finally, it introduces the hardware frame of CCD star sensor. The main object of circuit design of this thesis is to realize the star map identification unit. On the basis of character analysis, chip model selection, and schematic design, this thesis builds the hardware system with TMS320 C6713 DSP as core processor. The PCB (Printed-Circuit-Board) is draw according to the schematic. Verifying works indicates the hardware system is correct.
In the summary, the achievements and problems left of this thesis are pointed out, and recommendations for future work are given.
引文
1王晓东.大视场高精度星敏感器技术研究.中国科学院研究生院博士学位论文. 2003:3~7 10~11
2 A. Eisenman, C. C. Liebe. Operation and Performance of a Second Generation Solid Static Star Tracker. The ASC, Acta Astronautic. 1996, 39(9-12):697~705
3刘暾,赵钧.空间飞行器动力学.哈尔滨工业大学出版社,2003:198~200
4蔡文贵,李志远,许振华. CCD技术及应用.电子工业出版社,1992:5~8
5 S. Levine, R. Dennis, K. L. Bachman. Strap Down Astro-Inertial Navigation Utilizing the Optical Wide-Angle Lens Star Tracker. Journal of the Institute of Navigation. 1991, 37(4):347~362
6 J. L. Jorgensen, A. Pickles. Fast and Robust Pointing and Tracking Using a Second Generation of Star Tracker. Proceedings of SPIE. 1998, 33(51):51~61
7 A. R. Eisenman, C. C. Iiebe, J. L. Jorgensen. The New Generation of Autonomous Star Trackers. Proceedings of SPIE. 1997, 3(221):524~535
8 CT-633 Stellar Attitude Sensor. Ball Aerospace & Technologies Corporation. http:// www.bal.com
9朱长征.基于星敏感器的星模式识别算法及空间飞行器姿态确定技术研究.国防科学技术大学研究生院工学博士学位论文. 2004:3~4 30~32 50~53
10许士文,李葆华,张迎春等.用字符匹配进行星图识别的导航库的存储方法.哈尔滨工业大学学报. 2005, 37(6):819~821
11 S. Marques, R. Clements, P. Lima. Comparison of Small Satellite Attitude Determination Methods. AIAA Guidance, Navigation and Control Conference and Exhibit. 2000, (8):13~17
12 M. A. Samaan, D. Mortari, J. L. Junkins. Recursive Mode Star Identification Algorithms. IEEE Transactions on Aerospace and Electronic Systems. 2005, 41(4):1~2
13 E. Silani, M. Lovera. Star Identification Algorithms: Novel Approach & Comparison Study. IEEE Transactions on Aerospace and Electronic Systems. 2006, 42(4):1~3
14 F. D. Carlo, R. Stalio, P. Trampus. Description and analysis of an algorithm for star identification, pointing, and tracking systems. Optical Engineering. 1994, 33(8):1~2
15 H. Renken, H. J. Rath. A Method for Three-Axis Attitude Determination By Image-Processed Star Constellation Matching. SPIE. 1994, 30(86):2~4
16 M. S. Scholl. Star Field Identification Algorithm-Performance Verification Using Simulated Star Fields. SPIE, Infrared Spaceborne Remote Sensing.1993, (20)19:275~278
17 B. Quinet, H. F. Durrant-Whyte. Rapid star pattern identification. SPIE. 2006, 27(39):351~352
18 W. H. Roelof, V. Bezooijen. True-sky Demonstration of an Autonomous Star Tracker. Proceedings of SPIE. 1994, 22(21):156~168
19 D. M. Gottlieb. Star Identification Techniques. Spacecraft Attitude Determination and Control. 1978, (12):257~266
20 M. S. Scholl. Star Field Identification Algorithm: Performance Verification Using Simulated Star Field. Proceedings of SPIE. 1993, 20(19):275~290
21 C. Padgett, K. Kreutz-Delgado, S. Udomkesmalee. Evaluation of Star Identification Techniques. Journal of Guidance Control Dynamics. 1997, 20(2): 259~261 263~267
22李立宏.一种基于遗传算法的全天自主星图识别算法.光电工程. 2000, 27(5):14~18
23 L. Paladugu, B. G. Williams, M. P. Schoen. Star Pattern Recognition for Attitude Determination Using Genetic Algorithms. Presented at the 17th AIAA/USU Conference on Small Satellites, Logan, 2003:2~3 10~11
24 L. Paladugu, M. P. Schoen, B. G. Williams. Intelligent Techniques for Star-Pattern Recognition. Presented at the IMECE, Washington DC, 2003:2~3
25 J. W. Bone. On-orbit Star Processing Using Multi-Star Star Trackers. Proceedings of SPIE. 1994, 22(21): 3~14
26李春艳,李恪,张龙云等.基于神经网络技术的星图识别方法.科学通报E辑. 2003, 48(9):892~895
27李葆华,张迎春,李化义等.用KMP算法进行星敏感器星图识别的方法.光电工程. 2004, 31(1):9~11
28李葆华,张迎春,许士文等.用KMP算法进行星敏感器星图识别的改进方法.光电工程. 2004, 31(2):19~22
29李静.字符串的模式匹配算法——基于KMP算法的讨论.青岛化工学院学报. 2002, 23(2):78~80
30乔小林,姜励锋,曹延华.基于矩阵星图识别算法的卫星三轴姿态确定方法研究.计算机测量与控制. 2007, 15(12):1~2
31全伟,王广君,房建成.一种基于Hausdorff距离的改进星图识别方法.北京航空航天大学学报. 2006, 32(1):1~3
32陈艳平,王广君.基于改进的HD距离的星图识别算法.天文研究与技术. 2007, 4(2):1~2
33何爱香,朱云华,安凯.一种基于多层SOFM网络的星图识别方法.上海航天. 2007, (4):1~2
34 D. S. Clouse, C. W. Padgett. Small Field-of-View Star Identification Using Bayesian Decision Theory. IEEE Transactions on Aerospace and Electronic Systems. 2000, 36(3):1~2
35江万寿,谢俊峰,龚健雅等.一种基于星形的星图识别算法.武汉大学学报. 2008, 33(1):1~2
36胡建平.基于多三角形算法的星图识别方法.哈尔滨工业大学硕士学位论文. 2004: 11~13
37魏新国,张广军,江洁.利用径向和环向分布特征的星图识别方法.光电工程. 2004, (31)8:1~2 3~5
38 K. R. Lang.天体物理公式.杨建译.上海科学技术出版社,1983: 10~15
39全伟,房建成.高精度星图模拟及有效性验证新方法.光电工程. 2005, 32(7): 1~2
40 Xu Shi-wen, Long Fu-nian, Fu Ling. Coordinate Transformation in Real-time Star Field Simulator. Jounal of Harbin Institute of Technology. 1998, 30(5):118~120.
41 Zhang Jun-ping, Lin Tao, Zhou Jian-lin. A Method of CCD Star Image Simulation. Chinese Space Science and Technology. 1999, 19(3):46~50
42 C. Padgett, K. Kreutz-Delgado. A Grid Algorithm for Autonomous Star Identification. IEEE Transactions on Aerospace and Electronics Systems. 1997, 33(1): 202~204 207~213.
43 Cai Zhiwu, HAN Chunhao, Chen Jinping. Approach of Constructing High Precision Guide Star Catalogue on Board. Journal of Zhengzhou Institute of Surveying and Mapping. 2006, (1):1~2
44 Hao Sheng-guo, Hao Zhi-hang. Star Image Simulation Software of Star-Tracker. Optic and Precision Engineering. 2000, 8(3):208~212
45兰巍,江洁,张广军.基于TMS320C6701的星敏感器电路系统的设计.微计算机信息. 2005, 21(8-1):144~146
46刘燕,张学庆,王振华.一种基于DSP的星图识别技术.光学与光电技术. 2006, 4(5):1~3
47杨清珍.星图实时预处理方法研究及实现.华中科技大学硕士学位论文. 2005:17~20
48 T. Daud, R. Tawel, H. Laigenbacher. Analog Parallel Processor Hardware for High Speed Pattern Recognition. Proceedings of SPIE. 1990, 13(60):359~360
49李为民,邢晓正,戴礼荣等. DSP技术在线阵CCD测量系统中的应用.仪器仪表学报. 2002, 23(2):1~3
50 TMS320C6713 Floating-point Digital Signal Processors. 2000. http://www.ti.com
51 TMS320C6000 CPU and Instruction Set Reference Guide. 2000. http://www.ti.com
52赵加祥. DSP系统设计和BIOS编程及应用实例.机械工业出版社,2008:7~9 71~75 50~53
53 TMS320C6000 Peripherals Reference Guide. 2001. http://www.ti.com.
54 TMS320C6000 DSP Multichannel Audio Serial Port (McASP) Reference Guide. 2003. http://www.ti.com
55 XC95144XL High Performance CPLD. 2007. http://www.xilinx.com
56何延昭,李临生,贾志纲等. CCD图像在TMS320C6711DSK中的存放方式和重构.太原科技大学学报. 2006, 27(2):1~2
57 HY57V281620HC 4Banks×2M×16bits Synchronous DRAM. 2006. http://www.hynix-st.com
58 Am29LV800B 8Megabit (1M×8-Bit/512K×16-Bit) CMOS 3.0 Volt-only Boot Sector Flash Memory. 2000. http://www.amd.com.cn
59 74LVT16245/74LVTH16245 Low Voltage 16-Bit Transceiver with 3-STATE Outputs. 2001. http://www.fairchildsemi.com
60钱勇.高精度三轴稳定卫星姿态确定和控制系统研究.西北工业大学博士学位论文. 2003:3~10
2 A. Eisenman, C. C. Liebe. Operation and Performance of a Second Generation Solid Static Star Tracker. The ASC, Acta Astronautic. 1996, 39(9-12):697~705
3刘暾,赵钧.空间飞行器动力学.哈尔滨工业大学出版社,2003:198~200
4蔡文贵,李志远,许振华. CCD技术及应用.电子工业出版社,1992:5~8
5 S. Levine, R. Dennis, K. L. Bachman. Strap Down Astro-Inertial Navigation Utilizing the Optical Wide-Angle Lens Star Tracker. Journal of the Institute of Navigation. 1991, 37(4):347~362
6 J. L. Jorgensen, A. Pickles. Fast and Robust Pointing and Tracking Using a Second Generation of Star Tracker. Proceedings of SPIE. 1998, 33(51):51~61
7 A. R. Eisenman, C. C. Iiebe, J. L. Jorgensen. The New Generation of Autonomous Star Trackers. Proceedings of SPIE. 1997, 3(221):524~535
8 CT-633 Stellar Attitude Sensor. Ball Aerospace & Technologies Corporation. http:// www.bal.com
9朱长征.基于星敏感器的星模式识别算法及空间飞行器姿态确定技术研究.国防科学技术大学研究生院工学博士学位论文. 2004:3~4 30~32 50~53
10许士文,李葆华,张迎春等.用字符匹配进行星图识别的导航库的存储方法.哈尔滨工业大学学报. 2005, 37(6):819~821
11 S. Marques, R. Clements, P. Lima. Comparison of Small Satellite Attitude Determination Methods. AIAA Guidance, Navigation and Control Conference and Exhibit. 2000, (8):13~17
12 M. A. Samaan, D. Mortari, J. L. Junkins. Recursive Mode Star Identification Algorithms. IEEE Transactions on Aerospace and Electronic Systems. 2005, 41(4):1~2
13 E. Silani, M. Lovera. Star Identification Algorithms: Novel Approach & Comparison Study. IEEE Transactions on Aerospace and Electronic Systems. 2006, 42(4):1~3
14 F. D. Carlo, R. Stalio, P. Trampus. Description and analysis of an algorithm for star identification, pointing, and tracking systems. Optical Engineering. 1994, 33(8):1~2
15 H. Renken, H. J. Rath. A Method for Three-Axis Attitude Determination By Image-Processed Star Constellation Matching. SPIE. 1994, 30(86):2~4
16 M. S. Scholl. Star Field Identification Algorithm-Performance Verification Using Simulated Star Fields. SPIE, Infrared Spaceborne Remote Sensing.1993, (20)19:275~278
17 B. Quinet, H. F. Durrant-Whyte. Rapid star pattern identification. SPIE. 2006, 27(39):351~352
18 W. H. Roelof, V. Bezooijen. True-sky Demonstration of an Autonomous Star Tracker. Proceedings of SPIE. 1994, 22(21):156~168
19 D. M. Gottlieb. Star Identification Techniques. Spacecraft Attitude Determination and Control. 1978, (12):257~266
20 M. S. Scholl. Star Field Identification Algorithm: Performance Verification Using Simulated Star Field. Proceedings of SPIE. 1993, 20(19):275~290
21 C. Padgett, K. Kreutz-Delgado, S. Udomkesmalee. Evaluation of Star Identification Techniques. Journal of Guidance Control Dynamics. 1997, 20(2): 259~261 263~267
22李立宏.一种基于遗传算法的全天自主星图识别算法.光电工程. 2000, 27(5):14~18
23 L. Paladugu, B. G. Williams, M. P. Schoen. Star Pattern Recognition for Attitude Determination Using Genetic Algorithms. Presented at the 17th AIAA/USU Conference on Small Satellites, Logan, 2003:2~3 10~11
24 L. Paladugu, M. P. Schoen, B. G. Williams. Intelligent Techniques for Star-Pattern Recognition. Presented at the IMECE, Washington DC, 2003:2~3
25 J. W. Bone. On-orbit Star Processing Using Multi-Star Star Trackers. Proceedings of SPIE. 1994, 22(21): 3~14
26李春艳,李恪,张龙云等.基于神经网络技术的星图识别方法.科学通报E辑. 2003, 48(9):892~895
27李葆华,张迎春,李化义等.用KMP算法进行星敏感器星图识别的方法.光电工程. 2004, 31(1):9~11
28李葆华,张迎春,许士文等.用KMP算法进行星敏感器星图识别的改进方法.光电工程. 2004, 31(2):19~22
29李静.字符串的模式匹配算法——基于KMP算法的讨论.青岛化工学院学报. 2002, 23(2):78~80
30乔小林,姜励锋,曹延华.基于矩阵星图识别算法的卫星三轴姿态确定方法研究.计算机测量与控制. 2007, 15(12):1~2
31全伟,王广君,房建成.一种基于Hausdorff距离的改进星图识别方法.北京航空航天大学学报. 2006, 32(1):1~3
32陈艳平,王广君.基于改进的HD距离的星图识别算法.天文研究与技术. 2007, 4(2):1~2
33何爱香,朱云华,安凯.一种基于多层SOFM网络的星图识别方法.上海航天. 2007, (4):1~2
34 D. S. Clouse, C. W. Padgett. Small Field-of-View Star Identification Using Bayesian Decision Theory. IEEE Transactions on Aerospace and Electronic Systems. 2000, 36(3):1~2
35江万寿,谢俊峰,龚健雅等.一种基于星形的星图识别算法.武汉大学学报. 2008, 33(1):1~2
36胡建平.基于多三角形算法的星图识别方法.哈尔滨工业大学硕士学位论文. 2004: 11~13
37魏新国,张广军,江洁.利用径向和环向分布特征的星图识别方法.光电工程. 2004, (31)8:1~2 3~5
38 K. R. Lang.天体物理公式.杨建译.上海科学技术出版社,1983: 10~15
39全伟,房建成.高精度星图模拟及有效性验证新方法.光电工程. 2005, 32(7): 1~2
40 Xu Shi-wen, Long Fu-nian, Fu Ling. Coordinate Transformation in Real-time Star Field Simulator. Jounal of Harbin Institute of Technology. 1998, 30(5):118~120.
41 Zhang Jun-ping, Lin Tao, Zhou Jian-lin. A Method of CCD Star Image Simulation. Chinese Space Science and Technology. 1999, 19(3):46~50
42 C. Padgett, K. Kreutz-Delgado. A Grid Algorithm for Autonomous Star Identification. IEEE Transactions on Aerospace and Electronics Systems. 1997, 33(1): 202~204 207~213.
43 Cai Zhiwu, HAN Chunhao, Chen Jinping. Approach of Constructing High Precision Guide Star Catalogue on Board. Journal of Zhengzhou Institute of Surveying and Mapping. 2006, (1):1~2
44 Hao Sheng-guo, Hao Zhi-hang. Star Image Simulation Software of Star-Tracker. Optic and Precision Engineering. 2000, 8(3):208~212
45兰巍,江洁,张广军.基于TMS320C6701的星敏感器电路系统的设计.微计算机信息. 2005, 21(8-1):144~146
46刘燕,张学庆,王振华.一种基于DSP的星图识别技术.光学与光电技术. 2006, 4(5):1~3
47杨清珍.星图实时预处理方法研究及实现.华中科技大学硕士学位论文. 2005:17~20
48 T. Daud, R. Tawel, H. Laigenbacher. Analog Parallel Processor Hardware for High Speed Pattern Recognition. Proceedings of SPIE. 1990, 13(60):359~360
49李为民,邢晓正,戴礼荣等. DSP技术在线阵CCD测量系统中的应用.仪器仪表学报. 2002, 23(2):1~3
50 TMS320C6713 Floating-point Digital Signal Processors. 2000. http://www.ti.com
51 TMS320C6000 CPU and Instruction Set Reference Guide. 2000. http://www.ti.com
52赵加祥. DSP系统设计和BIOS编程及应用实例.机械工业出版社,2008:7~9 71~75 50~53
53 TMS320C6000 Peripherals Reference Guide. 2001. http://www.ti.com.
54 TMS320C6000 DSP Multichannel Audio Serial Port (McASP) Reference Guide. 2003. http://www.ti.com
55 XC95144XL High Performance CPLD. 2007. http://www.xilinx.com
56何延昭,李临生,贾志纲等. CCD图像在TMS320C6711DSK中的存放方式和重构.太原科技大学学报. 2006, 27(2):1~2
57 HY57V281620HC 4Banks×2M×16bits Synchronous DRAM. 2006. http://www.hynix-st.com
58 Am29LV800B 8Megabit (1M×8-Bit/512K×16-Bit) CMOS 3.0 Volt-only Boot Sector Flash Memory. 2000. http://www.amd.com.cn
59 74LVT16245/74LVTH16245 Low Voltage 16-Bit Transceiver with 3-STATE Outputs. 2001. http://www.fairchildsemi.com
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