“高分二号”上相机和星敏感器相对安装姿态的测量

孙刚; 杨再华; 万毕乐; 张成立; 代卫兵

doi:10.3788/OPE.20172511.2931

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“高分二号”上相机和星敏感器相对安装姿态的测量

微纳技术与精密机械 | 更新时间：2020-07-07

- “高分二号”上相机和星敏感器相对安装姿态的测量
- High precision automatic measurement for alignment of camera and star-sensor in GF-2
- 光学精密工程 2017年25卷第11期页码：2931-2938
- 作者机构：
  
  1.北京卫星环境工程研究所, 北京 100094
  2.北京市航天产品智能装配技术与装备工程技术研究中心, 北京 100094
- 作者简介：
  
  [ "孙刚(1972-), 男, 黑龙江哈尔滨人, 博士, 研究员, 1996年于哈尔滨工业大学获得学士学位, 1999年于中国空间技术研究院获得硕士学位, 2014年于西北工业大学获得博士学位, 主要从事航天器数字化总装与测试技术研究。E-mail:sungang_2017@163.com" ]
  [ "杨再华(1980-), 男, 河北涞水人, 硕士, 高级工程师, 2002年于长春理工大学获得学士学位, 2005年于清华大学获得硕士学位, 主要从事航天器总装相关的大尺寸几何量精度测量研究。E-mail:13466501817@139.com" ]
- 基金信息：
  
  国家高分专项天基部分资助项目(（2011）1199)
- DOI：10.3788/OPE.20172511.2931
  中图分类号： V465
- 收稿日期：2017-02-09，
  
  录用日期：2017-5-4，
  
  纸质出版日期：2017-11-25
- 稿件说明：
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孙刚, 杨再华, 万毕乐, 等. “高分二号”上相机和星敏感器相对安装姿态的测量[J]. 光学精密工程, 2017,25(11):2931-2938.

Gang SUN, Zai-hua YANG, Bi-le WAN, et al. High precision automatic measurement for alignment of camera and star-sensor in GF-2[J]. Optics and precision engineering, 2017, 25(11): 2931-2938.
孙刚, 杨再华, 万毕乐, 等. “高分二号”上相机和星敏感器相对安装姿态的测量[J]. 光学精密工程, 2017,25(11):2931-2938. DOI： 10.3788/OPE.20172511.2931.

Gang SUN, Zai-hua YANG, Bi-le WAN, et al. High precision automatic measurement for alignment of camera and star-sensor in GF-2[J]. Optics and precision engineering, 2017, 25(11): 2931-2938. DOI： 10.3788/OPE.20172511.2931.

摘要

为了精确测量"高分二号"（GF-2）卫星上相机和星敏感器的相对安装姿态，建立了一套高精度自动化测量系统。针对该系统研究了基于多传感器数据融合的高精度测量算法、基于理论安装数据驱动的自动测量模型、以及基于图像识别的立方镜法线搜索算法。该测量系统主要由二维龙门导轨、精密转台和CCD成像辅助准直的自准直经纬仪构成，通过融合精密转台的转动角度、自准直经纬仪的俯仰角和偏航角等数据计算被测设备安装姿态角度。测量时需先对系统进行标定，制定自动测量规划，然后通过电机驱动使设备自动到达预定位置和角度进行测量。若星上设备安装偏差较大导致被测对象超出自准直经纬仪测量范围时，可启动CCD相机对被测对象局部区域进行搜索识别，并引导自准直经纬仪实现精确准直测量。对测量系统进行了实验验证，结果显示：该系统姿态测量精度可以达到5"，与标准值比对最大偏差为4.1"；该测量系统已用于GF-2卫星的相机和星敏器相对姿态测量中，重复标准差最大为3.5"，满足GF-2对机上设备安装姿态测量精度的需求。

Abstract

To alignment the posture between the camera and the star-sensor on the GF-2 satellite

a high precision automatic measurement system was established. For the measuring system

a high precision measurement algorithm based on multi-sensor fusion

an automatic measurement plane based on design data

and a cube mirror normal measurement method based on geometric figure recognition were investigated. The system was mainly constituted by a double column guideway system

a precision turntable

and an autocollimation theodolite assisted with CCD camera. The instrument posture was calculated by fusing the data of the pitch angle and the horizontal angle of the theodolite and the rotation angle of the turntable. In measurement

the system was fixed and calibrated

and an automatic measurement plan was generated firstly. Then the theodolite was driven to the desired location and desired angle. If there was no collimated light from the mirror to the theodolite

the CCD camera would search the cube mirror and calculate the deviationt of the theodolite. Then the location and angles of the theodolite were adjusted and the posture of the cube mirror of the instrument was measured. Experimental results indicate that the precision of the system is within 5" and the maximum deviation compared to the standard value is 4.1". The system has been used in the assembly of GF-2 satellite

its maximum measuring standard deviation is 3.5"

and satisfies the system requirements for higher precisions and rapid speeds.

关键词

Keywords

references

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