基于星敏感器的船姿测量方法研究
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摘要
我国航天测量船采用单站定位体制，测控设备以船舶为平台，其测量是在动态条件下，设备的位置、姿态在不停地变化，必须在测量设备跟踪被测目标的同时，对测量船的位置和姿态进行同步测量。目前航天测量船装备了较多的导航设备，如惯性导航设备(INS)、卫星导航定位设备(GPS)、天文导航（CNS）、多普勒计程仪(DVL)等，这些设备各有优缺点，但没有一种导航设备能完全满足航天测量船的任务需求。
星敏感器是一种高精度的姿态测量装置，它能够给出相对惯性空间的高精度姿态信息，且不随时间漂移。以恒星为参照系，以星空为工作对象的高精度空间姿态测量装置，通过探测天球上不同位置的恒星进行结算，具有自主导航能力。
本文以基于星敏感器的船姿测量系统为研究对象，开展研究的目的主要有：一，建立基于星敏感器的船姿测量的数学模型，为系统实现提供理论指导；二，设计了一套基于双星敏感器的船姿测量系统，对相关的算法及设计进行验证。
提出了基于星敏感器的静态船姿计算方法及相应的坐标转换模型、蒙气差修正模型等，并就多种算法进行了试验对比，如TRIAD算法，FOMA算法，基于高斯消元的QUEST算法，基于Newton-Raphson迭代的QUEST算法等。
为了提高星敏感器船姿测量的精度，解决单星敏感器滚动角测量精度低及视场内恒星数不超过三颗时无法解算姿态的问题，提出了一种基于“视场拼接”的双星敏感器组合定姿测量算法，对双星敏感器组合定姿算法模型进行了推导。
为了提高航天测量船测控设备外测数据的精度，必须对基于星敏感器的船姿数据进行滤波处理。针对船姿数据非线性、非高斯的特点，提出了一种基于小波域隐马尔科夫模型的船姿数据处理算法，取得了较高的精度。
为了验证星点目标实时提取算法的正确性和提取精度，针对实际拍摄星图信噪比低、有地面杂光或薄云等特点，提出了一种采用核Rayleigh商二次相关滤波器的星图自适应杂波抑制方法，对实际拍摄星图进行事后处理，取得了较好效果。
提高星敏感器测量精度就是要提高单星测量精度，其主点、焦距及光学系统的成像畸变等参数的准确标校直接影响星敏感器测量精度。针对课题中对星敏感器单星测量精度的要求，使用了新的精度标定方法，准确的计算出星敏感器的焦距，主点等参数；针对光学成像畸变，采用了分区处理的方法，将光学畸变修正拟合推广到二次拟合，取得较高的精度。
以前面的工作为基础进行了系统设计，搭建了系统硬件平台，完成了相关软件设计与编写，进行了系统调试，完成了星敏感器参数所内标定，外场坞内安装矩阵标定，进行了观星试验，对试验数据进行了分析处理，验证了本文测量方法的正确性和方案的可行性。测量船的大量实验证明，该系统设计满足了船姿测量要求，基本达到了预期目标。
China’s spacecraft TT&C ship adopts the single station positioning systemwhich provides the platform for measuring equipment. Its measurements areconducted under the circumstances of dynamic conditions and the measuringequipment’s position and attitude are changing constantly, so, Synchronousmeasurement for both position and attitude of TT&C ship must be proceeded whenthe measuring equipment is tracking the target. Currently, our spacecraft TT&C isequipped with multiple navigation devices, such as Inertial Navigation Systems(INS), Global Position System (GPS), Celestial Navigation System (CNS) andDoppler Velocity Log (DVL) and so on. Each of these devices has their ownadvantages and disadvantages, but there is no any navigation device that couldcompletely meet with the mission requirements of the spacecraft TT&C ship.
Star sensor is a high-precision attitude measurement device, and it is able togive high-precision attitude information with respect to inertial space and not driftwith time. Taking the fixed star as frame of reference, Star sensor is a high-precisionspatial attitude measurement device working with starry sky as objects, whichpossesses the ability of autonomous navigation, and makes calculations throughdetecting the stars at different locations on the celestial sphere.
In this paper, the research object is ship attitude measurement system based onstar sensor, and the main purposes of this research are: Firstly, establish a mathematics model for ship attitude measurement based on star sensor, in order toprovide theoretical guidance for systematical realization; Secondly, design a shipattitude measurement system based on dual-star-sensor and testify relativealgorithms and designs.
The paper also puts forward the static ship attitude computing method, thecorresponding coordinate transformation model and astronomical refractioncorrection model and compares various algorithms such as TRIAD algorithm,FOMA algorithm, QUEST algorithm base on Gaussian Elimination and the QUESTalgorithm based on the Newton-Raphson Iteration and so on.
To improve ship attitude measurement precision based on star sensor and solveproblems of low measurement precision of roll angle by a single star sensor andinability to calculate attitude with no more than three stars in view field of a singlestar sensor, this paper comes up with a attitude measurement algorithm on acombination of double star sensor on the basis of “view-field spliced” and proceedsto deduce its model of such algorithm concerned.
In order to improve the precision of measured data of measuring equipments inthe Spacecraft TT&C ship, filtering processing for ship attitude data based on starsensor is essential. According to the nonlinear and non-Gaussian characteristics ofship attitude data, the paper proposes a ship attitude data processing algorithm baseon a wavelet-domain hidden Markov model, and achieves a higher accuracy.
To testify the correctness and accuracy of star point extraction algorithm in real-time image processing system, in term of the low signal to noise ratio, groundparasitic light or light cloud of the real star map, this paper raises a star map adaptiveclutter suppression method adopting the Kernel Rayleigh Quotient QuadraticCorrelation Filter to conduct the post-handling for the real star map and achievesexcellent results.
To improve the measurement precision of star sensor is namely to improve thesingle star measurement precision. The calibration accuracy of parameters like mainpoint, focal length and the imaging distortion of optical system directly affect the angle measuring accuracy of star sensor. As to the requirements of single starmeasurement precision of star sensor in this project, new precision calibrationmethod is adopted to precisely work out focal length and main point of star sensor;as to the optical image distortion, a partition processing method is employed topromote the optical distortion correction match to the quadratic fitting in order toobtain a higher level of precision.
This paper makes a systematical design based on the previous work, builds ahardware platform and completes designs and programming of related software.After system associated debugging, this paper completes the parameter calibrationsof star sensor and installation matrix calibration of star sensor in dockyard, andconducts stellar experiments, and makes analysis on the experimental data, thusverifying the validity of the measurement method and feasibility of the plan in thispaper. A large quantity of measurment experiments of TT&C ship proves that thissystem meets the ship attitude measurement requirements and basically achieves theexpected goal.
星敏感器是一种高精度的姿态测量装置，它能够给出相对惯性空间的高精度姿态信息，且不随时间漂移。以恒星为参照系，以星空为工作对象的高精度空间姿态测量装置，通过探测天球上不同位置的恒星进行结算，具有自主导航能力。
本文以基于星敏感器的船姿测量系统为研究对象，开展研究的目的主要有：一，建立基于星敏感器的船姿测量的数学模型，为系统实现提供理论指导；二，设计了一套基于双星敏感器的船姿测量系统，对相关的算法及设计进行验证。
提出了基于星敏感器的静态船姿计算方法及相应的坐标转换模型、蒙气差修正模型等，并就多种算法进行了试验对比，如TRIAD算法，FOMA算法，基于高斯消元的QUEST算法，基于Newton-Raphson迭代的QUEST算法等。
为了提高星敏感器船姿测量的精度，解决单星敏感器滚动角测量精度低及视场内恒星数不超过三颗时无法解算姿态的问题，提出了一种基于“视场拼接”的双星敏感器组合定姿测量算法，对双星敏感器组合定姿算法模型进行了推导。
为了提高航天测量船测控设备外测数据的精度，必须对基于星敏感器的船姿数据进行滤波处理。针对船姿数据非线性、非高斯的特点，提出了一种基于小波域隐马尔科夫模型的船姿数据处理算法，取得了较高的精度。
为了验证星点目标实时提取算法的正确性和提取精度，针对实际拍摄星图信噪比低、有地面杂光或薄云等特点，提出了一种采用核Rayleigh商二次相关滤波器的星图自适应杂波抑制方法，对实际拍摄星图进行事后处理，取得了较好效果。
提高星敏感器测量精度就是要提高单星测量精度，其主点、焦距及光学系统的成像畸变等参数的准确标校直接影响星敏感器测量精度。针对课题中对星敏感器单星测量精度的要求，使用了新的精度标定方法，准确的计算出星敏感器的焦距，主点等参数；针对光学成像畸变，采用了分区处理的方法，将光学畸变修正拟合推广到二次拟合，取得较高的精度。
以前面的工作为基础进行了系统设计，搭建了系统硬件平台，完成了相关软件设计与编写，进行了系统调试，完成了星敏感器参数所内标定，外场坞内安装矩阵标定，进行了观星试验，对试验数据进行了分析处理，验证了本文测量方法的正确性和方案的可行性。测量船的大量实验证明，该系统设计满足了船姿测量要求，基本达到了预期目标。
China’s spacecraft TT&C ship adopts the single station positioning systemwhich provides the platform for measuring equipment. Its measurements areconducted under the circumstances of dynamic conditions and the measuringequipment’s position and attitude are changing constantly, so, Synchronousmeasurement for both position and attitude of TT&C ship must be proceeded whenthe measuring equipment is tracking the target. Currently, our spacecraft TT&C isequipped with multiple navigation devices, such as Inertial Navigation Systems(INS), Global Position System (GPS), Celestial Navigation System (CNS) andDoppler Velocity Log (DVL) and so on. Each of these devices has their ownadvantages and disadvantages, but there is no any navigation device that couldcompletely meet with the mission requirements of the spacecraft TT&C ship.
Star sensor is a high-precision attitude measurement device, and it is able togive high-precision attitude information with respect to inertial space and not driftwith time. Taking the fixed star as frame of reference, Star sensor is a high-precisionspatial attitude measurement device working with starry sky as objects, whichpossesses the ability of autonomous navigation, and makes calculations throughdetecting the stars at different locations on the celestial sphere.
In this paper, the research object is ship attitude measurement system based onstar sensor, and the main purposes of this research are: Firstly, establish a mathematics model for ship attitude measurement based on star sensor, in order toprovide theoretical guidance for systematical realization; Secondly, design a shipattitude measurement system based on dual-star-sensor and testify relativealgorithms and designs.
The paper also puts forward the static ship attitude computing method, thecorresponding coordinate transformation model and astronomical refractioncorrection model and compares various algorithms such as TRIAD algorithm,FOMA algorithm, QUEST algorithm base on Gaussian Elimination and the QUESTalgorithm based on the Newton-Raphson Iteration and so on.
To improve ship attitude measurement precision based on star sensor and solveproblems of low measurement precision of roll angle by a single star sensor andinability to calculate attitude with no more than three stars in view field of a singlestar sensor, this paper comes up with a attitude measurement algorithm on acombination of double star sensor on the basis of “view-field spliced” and proceedsto deduce its model of such algorithm concerned.
In order to improve the precision of measured data of measuring equipments inthe Spacecraft TT&C ship, filtering processing for ship attitude data based on starsensor is essential. According to the nonlinear and non-Gaussian characteristics ofship attitude data, the paper proposes a ship attitude data processing algorithm baseon a wavelet-domain hidden Markov model, and achieves a higher accuracy.
To testify the correctness and accuracy of star point extraction algorithm in real-time image processing system, in term of the low signal to noise ratio, groundparasitic light or light cloud of the real star map, this paper raises a star map adaptiveclutter suppression method adopting the Kernel Rayleigh Quotient QuadraticCorrelation Filter to conduct the post-handling for the real star map and achievesexcellent results.
To improve the measurement precision of star sensor is namely to improve thesingle star measurement precision. The calibration accuracy of parameters like mainpoint, focal length and the imaging distortion of optical system directly affect the angle measuring accuracy of star sensor. As to the requirements of single starmeasurement precision of star sensor in this project, new precision calibrationmethod is adopted to precisely work out focal length and main point of star sensor;as to the optical image distortion, a partition processing method is employed topromote the optical distortion correction match to the quadratic fitting in order toobtain a higher level of precision.
This paper makes a systematical design based on the previous work, builds ahardware platform and completes designs and programming of related software.After system associated debugging, this paper completes the parameter calibrationsof star sensor and installation matrix calibration of star sensor in dockyard, andconducts stellar experiments, and makes analysis on the experimental data, thusverifying the validity of the measurement method and feasibility of the plan in thispaper. A large quantity of measurment experiments of TT&C ship proves that thissystem meets the ship attitude measurement requirements and basically achieves theexpected goal.
引文
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