CN103808299B - sun sensor - Google Patents

Abstract

The present invention proposes a sun sensor, comprising: a light introducer, the light introducer has multiple sets of field of view positioning holes and multiple sets of attitude updating holes, and the total field of view of the sun sensor is divided into multiple groups by using multiple sets of field of view positioning holes. A sub-field of view, using multiple sets of attitude update holes to adjust the update rate amplification factor of the sun sensor; the image detector, the image detector is located under the light introducer and is separated from the light introducer by a predetermined distance; the communication module, the communication module is used to realize The communication between the sun sensor and the upper computer; the controller, the controller is used to control the communication of the communication module and the execution of the image detector. The sun sensor according to the embodiment of the present invention can provide arc-second-level incident angle measurement accuracy under the condition of large field of view, and the data update rate can reach more than 1kHz, so that the digital sun sensor has higher performance.

Description

sun sensor

technical field

The invention relates to the technical field of attitude sensors, in particular to a sun sensor.

Background technique

The sun sensor is mainly used for attitude measurement, attitude determination and attitude control of the spacecraft, and is used to measure the incident angle of the sun's rays relative to the sun sensor. The digital sun sensor is a sensor that calculates the angle of sunlight by calculating the deviation of the position of the sun's rays relative to the center on the image detector. Its working principle is shown in Figure 1. When using an area array image detector, when the sun When light is incident from different angles, the positions of the sun spots formed are different, so that the two-axis sun incidence angles can be calculated.

In recent years, with the development of remote sensing satellites and inter-satellite laser communication technology, higher and higher requirements have been put forward for the accuracy of satellite attitude measurement. In order to ensure the realization of application goals, high-precision attitude must be achieved on a bandwidth up to 1kHz measurement, which cannot be realized by the star sensor of the current high-precision attitude determination device. Due to the short exposure times required for solar sensors and their high dynamic performance compared to star sensors, there is great potential for development in this field.

But at the same time, the current digital sun sensor can only achieve a maximum accuracy of 0.01°, and the update rate is only a few hundred hertz, which is far from the development goals of high-precision attitude determination and kilohertz update rate. Moreover, there is a contradiction between large field of view and high precision, which needs to be resolved urgently.

Contents of the invention

The present invention aims to solve at least one of the above-mentioned technical problems.

To this end, the object of the present invention is to propose a solar sensor. The sun sensor has the advantages of arc-second precision, large field of view and kilohertz data update rate.

In order to achieve the above object, an embodiment of the present invention provides a sun sensor, including: a light introducer, the light introducer has multiple sets of field of view positioning holes and multiple sets of attitude update holes, using the multiple sets of visual field The positioning hole divides the total field of view of the sun sensor into a plurality of sub-fields, and uses the multiple groups of attitude update holes to adjust the update rate amplification factor of the sun sensor; the image detector, the image detector is located at Below the light introducer and at a predetermined distance from the light introducer; a communication module, the communication module is used to realize the communication between the sun sensor and the upper computer; and a controller, the controller is respectively connected with the The image detector is connected to the communication module, and is used to control the communication of the communication module and the execution of the image detector.

According to the sun sensor of the present invention, using the ERS mode of the CMOS image detector and the detector multiplexing technology, combined with the light introducer including two patterns of the field of view positioning hole and the attitude update hole, the 1.1" sun sensor is realized. Angle accuracy and 1kHz data update rate, and the two-axis field of view can reach 105°, which greatly improves the data refresh rate of the digital sun sensor and realizes high-precision sun angle measurement within a large field of view. The digital sun sensor of the invention can be widely used in high-precision attitude measurement, and can meet the application occasions of high bandwidth and high dynamic performance.

In addition, the solar sensor according to the above-mentioned embodiments of the present invention can also have the following additional technical features:

In some examples, it further includes: a protective case, wherein the light introducer, the image detector, the communication module and the controller are located in the protective case.

In some examples, each set of field-of-view positioning holes includes first to third field-of-view positioning holes arranged along the left-right direction of the light introducer.

In some examples, the distance between the first field of view positioning hole and the second field of view positioning hole, and the distance between the second field of view positioning hole and the third field of view positioning hole in different groups of field of view positioning holes wait.

In some examples, each group of attitude update holes includes a plurality of attitude update holes arranged in a straight line and the plurality of attitude update holes form a predetermined angle with the left-right direction of the light introducer.

In some examples, both the field of view positioning hole and the attitude update hole are square holes.

In some examples, the two-axis sun angle at the exposure moment provided by the sun sensor is obtained by the following formula, the formula is:

$\mathrm{<span\; class="notranslate">\; \&alpha;</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; arctan</span>}<span\; class="notranslate">\; (</span>\frac{{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; t</span>}}}{\mathrm{<span\; class="notranslate">\; h</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; ,</span>\mathrm{<span\; class="notranslate">\; \&beta;</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; arctan</span>}<span\; class="notranslate">\; (</span>\frac{{\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; t</span>}}}{\mathrm{<span\; class="notranslate">\; h</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; .</span>$

In some examples, the image detector operates in electronic rolling exposure mode.

In some examples, the update rate of the solar sensor is obtained by the following formula: f _ERS =m·f _F-ERS , where f _F-ERS is the frame rate of the image detector, and m is the Update rate magnification factor for the sun sensor.

In some examples, the predetermined distance is 17.2 millimeters.

Additional aspects and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.

Description of drawings

The above and/or additional aspects and advantages of the present invention will become apparent and comprehensible from the description of the embodiments in conjunction with the following drawings, wherein:

Fig. 1 is a schematic diagram of the principle of a solar sensor according to an embodiment of the present invention;

Fig. 2 is the design drawing of the light introducer of the solar sensor according to one embodiment of the present invention;

3 is a schematic diagram of the size of the positioning hole and the attitude update hole of the light introducer of the sun sensor according to an embodiment of the present invention;

Fig. 4 is the positioning hole distribution table of the light introducer of the sun sensor according to one embodiment of the present invention;

Fig. 5 is the principle diagram of multiplexing of the image detector of the sun sensor according to one embodiment of the present invention;

Fig. 6 is the realization schematic diagram of the high update rate of the solar sensor based on the CMOS image detector ERS mode of the solar sensor according to an embodiment of the present invention; and

The left side of Fig. 7 is a schematic diagram of pinhole imaging for partial attitude update of the sun sensor according to an embodiment of the present invention, and the right side is a schematic diagram of image point reading sequence.

detailed description

Embodiments of the present invention are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals designate the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary only for explaining the present invention and should not be construed as limiting the present invention.

In describing the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", " The orientations or positional relationships indicated by "vertical", "horizontal", "top", "bottom", "inner" and "outer" are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and Simplified descriptions, rather than indicating or implying that the device or element referred to must have a particular orientation, be constructed and operate in a particular orientation, and thus should not be construed as limiting the invention. In addition, the terms "first" and "second" are used for descriptive purposes only, and should not be understood as indicating or implying relative importance.

In the description of the present invention, it should be noted that unless otherwise specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection. Connection, or integral connection; it can be mechanical connection or electrical connection; it can be direct connection or indirect connection through an intermediary, and it can be the internal communication of two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention according to specific situations.

These and other aspects of embodiments of the invention will become apparent with reference to the following description and drawings. In these descriptions and drawings, some specific implementations of the embodiments of the present invention are specifically disclosed to represent some ways of implementing the principles of the embodiments of the present invention, but it should be understood that the scope of the embodiments of the present invention is not limited by This restriction. On the contrary, the embodiments of the present invention include all changes, modifications and equivalents coming within the spirit and scope of the appended claims.

A solar sensor according to an embodiment of the present invention will be described below with reference to the accompanying drawings.

Figure 1 is a schematic diagram of a solar sensor according to one embodiment of the present invention. As shown in Figure 1, where XOY represents the plane where the light introducer is located, the coordinate origin coincides with the center of the light introducer, xoy represents the plane where the area array image detector is located, and the coordinate origin coincides with the center of the image detector, the above two planes are parallel, Z The axis represents the vertical direction of the two planes, S represents the spot image point on the image detector where the sun’s rays pass through the small hole on the light introducer, h represents the distance between the light introducer and the image detector, θ refers to the incident sun angle, and α is the incident light The angle between the projection component of OS on the XOZ plane and the OZ axis, β is the angle between the projection component of the incident ray OS on the YOZ plane and the OZ axis, x _t is the distance from the center of the imaging point S on the image sensor to the coordinates in the ox direction The distance from the origin o, _yt is the distance from the center of the imaging point S of the incident light on the image sensor to the coordinate origin o in the oy direction, and l is the distance from the center of the imaging point S to the coordinate origin.

As shown in Figure 1, in conjunction with Figure 2, the solar sensor according to one embodiment of the present invention includes: a light introducer 110, an image detector 120, a communication module (not shown in the figure) and a controller (not shown in the figure out).

Among them, the light introducer 110 has multiple groups of field of view positioning holes 111 and multiple groups of attitude updating holes 112, and the total field of view of the sun sensor is divided into multiple sub-fields of view by using multiple groups of field of view positioning holes 111, and multiple groups of attitude The update aperture 112 adjusts the update rate amplification factor of the solar sensor. The image detector 120 is located below the light introducer 110 and is separated from the light introducer 110 by a predetermined distance. The communication module is used to realize the communication between the sun sensor and the upper computer. The controller is respectively connected with the image detector 120 and the communication module, and is used to control the communication of the communication module and the execution of the image detector 120 . In one embodiment of the present invention, the field of view positioning hole and the attitude update hole are both but not limited to square holes.

Specifically, the predetermined distance h is but not limited to 17.2 millimeters. The light introducer 110 is, for example, coated with a layer of metal chrome on the glass, and the required field of view positioning hole 111 and attitude update hole 112 are photoetched on the metal chrome. The image detector 120 is, for example, an area array APSCMOS image detector 120 . The area array APSCMOS image detector 120 is located below the light introducer 110, and the distance between its plane and the plane of the light introducer 110 is h, thereby achieving an angular resolution better than 1 arc second. The image detector works in electronic rolling shutter exposure mode, that is, the area array APSCMOS image detector 120 works in the electronic rolling shutter mode (ERS). The controller provides driving signals for the image detector 120, and the communication module realizes the communication between the digital sun sensor and the host computer, wherein the host computer is, for example, a remote computer.

In addition, in order to avoid damage to the sun sensor, a further embodiment of the present invention may include: a protective case (not shown in the figure), wherein the light introducer 110, the image detector 120, the communication module and the controller are located in the protective case Inside. Specifically, the protective case is, for example, a mechanical casing, which includes a light introducer cover, a base body, and a bottom cover, thereby providing an internal structure (such as the light introducer 110, the image detector 120, the communication module and the controller) Provides size restraint and protection. Make the sun sensor more safe and reliable.

As shown in Figure 2, each group of field of view positioning holes 111 includes first to third field of view positioning holes arranged along the left and right direction of the light introducer (that is, each group of field of view positioning holes 111 includes but not limited to 3 field of view positioning holes hole). Further, the distance between the first field of view positioning hole and the second field of view positioning hole, and the distance between the second field of view positioning hole and the third field of view positioning hole in different groups of field of view positioning holes are not equal .

That is to say, the field of view positioning hole is a group of three, and the distance between the three holes is (Lx, Ly) respectively, and each group (Lx, Ly) is different, which is used to distinguish different groups. Field of view positioning hole. The field of view positioning pinhole and the area array APSCMOS image detector 120 are combined to realize the multiplexing technology of the image detector 120, and the field of view of the entire sun sensor is divided into 7×9 sub-fields, and each sub-field Including at least one set of above-mentioned field of view positioning holes, the field of view of both axes can reach 105°

Referring again to FIG. 2 , each group of attitude update holes 112 includes a plurality of attitude update holes arranged in a straight line, and the plurality of attitude update holes form a predetermined angle with the left-right direction of the light introducer 110 . Such as 15 degrees. Using the attitude update hole above, the two-axis sun angle at the exposure moment provided by the sun sensor can be obtained by the following formula, where the formula is:

$\mathrm{<span\; class="notranslate">\; \&alpha;</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; arctan</span>}<span\; class="notranslate">\; (</span>\frac{{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; t</span>}}}{\mathrm{<span\; class="notranslate">\; h</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; ,</span>\mathrm{<span\; class="notranslate">\; \&beta;</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; arctan</span>}<span\; class="notranslate">\; (</span>\frac{{\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; t</span>}}}{\mathrm{<span\; class="notranslate">\; h</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span>$

Specifically, the attitude update holes 112 are periodically arranged in the above manner, and each attitude update hole can provide the two-axis sun angle at the exposure time, and the calculation formula is as formula 1.

As shown in Figure 1, in the above formula 1, α is the angle between the projected component of the incident ray OS on the XOZ plane and the OZ axis, β is the angle between the projected component of the incident ray OS on the YOZ plane and the OZ axis, and x _t is the incident The distance between the imaging point S of the light on the image sensor and the coordinate origin o in the OX direction, and _yt is the distance between the imaging point S of the incident light on the image sensor and the coordinate origin o in the OY direction.

In one embodiment of the present invention, the area array APSCMOS image detector includes 1024 rows×1280 columns of pixels, and the working mode is the electronic rolling shutter exposure mode. In this mode, the exposure start moment of the same row of pixels on the image detector 120 The same, but the exposure start time varies from row to row, and there is an exposure delay between the lower row of pixels and the upper row of pixels.

The update rate of the sun sensor can be obtained by the following formula:

_fERS = m f _F-ERS (2)

Wherein, f _F-ERS is the frame rate of the image detector, and the m is the update rate amplification factor of the sun sensor.

Specifically, the number of attitude update holes in one frame of image is equal to the update rate magnification factor m of the sun sensor, combined with the image detector 120 in the electronic rolling shutter exposure mode, the calculation formula of the update rate f _ERS of the sun sensor is as follows: 2. For example: the frame rate of the image sensor 120 is 16 fps, the update rate amplification factor m is 64, and the attitude data update rate of the sun sensor is 1.0 kHz.

【Example】

The main components of the sun sensor include light introducer, area array APSCMOS image detector, peripheral electronic system (ie control module and communication module) and mechanical housing. Its working principle is shown in Figure 1. The sunlight passes through the small hole on the light introducer and is imaged on the CMOS image detector below to obtain the sun spot. By calculating the moving distance of the center of the sun spot, the incident angle of the sun can be obtained. θ:

$\mathrm{<span\; class="notranslate">\; \&theta;</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; arctan</span>}<span\; class="notranslate">\; (</span>\frac{\mathrm{<span\; class="notranslate">\; l</span>}}{\mathrm{<span\; class="notranslate">\; h</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; .</span>$

Dividing the incident angle into components in two directions, the two-axis incident angle can be calculated according to the moving distance in the two directions:

$\mathrm{<span\; class="notranslate">\; \&alpha;</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; arctan</span>}<span\; class="notranslate">\; (</span>\frac{{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; t</span>}}}{\mathrm{<span\; class="notranslate">\; h</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; .</span>$

$\mathrm{<span\; class="notranslate">\; \&beta;</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; arctan</span>}<span\; class="notranslate">\; (</span>\frac{{\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; t</span>}}}{\mathrm{<span\; class="notranslate">\; h</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; .</span>$

The light introducer is coated with a layer of metal chrome on the glass, and then the required pattern is photo-etched on the metal chrome. The pattern includes two patterns, as shown in Figure 2, one is a small hole for positioning the field of view, and the other is Update pinholes for poses.

The field of view positioning hole and the attitude update hole are both square holes with the same side length, both of which are 116um. The size relationship between the holes is shown in Figure 3. Lx is the distance between the left hole and the center hole in a group of field positioning holes, and Ly is the distance between the right hole and the center hole in a group of field positioning holes. Dx is the horizontal distance between two adjacent attitude update holes, and Dy is the vertical distance between two adjacent attitude update holes. In the field of view positioning hole pattern, every three holes are a group, and each group (Lx, Ly) is different to distinguish different groups of positioning holes.

There are 169 groups of small holes for positioning the field of view on the light introducer, which are divided into 13 rows and 13 columns. The determination method is as follows:

1. After detecting the center coordinates of the three positioning holes in the field of view, calculate (Lx, Ly) according to the coordinate values of the three holes in the horizontal direction.

2. Pixelate the obtained (Lx, Ly), that is, express the distance between the centers of the small holes by the number of pixels. The pixel size of the sensor used in this embodiment is 5.7um, and it can be obtained:

$\mathrm{<span\; class="notranslate">\; L</span>}\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; =</span>\frac{\mathrm{<span\; class="notranslate">\; Lx</span>}}{\mathrm{<span\; class="notranslate">\; 5.7</span>}}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 80</span>}<span\; class="notranslate">\; ;</span>$

$\mathrm{<span\; class="notranslate">\; L</span>}\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; =</span>\frac{\mathrm{<span\; class="notranslate">\; Ly</span>}}{\mathrm{<span\; class="notranslate">\; 5.7</span>}}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 80</span>}<span\; class="notranslate">\; .</span>$

3. For the pixelized characteristic coordinate values (L1, L2), according to the field of view positioning pinhole distribution table shown in Figure 4, in which, corresponding to the 169 groups of field of view positioning pinholes in the light introducer pattern, according to the calculated value The position of the positioning holes of this group of field of view can be found by checking the values in the distribution table. Since each set of characteristic coordinate values in the table corresponds to a group of positioning holes at a specific position on the light introducer, according to the one-to-one correspondence relationship, it can be obtained The detected detailed position information of the group of positioning pinholes refers to the coordinate positions of the three positioning points of the group of positioning pinholes when the incident light from the sun is perpendicular to the sensor plane.

4. After determining the detailed position information of a group of detected positioning pinholes, according to the measured position coordinate information, the position movement x _t and y _t of the light spot generated by each pinhole can be calculated. According to the above The current solar incidence angle can be obtained by calculating the two-axis solar incidence angle calculation formula.

The area array APSCMOS image detector is located below the light introducer, and the distance between its plane and the plane of the light introducer is h. In order to achieve an angular resolution better than 1 arc second, the value of h in this embodiment is 17.2 mm.

The above positioning pinholes are combined with the CMOS image detector to realize the image detector multiplexing technology, as shown in Figure 5, when the sun rays are incident on the image detector at different angles, the image detector will get The sun spot is the projection of the pattern at different positions of the light introducer, so different positioning pinhole spots will be obtained, which is manifested in the fact that the distance between the three positioning pinholes is different, and the combination of different sub-fields becomes the entire field of view of the digital sun sensor. field. In this embodiment, the field of view of the entire sun sensor is divided into 7×9 sub-fields, and each sub-field includes at least one set of positioning holes, and the field of view of the two axes can reach 105°.

After obtaining the position information of the positioning pinholes according to the determination steps of the above-mentioned field of view positioning pinholes, the current sub-field of view can be determined, and the position information of all attitude update pinholes in the field of view can also be determined according to the geometric relationship of the pattern on the light introducer. be confirmed together.

After the sun sensor determines the partial field of view, the sun incident angle is calculated from the position of the sun spot formed by the attitude update aperture.

The attitude update holes mentioned above are square holes and are arranged periodically. Each attitude update hole can provide the two-axis sun angle at its exposure time. The periodic structural parameters Dx is 456um and Dy is 85.5um.

The area array APSCMOS image detector includes 1024 rows × 1280 columns of pixels, and the working mode is electronic rolling shutter exposure mode. In this mode, the exposure start time of the same row of pixels on the image detector is the same, but the exposure between rows The starting time is different, and there is an exposure delay between the lower row of pixels and the upper row of pixels, as shown in Figure 6, t _INT is the integration time, t _RD is the readout time of the row of pixels, and t _ERS is the image detector The frame period of , t _i is the exposure start moment of the i-th sun spot, and the exposure delay time Δt between rows is determined by the following formula:

Δt=t _i+1 -t _i . Among them, t _i is the exposure starting moment of the i-th sun spot. The exposure time and readout time of the above-mentioned sun spots are consistent.

According to the above exposure method, the initial exposure times of the sun spots located in different rows are different, so each sun spot contains the information of the sun incident angle at different times. The number is defined as the update rate magnification factor m of the solar sensor, then in the electronic rolling shutter exposure mode, the exposed pixels are read out sequentially in row units in one frame of image, then the result shown in Figure 7 will be obtained Update the spot formed by the small hole according to the attitude shown, each of which contains the sun incident angle information at different times, and calculate the center coordinates of each spot according to the order shown in Figure 7, and then in one frame of image The attitude information of m different sun incidence angles is obtained in a period of . Then the calculation formula of the update rate f _ERS of the digital sun sensor is:

f _ERS = m·f _F-ERS .

The frame rate of the image sensor is 16fps, the update rate amplification factor m is 64, and the attitude data update rate of the sun sensor is 1.0kHz.

The peripheral electronics system of the sun sensor includes a control module and a communication module. The control module provides a driving signal for the image detector. In this embodiment, the control module is realized by a C51 series single-chip microcomputer; the communication module realizes the communication between the digital sun sensor and the upper computer , in this embodiment, CameraLink is used for image data transmission.

The sun sensor of the present invention utilizes the ERS mode of the CMOS image detector and the detector multiplexing technology, and combines the light introducer including two patterns of the field of view positioning hole and the attitude updating hole to achieve a sun angle accuracy of 1.1″ And a data update rate of 1kHz, and the two-axis field of view can reach 105 °, which greatly improves the data refresh rate of the digital sun sensor, and realizes high-precision sun angle measurement in the range of a large field of view. The present invention The digital sun sensor can be widely used in high-precision attitude measurement, and can meet the applications of high bandwidth and high dynamic performance.

The sun sensor of the embodiment of the present invention has the following advantages:

1. Improve the performance of the sun sensor to meet the high-precision attitude measurement under high bandwidth.

2. Solve the contradiction between the large field of view and high precision of the sun sensor, and achieve arc-second level accuracy within the large field of view.

3. The sun sensor has an attitude determination accuracy of up to 1.1″, a two-axis field of view of up to 105°, and an update rate of up to 1kHz.

4. The accuracy and update rate of the sun sensor have been greatly improved.

In the description of this specification, descriptions referring to the terms "one embodiment", "some embodiments", "example", "specific examples", or "some examples" mean that specific features described in connection with the embodiment or example , structure, material or characteristic is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Although the embodiments of the present invention have been shown and described, those skilled in the art can understand that various changes, modifications, substitutions and modifications can be made to these embodiments without departing from the principle and spirit of the present invention. The scope of the invention is defined by the claims and their equivalents.

Claims (10)

1. a sun sensor, described sun sensor comprises sunlight lead and image detector, described sunlight lead has many group visual field pilot holes and many group posture renewal holes, utilize described many group visual fields pilot hole that total visual field of described sun sensor is divided into multiple points of visual fields, described many group posture renewal holes are utilized to adjust the turnover rate amplification factor of described sun sensor, described image detector to be positioned at below described sunlight lead and with described sunlight lead spaced a predetermined distance, it is characterized in that, also comprise:

Communication module, described communication module is for realizing the communication of described sun sensor and host computer; And

Controller, described controller is connected with described communication module with described image detector respectively, for controlling the communication of described communication module and controlling the execution of described image detector.

2. sun sensor according to claim 1, is characterized in that, also comprises:

Containment vessel, wherein, described sunlight lead, described image detector, described communication module and described controller are positioned at described containment vessel.

3. sun sensor according to claim 1, is characterized in that, often organizes described visual field pilot hole and comprises the first to the 3rd visual field pilot hole that the left and right directions along described sunlight lead arranges.

4. sun sensor according to claim 3, is characterized in that, the first visual field pilot hole in the visual field pilot hole of different group and the distance between the second visual field pilot hole and the distance between the second visual field pilot hole and the 3rd visual field pilot hole are not etc.

5. sun sensor according to claim 1, is characterized in that, often organizes posture renewal hole and comprises multiple posture renewal hole of being arranged as straight line and described multiple posture renewal hole becomes predetermined angular with the left and right directions of described sunlight lead.

6. the sun sensor according to any one of claim 1-5, is characterized in that, described visual field pilot hole and described posture renewal hole are square opening.

7. sun sensor according to claim 1, is characterized in that, obtain by following formula the diaxon solar angle that described sun sensor provides the time of exposure, described formula is:

$\mathrm{\&alpha;}=arctan\left(\frac{x_t}{h}\right),\mathrm{\&beta;}=arctan\left(\frac{y_t}{h}\right).$

8. sun sensor according to claim 1, is characterized in that, described image detector is operated in electronics roller shutter exposure mode.

9. sun sensor according to claim 1, is characterized in that, the turnover rate of described sun sensor is obtained by following formula:

f _ERS＝m·f _F-ERS，

Wherein, f _f-ERSfor the frame rate of described image detector, described m is the turnover rate amplification factor of described sun sensor.

10. sun sensor according to claim 1, is characterized in that, described preset distance is 17.2 millimeters.