一种快速稳定的星图识别方法及单星模拟器的调校
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摘要
本文可以分为两个部分,分别讨论了一种不依赖于光学镜头参数的全天星图识别方法和一种单星模拟器的调校方法。
第一部分,一种改进的全天星图识别方法。
改进了一种全天星图识别方法,此方法是利用观测星组成的三角形内角对于星敏感器相机的焦距f以及光轴偏差( x0 , y 0)等参数相对独立来进行星图识别,其识别特征为三角形内角。传统的星图识别方法,主要依据星对角距作为识别特征,其识别准确率依赖于星敏感器相机的焦距f以及光轴偏差( x0 , y 0)等参数的校正精度。而此方法根据导航三角形与观测三角形相似的特点,以三角形的内角作为识别特征,不依赖镜头参数,无需先验姿态信息。蒙特卡洛仿真结果表明,此方法的识别率约为93.37%;采用K矢量搜索法,识别时间约30ms;且在星点位置误差较大的情况下,仍然能较好的工作。
第二部分,单星模拟器的调校方法。
在传统的五棱镜法基础上,提出了一种单星模拟器出射光平行度的调校方法,本方法利用CCD相机取代了传统方法中的自准直仪,采用比较成熟的数字图像处理技术来提高调校的精度。理论分析表明,此调校方法的光平行度最大测量误差为0.49",可以满足高精度星模拟器的调校任务。实验结果表明,采用此方法的调校后,平行光发散角约为2.32",接近所选平行光管的衍射极限。另外,此调校方法配合电动导轨,MATLAB软件和Labview软件可以实现自动化快速调校。
The approach of star identification and the method for adjusting of single star simulator is discussed.
The first section is about the approach of star identification.
Star identification is the most critical and important process for attitude estimation. The main purpose of the star identification process is to identify the observed stars with the corresponding cataloged stars. The precision of traditional star identification method highly depend on the calibrated accuracy of the star camera parameters, mainly the focal length f, and the optical axis offsets. When parameters of the camera are not accurate or when the camera is not well calibrated, the proposed star identification method becomes very suitable, because it does not require accurate knowledge of these parameters. Monte Carlo experiment shows that the probability of failing Star-ID is less than 6.63%. The adoption of the k-vector range search technique, makes this method very fast, the speed of this star identification method is less than 30ms.
The second section is about the method for adjusting of single star simulator.
Star simulator is necessary equipment for calibration and performance testing of star sensor in laboratory. A novel method for adjustment of star simulator has been proposed in this paper. This method is based on ordinary Penta prism, guide rail, Charge Coupled Devices (CCD) camera and sub-pixel centroid algorithm. The CCD camera is used to image the star light replicated by the Penta prism instead of the autocollimator compared with the traditional adjustment of collimator. The analysis shows that the limiting parallelism error of the single star simulator is less than 0.49″; the experiment shows that the error is less than 2.32″after adjustment using this proposed method. The difference between analysis and experiment is attributed to diffraction limit of the collimator. It can satisfy the high accuracy adjustment of single star simulator. Furthermore, with the software of MATLAB and LABVIEW, this method can work automatically.
第一部分,一种改进的全天星图识别方法。
改进了一种全天星图识别方法,此方法是利用观测星组成的三角形内角对于星敏感器相机的焦距f以及光轴偏差( x0 , y 0)等参数相对独立来进行星图识别,其识别特征为三角形内角。传统的星图识别方法,主要依据星对角距作为识别特征,其识别准确率依赖于星敏感器相机的焦距f以及光轴偏差( x0 , y 0)等参数的校正精度。而此方法根据导航三角形与观测三角形相似的特点,以三角形的内角作为识别特征,不依赖镜头参数,无需先验姿态信息。蒙特卡洛仿真结果表明,此方法的识别率约为93.37%;采用K矢量搜索法,识别时间约30ms;且在星点位置误差较大的情况下,仍然能较好的工作。
第二部分,单星模拟器的调校方法。
在传统的五棱镜法基础上,提出了一种单星模拟器出射光平行度的调校方法,本方法利用CCD相机取代了传统方法中的自准直仪,采用比较成熟的数字图像处理技术来提高调校的精度。理论分析表明,此调校方法的光平行度最大测量误差为0.49",可以满足高精度星模拟器的调校任务。实验结果表明,采用此方法的调校后,平行光发散角约为2.32",接近所选平行光管的衍射极限。另外,此调校方法配合电动导轨,MATLAB软件和Labview软件可以实现自动化快速调校。
The approach of star identification and the method for adjusting of single star simulator is discussed.
The first section is about the approach of star identification.
Star identification is the most critical and important process for attitude estimation. The main purpose of the star identification process is to identify the observed stars with the corresponding cataloged stars. The precision of traditional star identification method highly depend on the calibrated accuracy of the star camera parameters, mainly the focal length f, and the optical axis offsets. When parameters of the camera are not accurate or when the camera is not well calibrated, the proposed star identification method becomes very suitable, because it does not require accurate knowledge of these parameters. Monte Carlo experiment shows that the probability of failing Star-ID is less than 6.63%. The adoption of the k-vector range search technique, makes this method very fast, the speed of this star identification method is less than 30ms.
The second section is about the method for adjusting of single star simulator.
Star simulator is necessary equipment for calibration and performance testing of star sensor in laboratory. A novel method for adjustment of star simulator has been proposed in this paper. This method is based on ordinary Penta prism, guide rail, Charge Coupled Devices (CCD) camera and sub-pixel centroid algorithm. The CCD camera is used to image the star light replicated by the Penta prism instead of the autocollimator compared with the traditional adjustment of collimator. The analysis shows that the limiting parallelism error of the single star simulator is less than 0.49″; the experiment shows that the error is less than 2.32″after adjustment using this proposed method. The difference between analysis and experiment is attributed to diffraction limit of the collimator. It can satisfy the high accuracy adjustment of single star simulator. Furthermore, with the software of MATLAB and LABVIEW, this method can work automatically.
引文
[1]庄显忠,快速区域星图显示与分析,南京:南京航空航天大学硕士学位论文, 2006.
[2]张锐,基于CCD星敏感器的星图识别算法的设计与实现,郑州:中国人民解放军信息工程大学硕士学位论文,2007.
[3]胡涵,星图导航模拟系统的设计与实现,武汉:华中科技大学硕士学位论文, 2005.
[4]张罡雷,星空背景建模算法及其在星敏感器上的应用,秦皇岛:燕山大学硕士学位论文, 2007.
[5]李春艳,利用神经网络技术实现星敏感器的星图识别,辽宁:辽宁师范大学硕士学位论文, 2003.
[6]欧阳桦,基于CCD星敏感器的星图模拟和导航星提取的方法研究,武汉:华中科技大学硕士学位论文, 2005.
[7]黄勇,大视场星图识别算法研究及实现,武汉:华中科技大学硕士学位论文, 2003.
[8]王波,CMOS星敏感器星图识别方法研究,武汉:华中科技大学硕士学位论文, 2004.
[9]张建伟,动态星图形成及星空模拟器研究,哈尔滨:哈尔滨工业大学硕士学位论文, 2003.
[10]孙才红,轻小型星敏感器研制方法和研制技术,中国科学院国家天文台博士学位论文, 2002.
[11]钟杰,基于APS的星敏感器研究,中国科学院光电技术研究所硕士学位论文, 2005.
[12]张广军,魏新国,江洁,一种改进的三角形星图识别方法,航空学报,2006, 27(6): 1151~1154.
[13]张磊,何昕,魏仲慧,刘岩俊,郭敬明,三角形星图识别算法的改进,光学精密工程, 2010, 18(2): 459~463.
[14] Malak A.,Daniele M.,John L.,Nondimensional star identification for uncalibrated star cameras,The Journal of the Astronautical Sciences, 2006, 54(1): 1~17.
[15] Yue-Gang F., Cheng-Wei W., Zhi-Jian W., Discussing the principle of adjust collimator with Penta prism method, Journal of Chang Chun Institute of Optics and Fine Mechanics, 2002, 25(1): 11-13.
[16] Song L.,The principle of testing light beam collimation using Penta prism, Research Report.
[17] Ya-Dong Y., Jun-Hua H., Yu-Ping C., et al, Effect of Penta prism error on parallelism detection,Journal of Applied Optics, 2007, 28(5): 650-653.
[18] Li-Min G., Chang-Zhou L., Liang-Yi C., Application of Penta prism in azmuthlaying, Journal of Application Optics, 2003, 24(1): 5~7 .
[19] Wen-Ming Z., Xiao-Cai W., Yi M., et al,Light source system for simulating single star used in calibration of star sensor,Opto-Electronic Engineering,1998, 25(9): 75~78.
[20] Ya-Dong Y., Xiao-Na D., Jun-Hua H., et al, Accuracy analysis of adjusting single star simulator, Acta Photonica Sinica,2007, 36(9): 1743~1746.
[21] Shan C., Yi-Ping C., Yong-Quan C., et al,Kinematic error effect of Pentagonal prism on wavefront measurement, Optical Instruments, 2005, 27(2): 12~16.
[22] Cui-Fang K., Qi-Bo F., Bin L., et al,Influences on the deflection angle of the pentagonal prism due to dithering and fabrication angles error, Optical Technique, 2004, 30(5): 616~622.
[23]张辉,袁家虎,刘恩海. CCD噪声对星敏感器星点定位精度的影响,红外与激光工程, 2006, 35(5): 629~633.
[24]陈元枝,郝志航,适用于星敏感器的星图识别方法,光电工程,2000,27(5): 6~10.
[25]陈元枝,郝志航,王国辉,李德志,适用于星敏感器的导航星星库制定,光学精密工程,2000,8(4): 332~334.
[26]李葆华,刘国良,刘睿,王常虹,天文导航中的星敏感器技术,光学精密工程,2009,17(7): 1616~1620.
[27]刘美莹,汶德胜,冉晓强,提高星图正确匹配率的新方法,电光与控制,2009,16(9): 41~43.
[28]刘亚平,李娟,张宏,星模拟器的设计与标定,红外与激光工程, 2006,35: 332~334.
[29] Rafael C. Gonzalez,Digital Image Processing Using MATLAB,电子工业出版社.
[30]宋晓龙,全轨道实时星模拟器,系统仿真学报, 1995,7(2): 40~45.
[31]索旭华,张新邦,全天球实时恒星模拟器技术,航天控制,2002,第一期: 47-50.
[32]冒蔚,范瑜,胡晓淳等,基本星表和天球坐标系,科学出版社, 1990.
[33]孟祥固,卫星图像运动模糊与散焦模糊复原技术研究.哈尔滨工业大学信号与信息处理专业, 2003.
[34]章毓晋,图像处理和分析,清华大学出版社,1999.
[35]许世文,龙夫年,付苓,付志宇,实时星场模拟器中的坐标变换,哈尔滨工业大学学报, 1998, 30(5): 118~120.
[36]卢欣,CCD星敏感器光学系统设计,中国空间科学技术, 1994, (04).
[37]阚道宏,朱铮,过瑞英,星敏感器用导航星星表的建立,宇航学报, 1992,第四期: 43~49
[38]林涛,周建林,张钧萍等,四边形全天自主星图识别算法,宇航学报, 2000, 21(2): 82~85.
[39] Malak A. Samaan, Daniele Mortari, and John L., Junkins, Nondimensional Star Identification for Uncalibrated Star Cameras, The Journal of the Astronautical Sciences, 2006, 54(1): 1~17.
[2]张锐,基于CCD星敏感器的星图识别算法的设计与实现,郑州:中国人民解放军信息工程大学硕士学位论文,2007.
[3]胡涵,星图导航模拟系统的设计与实现,武汉:华中科技大学硕士学位论文, 2005.
[4]张罡雷,星空背景建模算法及其在星敏感器上的应用,秦皇岛:燕山大学硕士学位论文, 2007.
[5]李春艳,利用神经网络技术实现星敏感器的星图识别,辽宁:辽宁师范大学硕士学位论文, 2003.
[6]欧阳桦,基于CCD星敏感器的星图模拟和导航星提取的方法研究,武汉:华中科技大学硕士学位论文, 2005.
[7]黄勇,大视场星图识别算法研究及实现,武汉:华中科技大学硕士学位论文, 2003.
[8]王波,CMOS星敏感器星图识别方法研究,武汉:华中科技大学硕士学位论文, 2004.
[9]张建伟,动态星图形成及星空模拟器研究,哈尔滨:哈尔滨工业大学硕士学位论文, 2003.
[10]孙才红,轻小型星敏感器研制方法和研制技术,中国科学院国家天文台博士学位论文, 2002.
[11]钟杰,基于APS的星敏感器研究,中国科学院光电技术研究所硕士学位论文, 2005.
[12]张广军,魏新国,江洁,一种改进的三角形星图识别方法,航空学报,2006, 27(6): 1151~1154.
[13]张磊,何昕,魏仲慧,刘岩俊,郭敬明,三角形星图识别算法的改进,光学精密工程, 2010, 18(2): 459~463.
[14] Malak A.,Daniele M.,John L.,Nondimensional star identification for uncalibrated star cameras,The Journal of the Astronautical Sciences, 2006, 54(1): 1~17.
[15] Yue-Gang F., Cheng-Wei W., Zhi-Jian W., Discussing the principle of adjust collimator with Penta prism method, Journal of Chang Chun Institute of Optics and Fine Mechanics, 2002, 25(1): 11-13.
[16] Song L.,The principle of testing light beam collimation using Penta prism, Research Report.
[17] Ya-Dong Y., Jun-Hua H., Yu-Ping C., et al, Effect of Penta prism error on parallelism detection,Journal of Applied Optics, 2007, 28(5): 650-653.
[18] Li-Min G., Chang-Zhou L., Liang-Yi C., Application of Penta prism in azmuthlaying, Journal of Application Optics, 2003, 24(1): 5~7 .
[19] Wen-Ming Z., Xiao-Cai W., Yi M., et al,Light source system for simulating single star used in calibration of star sensor,Opto-Electronic Engineering,1998, 25(9): 75~78.
[20] Ya-Dong Y., Xiao-Na D., Jun-Hua H., et al, Accuracy analysis of adjusting single star simulator, Acta Photonica Sinica,2007, 36(9): 1743~1746.
[21] Shan C., Yi-Ping C., Yong-Quan C., et al,Kinematic error effect of Pentagonal prism on wavefront measurement, Optical Instruments, 2005, 27(2): 12~16.
[22] Cui-Fang K., Qi-Bo F., Bin L., et al,Influences on the deflection angle of the pentagonal prism due to dithering and fabrication angles error, Optical Technique, 2004, 30(5): 616~622.
[23]张辉,袁家虎,刘恩海. CCD噪声对星敏感器星点定位精度的影响,红外与激光工程, 2006, 35(5): 629~633.
[24]陈元枝,郝志航,适用于星敏感器的星图识别方法,光电工程,2000,27(5): 6~10.
[25]陈元枝,郝志航,王国辉,李德志,适用于星敏感器的导航星星库制定,光学精密工程,2000,8(4): 332~334.
[26]李葆华,刘国良,刘睿,王常虹,天文导航中的星敏感器技术,光学精密工程,2009,17(7): 1616~1620.
[27]刘美莹,汶德胜,冉晓强,提高星图正确匹配率的新方法,电光与控制,2009,16(9): 41~43.
[28]刘亚平,李娟,张宏,星模拟器的设计与标定,红外与激光工程, 2006,35: 332~334.
[29] Rafael C. Gonzalez,Digital Image Processing Using MATLAB,电子工业出版社.
[30]宋晓龙,全轨道实时星模拟器,系统仿真学报, 1995,7(2): 40~45.
[31]索旭华,张新邦,全天球实时恒星模拟器技术,航天控制,2002,第一期: 47-50.
[32]冒蔚,范瑜,胡晓淳等,基本星表和天球坐标系,科学出版社, 1990.
[33]孟祥固,卫星图像运动模糊与散焦模糊复原技术研究.哈尔滨工业大学信号与信息处理专业, 2003.
[34]章毓晋,图像处理和分析,清华大学出版社,1999.
[35]许世文,龙夫年,付苓,付志宇,实时星场模拟器中的坐标变换,哈尔滨工业大学学报, 1998, 30(5): 118~120.
[36]卢欣,CCD星敏感器光学系统设计,中国空间科学技术, 1994, (04).
[37]阚道宏,朱铮,过瑞英,星敏感器用导航星星表的建立,宇航学报, 1992,第四期: 43~49
[38]林涛,周建林,张钧萍等,四边形全天自主星图识别算法,宇航学报, 2000, 21(2): 82~85.
[39] Malak A. Samaan, Daniele Mortari, and John L., Junkins, Nondimensional Star Identification for Uncalibrated Star Cameras, The Journal of the Astronautical Sciences, 2006, 54(1): 1~17.