本文選題：星敏感器　切入點：工況背景　出處：《中國科學院研究生院(光電技術(shù)研究所)》2016年博士論文

【摘要】：航天器姿態(tài)的高精度測量是實現(xiàn)航天器姿態(tài)高精度控制的重要前提。而星敏感器在眾多姿態(tài)敏感器中具有最高的定姿精度,具備廣闊的應(yīng)用前景。對星敏感器在復雜工況背景下星圖預處理相關(guān)技術(shù)的研究具有重要的意義。本文的研究內(nèi)容主要分為五個方面:星點的高精度質(zhì)心定位方法研究、基于積分時間調(diào)整策略的動態(tài)星點成像方法的研究、高動態(tài)條件下自主星跟蹤方法的研究、復雜工況背景下星點提取算法的研究及其實現(xiàn)。借助傅里葉分析,從理論角度分析質(zhì)心法及其改進形式的系統(tǒng)誤差,證明了系統(tǒng)誤差的像元周期性。分析像元尺寸、質(zhì)心提取窗口、星點質(zhì)心位置及加窗的形式等因素對系統(tǒng)誤差的影響。不考慮噪聲影響時,選擇尺寸更大的質(zhì)心提取窗口可以有效地減小系統(tǒng)誤差�？紤]噪聲因素對質(zhì)心定位精度的影響,理論推導了高斯白噪聲模型下和泊松噪聲模型下質(zhì)心定位誤差的理論下界-克拉美勞下界。通過數(shù)值仿真分析得出:低信噪比條件下Gamma運算有于提高質(zhì)心定位精度,減閾值操作能有效抑制背景光的干擾;而在高信噪比條件下限制質(zhì)心定位精度進一步提高的誤差來源是系統(tǒng)誤差。從星敏感器的光學系統(tǒng)模型出發(fā),推導了繞星敏感器坐標系三軸角速度影響下星點質(zhì)心在探測器平面上的運動軌跡。結(jié)合靜態(tài)星點的成像模型,建立高動態(tài)條件下星點的成像模型。動態(tài)條件下,繞星相機坐標系X軸方向的角速度驅(qū)使星點質(zhì)心沿Y軸方向滑動;繞星相機坐標系Y軸方向的角速度驅(qū)使星點質(zhì)心沿X軸方向滑動;而繞星相機Z軸的角速度驅(qū)使星點質(zhì)心沿軸某段圓弧滑動。星點的最大灰度值與三軸角速度和星相機積分時間相關(guān)。當結(jié)合三軸角速度大小調(diào)整星敏感器曝光時間使得質(zhì)心在探測器平面上的滑動距離大約為一個星像斑寬度時,星點的灰度值的峰值能量達到最大值,同時能有效地減小動態(tài)拖尾現(xiàn)象。建立星點質(zhì)心在星敏感器探測器平面上的運動模型。為滿足高動態(tài)條件下的星跟蹤需求,在差分星跟蹤方法的基礎(chǔ)上提出融入星點運動的加速度及急動度等信息完善運動模型,在高動態(tài)條件下準確地預測跟蹤窗口的位置。在不依賴于先驗姿態(tài)信息的前提下,基于擴展卡爾曼濾波提出對應(yīng)的位置預測器。通過仿真分析,實現(xiàn)了10/的大角速度下的星跟蹤。通過觀星試驗表明,本文方法至少能滿足4.0/的大角速度條件下的星跟蹤需求。分析月光視場、高動態(tài)成像等工況背景下星圖的特征,提出基于星像素灰度分布特征的星點提取方法。與全局閾值法和局部自適應(yīng)閾值法分割星像素相比,本文方法僅需一次星圖掃描即可完成星像素提取。提出采用雙邊閾值分割星像素以克服強光輻射的圖像區(qū)域背景的復雜變化,采用區(qū)域生長的策略提取超過星像素提取窗口的星像素,并依據(jù)種子點的位置正確地實現(xiàn)星像素灰度值和坐標值的乘、乘累加及求和等操作。充分利用FPGA可并行處理的特點,完成復雜工況背景下星點提取算法的硬件實現(xiàn)。在星像素輸出的同時提取星像素、合并目標、統(tǒng)計目標面積和能量強度。同時,執(zhí)行像素灰度值乘累加等操作。一幀星圖輸出完畢即可執(zhí)行質(zhì)心計算,滿足星圖預處理實時性的需求。
[Abstract]:High precision measurement of spacecraft attitude is an important prerequisite for achieving high precision spacecraft attitude control. The star sensor has the highest accuracy among the attitude sensor, has broad application prospects. It is important to study the star sensor in complex conditions under the background of star image preprocessing technologies. The main contents of the thesis five aspects: the research of high precision star centroid localization method, study the dynamic star imaging method of integral time adjustment strategy based on the study of star tracking method under high dynamic condition, complicated working condition under the background of the research and implementation of star extraction algorithm. By means of Fourier analysis, from the theoretical point of view of the centroid method and system error improved form, prove the pixel periodic system error. Analysis of pixel size, centroid extraction window, centroid position and window form The influence factors of the system error. Without considering the noise effect, select a size larger centroid extraction window can effectively reduce the system error. Considering the noise influence on the precision of centroid location, theoretical derivation of the lower bound theory error of centroid localization Gauss white noise model and Poisson noise model under the Cramer Rao lower bounds. By numerical simulation analysis shows that under the conditions of low SNR Gamma operations are to improve the centroid accuracy, reduce the interference threshold operation can effectively restrain the background light; while in high SNR conditions limit the centroid accuracy and further improve the system error. The error source is starting from the optical system of star sensor model, derivation around the star sensor coordinate system three axis angular velocity under the influence of centroid trajectory in the detector plane movement. Combined with the static model of star imaging, established under the conditions of high dynamic satellite The imaging model. The dynamic condition, the angular velocity around the star camera coordinate system X axis driven by centroid along the Y axis sliding; angular velocity around the star camera coordinate system Y axis driven by centroid along the X axis sliding around; angular velocity star camera Z axis drive along the axis of a centroid arc sliding. The maximum gray value associated with the star three axis angular velocity and star camera integration time. When combined with the three axis angular velocity to adjust the size of the star sensor exposure time makes the centroid sliding distance in the detector plane is about a star like spot width, peak energy star gray value reached the maximum value at the same time can effectively reduce the dynamic trailing phenomenon. Centroid motion model is built in the detector plane of star sensor. In order to meet the dynamic conditions of star tracking requirements, put into operation in star based on star tracking method The acceleration and jerk information improve the motion model of dynamic, accurate prediction of the tracking window position in high dynamic conditions. In the premise does not rely on a priori attitude information, based on the extended Calman filter is proposed. The corresponding position predictor through simulation and analysis, to achieve the 10/ angular velocity under the star tracking. By viewing test this paper shows that the method can meet the angular velocity of at least 4.0/ condition. The demand analysis of moon star tracking field, characteristics of star high dynamic imaging conditions such as background, extraction method of star pixel gray distribution features of the star is proposed. Compared with the global threshold and local adaptive threshold segmentation method of star pixel, this method only needs a map scan can be completed. The complex changes of star pixel extraction using bilateral threshold segmentation to overcome image pixel star light radiation background, by Region The growth strategy to extract more than star star pixel pixel extraction window, and on the basis of the seed point in the right position to achieve star pixel value and the coordinate values of multiplication, multiplication and accumulation and summation operation. Taking advantage of FPGA parallel processing, complete the complex working conditions under the background of star extraction algorithm for hardware implementation. Star pixels. To extract the target in the star pixel output at the same time, the target area and energy intensity. At the same time, implementation of locomotive operation. The cumulative pixel frame chart output can be executed after the centroid calculation, to meet the needs of real-time star image preprocessing.

【學位授予單位】：中國科學院研究生院(光電技術(shù)研究所)
【學位級別】：博士
【學位授予年份】：2016
【分類號】：TP391.41

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