CN203857967U

CN203857967U - Initial posture field calibration system of combined guidance system

Info

Publication number: CN203857967U
Application number: CN201420243230.6U
Authority: CN
Inventors: 崔桂利; 冯伟利; 王春喜; 赵天承; 王锴磊; 魏小林; 郭雨蓉; 姜云翔
Original assignee: China Academy of Launch Vehicle Technology CALT; Beijing Aerospace Institute for Metrology and Measurement Technology
Current assignee: China Academy of Launch Vehicle Technology CALT; Beijing Aerospace Institute for Metrology and Measurement Technology
Priority date: 2014-05-13
Filing date: 2014-05-13
Publication date: 2014-10-01
Anticipated expiration: 2024-05-13

Abstract

The utility model relates to the technical field of initial attitude angle difference measurement and calibration, and specifically discloses an initial attitude on-site calibration system and method for a compound guidance system. The collimation reticle A of the first optical path system in this system is irradiated on the strapdown inertial reference prism by the first optical path system, and then reflected to the linear array CCD device A; the collimation reticle in the second optical path system B ₁ and collimation reticle B ₂ pass through the second optical path system and irradiate on the strapdown inertial group reference prism, and then reflect to the linear array CCD device B ₁ on the linear array CCD device B ₂ respectively; the collimation of the third optical path system The reticle C is irradiated on the star sensor reference prism through the third optical path system, and then reflected to the linear array CCD device C; the collimation reticle D ₁ and the collimation reticle D ₂ of the fourth optical path system pass through the first After the four optical path system, they are respectively reflected to the linear array CCD device D ₁ and the linear array CCD device D ₂ . The photoelectric angle measurement in the system itself has high measurement accuracy, and four self-collimating optical paths are integrated into one body, with simple structure and convenient operation.

Description

Combined guidance system initial attitude field calibration system

Technical field

The invention belongs to initial attitude differential seat angle measurement and calibration technical field, be specifically related to a kind of combined guidance system initial attitude field calibration system.

Background technology

The new period China in the exploration of space industry round launching a man-made satellite., manned space flight and this three large systematic engineering of business of survey of deep space launch, New Launch adapts to continuous many days launch windows by possessing, slides for a long time, pin-point accuracy is entered the orbit and the ability of high reliability flight, wherein the precision to rocket navigational system, reliability have proposed more strict requirement for these, single navigate mode has been difficult to meet while growing boat, the navigation request of pin-point accuracy, will progressively adopt strapdown to be used to group/star sensor combined guidance mode.

Strapdown is used to group/star sensor complex navigation system, taking strapdown inertial navitation system (SINS) as main, make full use of the high and error of the attitude output accuracy of star sensor not along with the advantage of accumulated time, the mathematical platform attitude error of in real time strapdown being used to group is revised, and effectively improves navigational system precision.

Be used in group/star sensor combined guidance system at strapdown, it is particularly important that strapdown is used to initial attitude relative position between group and star sensor, must before taking off, rocket go out attitude differential seat angle between the two by accurate calibration, obtain the initial attitude benchmark of starlight sensor, for subsequent navigation is controlled and laid the foundation with guidance.

The demarcation of domestic inertial guidance industry to initial attitude between each guidance unit, initial stage is the backing pin location, location relying on instrument room installing plate, position of related features between the backing pin line of location only depends on machining accuracy to ensure, then be close to location backing pin being separately respectively used to group and star sensor, think that the angular displacement of two guidance unit meets the margin tolerance of layout design, also without concrete actual value.Developed into afterwards and utilized many transit composition measuring systems, every theodolite telescope reflecting surface collimation corresponding to guidance unit outside reference rib body respectively.Wherein, the differential seat angle of two benchmark rib bodies in pitching and rolling direction measured, first measure two benchmark rib body reflective surface normals respectively with the angle of the earth surface level, and then calculate the two difference.In this measuring process, the vertical pivot leveling error that comprises two transits and artificially collimating line error, these two errors are directly brought 1:1 in measurement data, have a strong impact on the accuracy of measurement result.In the time measuring the differential seat angle of two benchmark rib bodies on yaw direction, also by self error of other two transits with bring in measurement result taking aim at error.Although the latter's the scaling method defects such as relatively the former is comparatively reasonable, and the configuration quantity of measuring equipment is more, and instrument sets up complexity, and process of measurement is loaded down with trivial details, measuring error Xiang Duo, cause the accuracy of measurement result to reduce.While using in addition transit to measure, require necessary intervisibility between transit and tested benchmark rib body, but due to the limitation of measurement field environment, can not meet the requirement of measurement environment, cause the measurement that can not complete 3 d pose, the attitude that can only measure one dimension or bidimensional is poor.

Summary of the invention

The object of the present invention is to provide a kind of combined guidance system initial attitude field calibration system, quick, convenient, complete strapdown in guiding systems exactly and be used to the poor sync site calibration of initial attitude three-dimensional perspective between group and star sensor.

Technical scheme of the present invention is as follows: a kind of combined guidance system initial attitude field calibration system, this system comprises the first light path system, the second light path system, the 3rd light path system and the 4th light path system, wherein, the collimation graticule A of the first light path system is radiated at strapdown through the first light path system and is used to organize after benchmark rib body, reflexes on the line array CCD device A in the first light path system; Collimation graticule B in the second light path system ₁with collimation graticule B ₂be radiated at strapdown through the second light path system and be used to organize after benchmark rib body, reflex to respectively the line array CCD device B in the second light path system ₁line array CCD device B ₂on; The collimation graticule C of the 3rd light path system, after the 3rd light path system is radiated at star sensor benchmark rib body, reflexes on the line array CCD device C of the 3rd light path system; The collimation graticule D of the 4th light path system ₁and collimation graticule D ₂after the 4th light path system, reflex to respectively the line array CCD device D in the 4th light path system ₁with line array CCD device D ₂on.

The first described light path system comprises object lens A, correcting lens A, pentagonal prism A, Amici prism A ₁and collimation graticule A, wherein, the light path I that collimation graticule A produces is through Amici prism A ₁with Amici prism A ₂after entering successively correcting lens A and object lens A after reflection, form parallel beam, this parallel beam incident strapdown after pentagonal prism A turns to 90 ° is used to organize benchmark rib body reflecting surface, the light path I of being used to organize after the reflection of benchmark rib body reflecting surface by strapdown is passed through after pentagonal prism A, object lens A and correcting lens A, through Amici prism A successively ₂after reflection, see through Amici prism A ₁be imaged on line array CCD device A upper, in the time that strapdown is used to organize benchmark rib body reflecting surface perpendicular to primary optical axis, reflection ray just in time converges in the center of line array CCD device A, i.e. initial zero-bit position.

The second described light path system comprises object lens B, Amici prism B ₁, Amici prism B ₂, Amici prism B ₃, collimation graticule B ₁and collimation graticule B ₂, wherein, collimation graticule B ₁with collimation graticule B ₂pass through respectively Amici prism B ₁, Amici prism B ₂reflection, and Amici prism B ₃, Amici prism B ₂after transmission, form light path II, light path II forms another reflecting surface that vertical incidence strapdown after directional light is used to organize benchmark rib body successively after correcting lens B, object lens B, is used to organize light path II after the reflection of benchmark rib body successively by incident Amici prism B after object lens B, correcting lens B through strapdown ₂, light path II is through Amici prism B ₂after reflection and transmission, be divided into two orthogonal light paths, a light path is through Amici prism B ₂after reflection, see through Amici prism B ₁be imaged on line array CCD device B ₁upper, another light path is through Amici prism B ₂after transmission by Amici prism B ₃catoptric imaging is at line array CCD device B ₂upper, be used to organize benchmark rib body reflecting surface in the time that vertical primary optical axis both direction deflects when strapdown, can calculate the deflection angle value that strapdown is used to organize benchmark rib body bidimensional.

The 3rd described light path system comprises object lens C, correcting lens C, pentagonal prism B, Amici prism A ₃and collimation graticule C, wherein, the light path III that collimation graticule C produces is through Amici prism A ₃with Amici prism A ₂after entering successively correcting lens C and object lens C after reflection, form parallel beam, this parallel beam is incident star sensor benchmark rib body reflecting surface after pentagonal prism B turns to 90 °, light path III after logical star sensor benchmark rib body reflecting surface reflection is successively by after pentagonal prism B, object lens C and correcting lens C, through Amici prism A ₂after reflection, see through Amici prism A ₃be imaged on line array CCD device C upper, when star sensor benchmark rib body reflecting surface is during perpendicular to primary optical axis, reflection ray just in time converges in the center of line array CCD device C, i.e. initial zero-bit position; In the time that star sensor benchmark rib body reflecting surface deflects, reflection ray converges and will depart from line array CCD device C center, utilizes the distance that departs from line array CCD device C center, can calculate the angle value of star sensor benchmark rib body deflection.

The 4th described light path system comprises object lens D, Amici prism D ₁, Amici prism D ₂, Amici prism D ₃, collimation graticule D ₁and collimation graticule D ₂, wherein, collimation graticule D ₁with collimation graticule D ₂pass through respectively Amici prism D ₁, Amici prism D ₂reflection, and Amici prism D ₃, Amici prism D ₂after transmission, form light path IV, light path IV forms another reflecting surface of vertical incidence star sensor benchmark rib body after directional light successively after correcting lens D, object lens D, and the light path IV after the reflection of star sensor benchmark rib body is successively by incident Amici prism D after object lens D, correcting lens D ₂, light path IV is through Amici prism D ₂after reflection and transmission, be divided into two orthogonal light paths, a light path is through Amici prism D ₂after reflection, see through Amici prism D ₁be imaged on line array CCD device D ₁upper, another light path is through Amici prism D ₂after transmission by Amici prism D ₃catoptric imaging is at line array CCD device D ₂upper, when star sensor benchmark rib body reflecting surface is in the time that vertical primary optical axis both direction deflects, can calculate the deflection angle value of star sensor benchmark rib body bidimensional.

Remarkable result of the present invention is: a kind of combined guidance system initial attitude field calibration system and method for the present invention, and the photoeletric measuring system in this system is integrated in one four autocollimation light paths, simple in structure, simple operation; The own measuring accuracy of photoelectricity angle measurement in this calibration system and method is high, meanwhile, has eliminated the difference between error and the operator that artificial aligning brings, and has ensured the pin-point accuracy of measurement result; Meanwhile, this field calibration system is erected at strapdown is used to, on the installation base plate of group and star sensor, even rock in measuring process, also can not exert an influence to measurement result, has strengthened environmental suitability.

Brief description of the drawings

Fig. 1 is combined guidance system initial attitude field calibration system architecture schematic diagram of the present invention;

In figure: 1, object lens A; 2, Amici prism A ₃; 3, correcting lens A; 4, pentagonal prism A; 5, Amici prism A ₂; 6, Amici prism A ₁; 7, line array CCD device C; 8, line array CCD device A; 9, collimation graticule C; 10, collimation graticule A; 11, object lens B; 12, correcting lens B; 13, Amici prism B ₁; 14, Amici prism B ₂; 15, Amici prism B ₃; 16, line array CCD device B ₁; 17, line array CCD device B ₂; 18, collimation graticule B ₁; 19, collimation graticule B ₂; 20, object lens C; 21, correcting lens C; 22, pentagonal prism B; 23, object lens D; 24, correcting lens D; 25, Amici prism D ₁; 26, Amici prism D ₂; 27, Amici prism D ₃; 28, line array CCD device D ₁; 29, line array CCD device D ₂; 30, collimation graticule D ₁; 31, collimation graticule D ₂; 32, star sensor benchmark rib body; 33, strapdown is used to organize benchmark rib body.

Embodiment

Below in conjunction with drawings and the specific embodiments, the present invention is described in further detail.

As shown in Figure 1, a kind of combined guidance system initial attitude field calibration system, this system comprises the first light path system, the second light path system, the 3rd light path system and the 4th light path system, wherein, the first light path system specifically comprises object lens A1, correcting lens A3, pentagonal prism A4, Amici prism A ₁6 and collimation graticule A10, wherein, the light path I that collimation graticule A10 produces is through Amici prism A ₁6 and Amici prism A ₂after entering successively correcting lens A3 and object lens A1 after 5 reflections, form parallel beam, this parallel beam incident strapdown after pentagonal prism A4 turns to 90 ° is used to organize benchmark rib body 33 reflectings surface, the light path I of being used to organize after the 33 reflecting surface reflections of benchmark rib body by strapdown is passed through after pentagonal prism A4, object lens A1 and correcting lens A3, through Amici prism A successively ₂after 5 reflections, see through Amici prism A ₁6 are imaged on line array CCD device A8 above, and in the time that strapdown is used to organize benchmark rib body 33 reflectings surface perpendicular to primary optical axis, reflection ray just in time converges in the center of line array CCD device A8, i.e. initial zero-bit position; In the time that strapdown is used to organize benchmark rib body 33 reflectings surface and is deflected, reflection ray converges and will depart from line array CCD device A8 center, utilizes the distance that departs from line array CCD device A8 center, can calculate the angle value that strapdown is used to organize 33 deflections of benchmark rib body.The second light path system comprises object lens B11, Amici prism B ₁13, Amici prism B ₂14, Amici prism B ₃15, collimation graticule B ₁18 and collimation graticule B ₂19, wherein, collimation graticule B ₁18 and collimation graticule B ₂19 pass through respectively Amici prism B ₁13, Amici prism B ₂14 reflections, and Amici prism B ₃15, Amici prism B ₂after 14 transmissions, form light path II, light path II forms another reflecting surface that vertical incidence strapdown after directional light is used to organize benchmark rib body 33 successively after correcting lens B12, object lens B11, is used to organize light path II after 33 reflections of benchmark rib body successively by incident Amici prism B after object lens B11, correcting lens B12 through strapdown ₂14, light path II is through Amici prism B ₂after 14 reflections and transmission, be divided into two orthogonal light paths, a light path is through Amici prism B ₂after 14 reflections, see through Amici prism B ₁13 are imaged on line array CCD device B ₁on 16, another light path is through Amici prism B ₂after 14 transmissions by Amici prism B ₃15 catoptric imagings are at line array CCD device B ₂on 17, be used to organize benchmark rib body 33 reflectings surface in the time that vertical primary optical axis both direction deflects when strapdown, can calculate the deflection angle value that strapdown is used to organize benchmark rib body 33 bidimensionals.The 3rd light path system comprises object lens C20, correcting lens C21, pentagonal prism B22, Amici prism A ₃2 and collimation graticule C9, wherein, the light path III that collimation graticule C9 produces is through Amici prism A ₃2 and Amici prism A ₂after entering successively correcting lens C21 and object lens C20 after 5 reflections, form parallel beam, this parallel beam is incident star sensor benchmark rib body 32 reflectings surface after pentagonal prism B22 turns to 90 °, light path III after logical star sensor benchmark rib body 32 reflecting surface reflections is successively by after pentagonal prism B22, object lens C20 and correcting lens C21, through Amici prism A ₂after 5 reflections, see through Amici prism A ₃2 to be imaged on line array CCD device C7 upper, and when star sensor benchmark rib body 32 reflectings surface are during perpendicular to primary optical axis, reflection ray just in time converges in the center of line array CCD device C7, i.e. initial zero-bit position; In the time that star sensor benchmark rib body 32 reflectings surface deflect, reflection ray converges and will depart from line array CCD device C7 center, utilizes the distance that departs from line array CCD device C7 center, can calculate the angle value of star sensor benchmark rib body 32 deflections.The 4th light path system comprises object lens D23, Amici prism D ₁25, Amici prism D ₂26, Amici prism D ₃27, collimation graticule D ₁30 and collimation graticule D ₂31, wherein, collimation graticule D ₁30 and collimation graticule D ₂31 pass through respectively Amici prism D ₁25, Amici prism D ₂26 reflections, and Amici prism D ₃27, Amici prism D ₂after 26 transmissions, form light path IV, light path IV forms another reflecting surface of vertical incidence star sensor benchmark rib body 32 after directional light successively after correcting lens D24, object lens D23, and the light path IV after 32 reflections of star sensor benchmark rib body is successively by incident Amici prism D after object lens D23, correcting lens D24 ₂26, light path IV is through Amici prism D ₂after 26 reflections and transmission, be divided into two orthogonal light paths, a light path is through Amici prism D ₂after 26 reflections, see through Amici prism D ₁25 are imaged on line array CCD device D ₁on 28, another light path is through Amici prism D ₂after 26 transmissions by Amici prism D ₃27 catoptric imagings are at line array CCD device D ₂on 29, when star sensor benchmark rib body 32 reflectings surface are in the time that vertical primary optical axis both direction deflects, can calculate the deflection angle value of star sensor benchmark rib body 32 bidimensionals.

In combined guidance system initial attitude field calibration system of the present invention, the first light path system and the second light path system form the left side of whole calibration system and measure optical axis, complete the measurement that strapdown is used to organize benchmark rib body 33 three-dimension altitude angles; The 3rd light path system and the 4th light path system form the right side of whole calibration system and measure optical axis, complete the measurement of star sensor benchmark rib body 32 three-dimension altitude angles; Strapdown is used to organize benchmark rib body 33 and is used to organize outside reference for strapdown, and star sensor benchmark rib body 32 is star sensor outside reference, and they are used to the inertial coordinate of group with strapdown respectively and the measurement optical axis alignment error of star sensor is determined.Light path II in this calibration system and light path IV are used to organize benchmark rib body 33 with strapdown respectively, star sensor benchmark rib body 32 collimates, and can measure two benchmark rib bodies in driftage and relative self zero-bit optical axis deflection angle value on pitching both direction, light path I and light path III are measured respectively two benchmark rib bodies relative self zero-bit optical axis deflection angle value in rolling direction.

Claims

1. A composite guidance system initial attitude on-site calibration system, characterized in that: the system includes a first optical path system, a second optical path system, a third optical path system and a fourth optical path system, wherein the collimation points of the first optical path system Scribe A (10) is reflected on the linear array CCD device A (8) in the first optical path system after being irradiated on the strapdown inertial group reference prism (33) through the first optical path system; Straight reticle B ₁ (18) and collimating reticle B ₂ (19) pass through the second optical path system and irradiate the strapdown inertial group reference prism (33), respectively reflect to the line array in the second optical path system On the CCD device B ₁ (16) linear array CCD device B ₂ (17); after the collimation reticle C (9) of the third optical path system is irradiated on the star sensor reference prism (32) through the third optical path system, Reflected onto the linear array CCD device C (7) of the third optical path system; after the collimation reticle D ₁ (30) and the collimation reticle D ₂ (31) of the fourth optical path system pass through the fourth optical path system, respectively reflected to the linear CCD device D ₁ (28) and the linear CCD device D ₂ (29) in the fourth optical path system.

2. A kind of composite guidance system initial attitude field calibration system according to claim 1, is characterized in that: described first optical path system comprises objective lens A (1), correction lens A (3), pentagonal prism A (4 ), dichroic prism A ₁ (6) and collimating reticle A (10), wherein the optical path I produced by collimating reticle A (10) passes through dichroic prism A ₁ (6) and dichroic prism A ₂ (5 ) into the correction lens A (3) and the objective lens A (1) after reflection to form a parallel beam, which is turned to 90° by the pentagonal prism A (4) and then incident on the reflection surface of the SIM reference prism (33), The light path I reflected by the reflective surface of the reference prism (33) of the strapdown inertial group passes through the pentagonal prism A (4), the objective lens A (1) and the correction lens A (3) in sequence, and then is reflected by the dichroic prism A ₂ (5) After passing through the beam splitting prism A ₁ (6) to be imaged on the line array CCD device A (8), when the reflection surface of the strapdown inertial reference prism (33) is perpendicular to the main optical axis, the reflected light just converges on the line array CCD device A The center position of (8), that is, the initial zero position.

3. A kind of composite guidance system initial attitude field calibration system according to claim 1, is characterized in that: described second optical path system comprises objective lens B (11), dichroic prism B ₁ (13), dichroic prism B ₂ (14), beam splitting prism B ₃ (15), collimation reticle B ₁ (18) and collimation reticle B ₂ (19), wherein, collimation reticle B ₁ (18) and collimation reticle The reticle B ₂ (19) respectively passes through the beam-splitting prism B ₁ (13) and the beam-splitting prism B ₂ (14), and after the beam-splitting prism B ₃ (15) and the beam-splitting prism B ₂ (14) transmits, it forms the optical path II, and the optical path II After passing through the correction lens B (12) and the objective lens B (11) in turn to form parallel light, it is vertically incident on the other reflection surface of the SIM reference prism (33), and after being reflected by the SIM reference prism (33) The light path II passes through the objective lens B (11) and the correction lens B (12) in turn, and then enters the beam splitting prism B ₂ (14). After being reflected and transmitted by the beam splitting prism B ₂ (14), the light path II is divided into two mutually perpendicular light paths. The light path is reflected by the beam-splitting prism B ₂ (14) and then transmitted through the beam-splitting prism B ₁ (13) to be imaged on the line array CCD device B ₁ (16), and the other light path is transmitted by the beam-splitting prism B ₂ (14) and then transmitted by the beam-splitting prism B ₃ (15) Reflection imaging on the line array CCD device B ₂ (17), when the reflection surface of the SIM reference prism (33) deflects in two directions perpendicular to the main optical axis, the SIM reference can be calculated The two-dimensional deflection angle value of the prism (33).

4. a kind of composite guidance system initial attitude field calibration system according to claim 1, is characterized in that: described 3rd optical path system comprises objective lens C (20), correction lens C (21), pentagonal prism B (22 ), dichroic prism A ₃ (2) and collimation reticle C (9), wherein, the light path III generated by collimation reticle C (9) passes through dichroic prism A ₃ (2) and dichroic prism A ₂ (5 ) into the correction lens C (21) and the objective lens C (20) in turn to form parallel light beams after reflection, the parallel light beams are turned to 90° by the pentagonal prism B (22) and then incident on the reflective surface of the star sensor reference prism (32). The light path III reflected by the reflective surface of the star sensor reference prism (32) passes through the pentaprism B (22), the objective lens C (20) and the correction lens C (21) in sequence, and then passes through the beam splitter prism A ₂ (5) after reflection. The excessive light prism A ₃ (2) is imaged on the line array CCD device C (7), when the reflective surface of the star sensor reference prism (32) is perpendicular to the main optical axis, the reflected light just converges on the line array CCD device C (7) The center position, i.e. the initial zero position; when the star sensor reference prism (32) reflective surface deflected, the reflected light convergence will deviate from the center position of the linear array CCD device C (7), and utilize the deviation from the linear array CCD device C ( 7) The distance from the center position can be used to calculate the deflection angle of the star sensor reference prism (32).

5. A kind of compound guidance system initial attitude field calibration system according to claim 1, is characterized in that: described 4th optical path system comprises objective lens D (23), dichroic prism D ₁ (25), dichroic prism D ₂ (26), beam splitting prism D ₃ (27), collimation reticle D ₁ (30) and collimation reticle D ₂ (31), wherein, collimation reticle D ₁ (30) and collimation reticle Scribing plate D ₂ (31) is respectively reflected by dichroic prism D ₁ (25) and dichroic prism D ₂ (26), and transmitted by dichroic prism D ₃ (27) and dichroic prism D ₂ (26) to form optical path IV, optical path IV After passing through the correction lens D (24) and the objective lens D (23) in turn to form parallel light, it is perpendicularly incident on the other reflection surface of the star sensor reference prism (32), and the light path after being reflected by the star sensor reference prism (32) IV passes through the objective lens D (23) and the correcting lens D (24) in turn, and then enters the beam splitting prism D ₂ (26). The light path IV is reflected and transmitted by the beam splitting prism D ₂ (26). Dichroic prism D ₂ (26) is reflected and passes through dichroic prism D ₁ (25) and is imaged on the line array CCD device D ₁ (28), and another light path is transmitted by dichroic prism D ₃ (27) after dichroic prism D ₂ (26). ) reflection imaging on the linear array CCD device D ₂ (29), when the reflection surface of the star sensor reference prism (32) deflects in two directions perpendicular to the main optical axis, the star sensor reference prism (32) can be solved ) two-dimensional deflection angle value.