基于CMOS图像传感器的图像采集系统研究
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摘要
随着微小型卫星的发展,以及我国对地观测和空间对接的需要,我们需要卫星对姿态进行高精度的控制。这就要求卫星上的姿态敏感器不仅要获得高精度的姿态信息,而且要求质量轻、功耗低。与地球敏感器、太阳敏感器等其他姿态敏感器相比,星敏感器具有测量精度高、功耗低、无漂移等优点,并且和陀螺仪一样具有自主导航的能力,非常符合目前航天发展的需要。
随着CMOS图像传感器技术的发展,其成像质量能够与CCD图像传感器相媲美,同时CMOS图像传感器还具有功耗低、集成度高等优点。CMOS星敏感器比CCD星敏感器体积更小、重量更轻、功耗更低,大有取代CCD星敏感器之势。
星敏感器获得高精度姿态的首要前提是采集到一幅质量好的图像,因此,星敏感器中图像采集系统设计的好坏直接影响到星敏感器输出姿态的精度高低。为完成基于CMOS图像传感器的图像采集系统设计,本文主要完成了以下工作:
(1)对目前星敏感器的硬件电路结构进行分析,根据课题组实际条件设计CMOS星敏感器的硬件电路总体结构;
(2)以Cypress公司的IBIS5-B-1300型CMOS图像传感器为核心,设计CMOS星敏感器的图像采集系统;
(3)根据IBIS5-B-1300型CMOS图像传感器的工作流程,用Verilog HDL语言实现图像传感器所需的驱动程序设计。采用Xilinx公司的FPGA作为图像传感器的驱动芯片,产生图像传感器所需的时序信号。
With the development of micro-satellite and the need of Earth observation mission or space docking mission, we need to control the satellite precisely. Thus we require the attitude sensor on the satellite not only be highly precise, but also be light and consumes less power. Compared to earth sensor, sun sensor and other sensors, star tracker has the advantages of high precision of measurement, low power consumption, no attitude error accumulation. And star tracker has the ability of autonomous navigation like gyroscope. All these advantages make the star tracker satisfies the need of the aerospace development.
With the CMOS image sensor technology developing, the image quality of some CMOS image sensor is as good as that of CCD image sensor. Meanwhile, the CMOS image sensor has the advantage of high integration, low power consumption. And CMOS star tracker occupies less space, is lighter and consumes less power than the CCD star tracker, so CMOS star tracker is likely to replace the CCD star tracker in the future.
To obtain a high quality image, a good image obtaining system is needed. In order to design the image obtaining system of CMOS star tracker, the following work is done:
(1) The hardware structure of the star tracker is analyzed. And the hardware of the CMOS star tracker is designed according to the condition of the lab.
(2) The image obtaining system of the CMOS star tracker is designed, whose image sensor is IBIS5-B-1300 made by Cypress.
(3) Based on the work process of the CMOS sensor IBIS5-B-1300, we design the driver of this image sensor with Verilog HDL language. The FPGA chip of Xilinx is used as the driver of the image sensor to generate the signal that image sensor needs.
随着CMOS图像传感器技术的发展,其成像质量能够与CCD图像传感器相媲美,同时CMOS图像传感器还具有功耗低、集成度高等优点。CMOS星敏感器比CCD星敏感器体积更小、重量更轻、功耗更低,大有取代CCD星敏感器之势。
星敏感器获得高精度姿态的首要前提是采集到一幅质量好的图像,因此,星敏感器中图像采集系统设计的好坏直接影响到星敏感器输出姿态的精度高低。为完成基于CMOS图像传感器的图像采集系统设计,本文主要完成了以下工作:
(1)对目前星敏感器的硬件电路结构进行分析,根据课题组实际条件设计CMOS星敏感器的硬件电路总体结构;
(2)以Cypress公司的IBIS5-B-1300型CMOS图像传感器为核心,设计CMOS星敏感器的图像采集系统;
(3)根据IBIS5-B-1300型CMOS图像传感器的工作流程,用Verilog HDL语言实现图像传感器所需的驱动程序设计。采用Xilinx公司的FPGA作为图像传感器的驱动芯片,产生图像传感器所需的时序信号。
With the development of micro-satellite and the need of Earth observation mission or space docking mission, we need to control the satellite precisely. Thus we require the attitude sensor on the satellite not only be highly precise, but also be light and consumes less power. Compared to earth sensor, sun sensor and other sensors, star tracker has the advantages of high precision of measurement, low power consumption, no attitude error accumulation. And star tracker has the ability of autonomous navigation like gyroscope. All these advantages make the star tracker satisfies the need of the aerospace development.
With the CMOS image sensor technology developing, the image quality of some CMOS image sensor is as good as that of CCD image sensor. Meanwhile, the CMOS image sensor has the advantage of high integration, low power consumption. And CMOS star tracker occupies less space, is lighter and consumes less power than the CCD star tracker, so CMOS star tracker is likely to replace the CCD star tracker in the future.
To obtain a high quality image, a good image obtaining system is needed. In order to design the image obtaining system of CMOS star tracker, the following work is done:
(1) The hardware structure of the star tracker is analyzed. And the hardware of the CMOS star tracker is designed according to the condition of the lab.
(2) The image obtaining system of the CMOS star tracker is designed, whose image sensor is IBIS5-B-1300 made by Cypress.
(3) Based on the work process of the CMOS sensor IBIS5-B-1300, we design the driver of this image sensor with Verilog HDL language. The FPGA chip of Xilinx is used as the driver of the image sensor to generate the signal that image sensor needs.
引文
1 C. C. Liebe. Accuracy Performance of Star Trackers–A Tutorial. IEEE Transactions on Aerospace and Electronic Systems. 2002, 38(2):587~588
2 E. R. Fossum. Active Pixel Sensors: Are CCD's Dinosaurs? Charge-Coupled Devices and Solid State Optical Sensors III. Proceedings of SPIE. 1993:2~14
3 E. R. Fossum, R. K. Bartman, A. R. Eisenman. Application of the Active Pixel Sensor Concept to Guidance and Navigation. Space Guidance, Control, and Tracking. Proceedings of SPIE. 1993:256~264
4 P. M. Salomon, W. C. Goss. A Microprocessor-Controlled CCD Star Tracker. AIAA Paper:76~116
5 R. L. Gutshall, J. C. Kollodge. Charge Injection Device(CID) Star Tracker Development. Shuttle Pointing of Electro-Optical Instruments. Proceedings of SPIE. 1981, 265:25~31
6 J. P. McQuerry, D. D. Wagner. A New Generation Stellar Atitude Sensor:The CT-601 Solid-State Star Tracker. Proceedings of the First ESA Intenrational Conference on Spacecraft Guidance. 1991:607~611
7 T. Bank. All Stellar Atitude Estimation Using a Ball CT-633 Star Tracker. Advances in the Astronautical Sciences. 1995, 88:59~66
8 R. W. Armstrong, D. A. Staley. A survey of Current Solid State Star Tracker Technology. The Jounral of the Astronautical Sciences. 1985, 33(4):341~352
9 A. R. Eisenman, C. C. Liebe, J. L. Joergensen. The New Generation of Autonomous Star Trackers. Sensors, Systems And Next-Generation Satellites. Proceedings of SPIE. 1997, 3221:524~535
10 S. Kouzmin Vladimir, I. Fedoseev Victor, I. Zaikin Vladimir. New Generation Of Star Trackers. SPIE. 2739:400
11 Lawrence W. Cassidy. The HEOSH-1003 Star Tracker. SPIE. 2466:93
12 Lawrence W. Cassidy. Space qualification of HDOS HD-1003 Star Tracker. SPIE. 2810:213
13 C. C. Liebe. Active Pixel Sensor (APS) based Star Tracker. JPL, Califonria Institute of Technology
14 Ju Gwanghyeok. Autonomous Star Sensing, Pattern Identification, and AtitudeDetermination for Spacecraft: an Analytical and Experimental Study [D]. America: Texas A&M University, 2001
15 EMS Technologies, Canada: http://www.ems-t.com/STG/commercial/ commer- cial_optical.asp, 2001
16 SRIRAS. Russia: http://wildcat.iki.rssi.ru/ASTRO_star_E.htm, 2002
17 SIL. England: http://www.siraeo.co.uk/default.asp?fid=0,2,12,2002
18 Kayser Threde. Germany: http://www.kayser-threde.de/news/starsensor _0999e .htm, 2002
19章仁为.卫星轨道姿态动力学与控制.北京航空航天大学出版社, 1998
20 C. C. Liebe, L. Alkalai, G. Domingo, et al. Micro APS Based Star Tracker. Proc. IEEE Aeroconf, 2002, (5):2285~2300
21林为才,乔彦峰,孙宁. CMOS图像传感器在数码相机上的应用.光机电信息, 2002, 12:17~19
22刘静,杜明辉. CMOS图像传感器关键技术及其新进展.传感器技术. 2004, 23(11):7~9
23饶睿坚,来新泉. CMOS图象传感芯片的成像技术.微电子学. 2001, 31(4):272~275
24赵文伯,刘俊刚. CMOS图像传感器发展现状.半导体光电. 1999, 20(1):11~14
25程开富. CMOS图像传感器的技术进展及市场分析与预测.国外电子元器件. 2000, 4:2~4
26程开富.新颖有源象素图像传感器的新进展.半导体情报. 1999, 36(2)
27刘智,薛旭成,郝志航.基于UBS总线的CMOS数字像机技术研究.长春理工大学学报, 2004, 27(l):5~8
28侯雨石,何玉青.数码相机CMOS图像传感器的特性参数与选择.光学技术. 2003, 29(2):174~176
29李杰,刘金国,王英霞,等. CMOS有源图像传感器的最新研究进展.传感器技术. 2005, 24(1):7~8
30邓华,方滨.基于CPLD技术的CMOS图像传感器高速采集系统.现代电子技术. 2004, (7):104~105
31尤政,李涛. CMOS图像传感器在空间技术中的应用.光学技术. 2002, 28(l):31~35
32 K. Mendis Sunetra, E. Kemeny Sabrina, C. Gee Russell. CMOS Active PixelImage Sensors for Highly Integrated Imaging Systems. IEEE Journal of solid-state circuits. 1997, 32(2):187~191
33 M. Clive. FPGA设计指南.杜生海,邢闻.人民邮电出版社, 2007:35~48
34夏宇闻. Verilog数字系统设计教程.北京航空航天大学出版社, 2003
35来清民,马涛. PCB设计经验浅谈.河南教育学院学报, 2001, 10(4):20~21
36华为公司.印制电路板(PCB)设计规范.华为技术有限公司. 1999:1~20
37刘元安,李书芳.电磁兼容和印刷电路板理论、设计和布线.人民邮电出版社, 2003:40~134
38 Verilog黄金参考指南.广州周立功单片机发展有限公司. 1996
39 Xilinx ISE使用手册.麦高公司. 2005
40顾晓.基于大面阵CMOS图像传感器的成像系统研究.中国科学院西安光学精密机械研究所,硕士论文. 2005
41朱明,鲁剑锋.基于DSP+FPGA结构图像处理系统设计与实现.计算机测量与控制. 2004, 12(9):866~869
42周峻.基于FPGA+DSP的实时图像处理器的研制.南京理工大学,硕士论文. 2003
43于坤林.基于FPGA控制的DSP数据采集和处理系统.长沙航空职业技术学院学报, 2004, 4(3):38~40
2 E. R. Fossum. Active Pixel Sensors: Are CCD's Dinosaurs? Charge-Coupled Devices and Solid State Optical Sensors III. Proceedings of SPIE. 1993:2~14
3 E. R. Fossum, R. K. Bartman, A. R. Eisenman. Application of the Active Pixel Sensor Concept to Guidance and Navigation. Space Guidance, Control, and Tracking. Proceedings of SPIE. 1993:256~264
4 P. M. Salomon, W. C. Goss. A Microprocessor-Controlled CCD Star Tracker. AIAA Paper:76~116
5 R. L. Gutshall, J. C. Kollodge. Charge Injection Device(CID) Star Tracker Development. Shuttle Pointing of Electro-Optical Instruments. Proceedings of SPIE. 1981, 265:25~31
6 J. P. McQuerry, D. D. Wagner. A New Generation Stellar Atitude Sensor:The CT-601 Solid-State Star Tracker. Proceedings of the First ESA Intenrational Conference on Spacecraft Guidance. 1991:607~611
7 T. Bank. All Stellar Atitude Estimation Using a Ball CT-633 Star Tracker. Advances in the Astronautical Sciences. 1995, 88:59~66
8 R. W. Armstrong, D. A. Staley. A survey of Current Solid State Star Tracker Technology. The Jounral of the Astronautical Sciences. 1985, 33(4):341~352
9 A. R. Eisenman, C. C. Liebe, J. L. Joergensen. The New Generation of Autonomous Star Trackers. Sensors, Systems And Next-Generation Satellites. Proceedings of SPIE. 1997, 3221:524~535
10 S. Kouzmin Vladimir, I. Fedoseev Victor, I. Zaikin Vladimir. New Generation Of Star Trackers. SPIE. 2739:400
11 Lawrence W. Cassidy. The HEOSH-1003 Star Tracker. SPIE. 2466:93
12 Lawrence W. Cassidy. Space qualification of HDOS HD-1003 Star Tracker. SPIE. 2810:213
13 C. C. Liebe. Active Pixel Sensor (APS) based Star Tracker. JPL, Califonria Institute of Technology
14 Ju Gwanghyeok. Autonomous Star Sensing, Pattern Identification, and AtitudeDetermination for Spacecraft: an Analytical and Experimental Study [D]. America: Texas A&M University, 2001
15 EMS Technologies, Canada: http://www.ems-t.com/STG/commercial/ commer- cial_optical.asp, 2001
16 SRIRAS. Russia: http://wildcat.iki.rssi.ru/ASTRO_star_E.htm, 2002
17 SIL. England: http://www.siraeo.co.uk/default.asp?fid=0,2,12,2002
18 Kayser Threde. Germany: http://www.kayser-threde.de/news/starsensor _0999e .htm, 2002
19章仁为.卫星轨道姿态动力学与控制.北京航空航天大学出版社, 1998
20 C. C. Liebe, L. Alkalai, G. Domingo, et al. Micro APS Based Star Tracker. Proc. IEEE Aeroconf, 2002, (5):2285~2300
21林为才,乔彦峰,孙宁. CMOS图像传感器在数码相机上的应用.光机电信息, 2002, 12:17~19
22刘静,杜明辉. CMOS图像传感器关键技术及其新进展.传感器技术. 2004, 23(11):7~9
23饶睿坚,来新泉. CMOS图象传感芯片的成像技术.微电子学. 2001, 31(4):272~275
24赵文伯,刘俊刚. CMOS图像传感器发展现状.半导体光电. 1999, 20(1):11~14
25程开富. CMOS图像传感器的技术进展及市场分析与预测.国外电子元器件. 2000, 4:2~4
26程开富.新颖有源象素图像传感器的新进展.半导体情报. 1999, 36(2)
27刘智,薛旭成,郝志航.基于UBS总线的CMOS数字像机技术研究.长春理工大学学报, 2004, 27(l):5~8
28侯雨石,何玉青.数码相机CMOS图像传感器的特性参数与选择.光学技术. 2003, 29(2):174~176
29李杰,刘金国,王英霞,等. CMOS有源图像传感器的最新研究进展.传感器技术. 2005, 24(1):7~8
30邓华,方滨.基于CPLD技术的CMOS图像传感器高速采集系统.现代电子技术. 2004, (7):104~105
31尤政,李涛. CMOS图像传感器在空间技术中的应用.光学技术. 2002, 28(l):31~35
32 K. Mendis Sunetra, E. Kemeny Sabrina, C. Gee Russell. CMOS Active PixelImage Sensors for Highly Integrated Imaging Systems. IEEE Journal of solid-state circuits. 1997, 32(2):187~191
33 M. Clive. FPGA设计指南.杜生海,邢闻.人民邮电出版社, 2007:35~48
34夏宇闻. Verilog数字系统设计教程.北京航空航天大学出版社, 2003
35来清民,马涛. PCB设计经验浅谈.河南教育学院学报, 2001, 10(4):20~21
36华为公司.印制电路板(PCB)设计规范.华为技术有限公司. 1999:1~20
37刘元安,李书芳.电磁兼容和印刷电路板理论、设计和布线.人民邮电出版社, 2003:40~134
38 Verilog黄金参考指南.广州周立功单片机发展有限公司. 1996
39 Xilinx ISE使用手册.麦高公司. 2005
40顾晓.基于大面阵CMOS图像传感器的成像系统研究.中国科学院西安光学精密机械研究所,硕士论文. 2005
41朱明,鲁剑锋.基于DSP+FPGA结构图像处理系统设计与实现.计算机测量与控制. 2004, 12(9):866~869
42周峻.基于FPGA+DSP的实时图像处理器的研制.南京理工大学,硕士论文. 2003
43于坤林.基于FPGA控制的DSP数据采集和处理系统.长沙航空职业技术学院学报, 2004, 4(3):38~40