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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。
In order to accurately measure the relative mounting attitude of the camera and the star sensor on the GF-2 satellite, a high-precision automated measurement system was established. A high precision measurement algorithm based on multi-sensor data fusion, an automatic measurement model based on theory installation and a cubic mirror normal search algorithm based on image recognition are studied. The measurement system mainly consists of a two-dimensional gantry guide rail, a precision turntable and a self-collimation theodolite with CCD imaging aided collimation. By calculating the rotation angle of the precision turntable, the pitch angle and yaw angle of the collimation theodolite, Installation attitude angle. The system must be calibrated before making automatic measurement planning, and then the device is automatically driven by the motor to reach the predetermined position and angle for measurement. If the satellite equipment installation deviation causes the measured object beyond the self-collimation theodolite measuring range, you can start the CCD camera to search the local area of the object to identify and guide the self-collimation theodolite to achieve accurate collimation measurements. The experimental verification of the measurement system shows that the attitude measurement accuracy of this system can reach 5 “with the maximum deviation from the standard value of 4.1”. The measurement system has been used for the relative attitude of the camera and the star sensor of GF-2 satellite In the measurement, the maximum standard deviation of repetition is 3.5 ", which meets the requirements of GF-2 on the measurement accuracy of on-board equipment installation attitude.