空间遥感相机挠性支撑扫描装置测角精度标定方法
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摘要
针对空间遥感相机挠性支撑扫描系统的测角精度标定问题,利用高精度经纬仪测量扫描镜摆动过程中采集的角度误差数据,研究了适用于空间复杂环境的分段误差补偿方法。利用光电自准直仪对扫描镜的零位进行监测,以解决经纬仪随时间、环境引起的零位漂移。根据高轨应用需求,分析了分段误差补偿法的必要性。将获得角度误差引入补偿系统,采用分段误差补偿法对测角电路进行标定。将测试结果与谐波误差补偿法标定结果对比,验证了分段误差补偿后系统的测角精度能够满足系统性能指标要求。最终确定了分段误差补偿法在空间遥感相机有限角度扫描系统高测角精度实现过程中的有效性。
To calibrate the angle measurement accuracy for space camera scanning system supported with flexible pivots,the segmented error compensation method applicable to complex space environment was studied using the angle error data collected from theodolite. Using the photoelectric autocollimator, the zero-angle position of the scanning mirror was monitored, and the measurement shifts with time and environment were determined. According to requirements in high orbit application,it is necessary to use the segmented error compensation method. Taking the angular errors as the input of the compensation system, the angle measurement circuit was calibrated using segmented error compensation method. Then, comparing the test results with those obtained by harmonic error compensation methods, one can find that the angle measurement accuracy after segmented error compensation can satisfy the system performance requirement. Therefore,the validity of the segmented error compensation method is confirmed to achieve high accuracy angle measurement for space camera in limited-angle scanning.
To calibrate the angle measurement accuracy for space camera scanning system supported with flexible pivots,the segmented error compensation method applicable to complex space environment was studied using the angle error data collected from theodolite. Using the photoelectric autocollimator, the zero-angle position of the scanning mirror was monitored, and the measurement shifts with time and environment were determined. According to requirements in high orbit application,it is necessary to use the segmented error compensation method. Taking the angular errors as the input of the compensation system, the angle measurement circuit was calibrated using segmented error compensation method. Then, comparing the test results with those obtained by harmonic error compensation methods, one can find that the angle measurement accuracy after segmented error compensation can satisfy the system performance requirement. Therefore,the validity of the segmented error compensation method is confirmed to achieve high accuracy angle measurement for space camera in limited-angle scanning.
引文
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[17]沈胜兵.基于DSP的感应同步器测角系统设计与实现[D].哈尔滨:哈尔滨工业大学,2014.SHEN Shengbing.Design and Implementation of Inductosyn Transducer Angle Measurement Based on DSP[D].Harbin:Harbin Institute of Technology,2014.(in Chinese)
[18]邓辉宇,苏宝库.鉴幅型测角系统动态误差建模研究[J].哈尔滨工业大学学报,2001,33(5):646-650.DENG Huiyu,SU Baoku.Dynamic Error Model of Angular Measuring System of Amplitude Discrimination Mode[J].Journal of Harbin Institute of Technology,2001,33(5):646-650.(in Chinese)
[19]袁辉,刘朝晖,李治国,等.圆感应同步器系统误差的动态提取与补偿[J].光学精密工程,2015,23(3):794-802.YUAN Hui,LIU Zhaohui,LI Zhiguo,et al.Dynamic Extracting and Compensation of System Error for Rotary Inductosyn[J].Optics and Precision Engineering,2015,23(3):794-802.(in Chinese)
[20]张育,王建字,刘银年,等.感应同步器动态误差分析及修正[J].科学技术与工程,2010,10(17):4205-4209.ZHANG Yu,WANG Jianzi,LIU Yinnian,et al.Analysis and Correction of Dynamic Error in Inducosyn[J].Science Technology and Engineering,2010,10(17):4205-4209.(in Chinese)
[21]刘强,尔联洁,陈敬泉,等.基于线性外推原理的圆感应同步器输出动态补偿[J].仪器仪表学报,2004,25(1):106-108.LIU Qiang,ER Lianjie,CHEN Jingquan,et al.Dynamic Compensation of Inductosyn Output Based on Linear Extrapolation Scheme[J].Chinese Journal of Scientific Instrument,2004,25(1):106-108.(in Chinese)
[2]王恺,刘兆军.摆动扫描的迭代学习控制系统研究[J].航天返回与遥感,2008,29(1):34-38.WANG Kai,LIU Zhaojun.Iterative Learning Control System of Scan for Oscillating Mirror[J].Spacecraft Recovery&Remote Sensing,2008,29(1):34-38.(in Chinese)
[3]任顺清,曾庆双,陈希军.圆感应同步器测角误差的分离技术[J].中国电机工程学报,2001,21(4):92-95.REN Shunqing,ZENG Qingshuang,CHEN Xijun.The Angle Measuring Error Separation Technology of Round Inductosyn[J].Proceedings of the CSEE,2001,21(4):92-95.(in Chinese)
[4]李婧,康建兵,刘雪峰.感应同步器读数粗精融合与误差修正[J].光学精密工程,2015,23(10):381-387.LI Jing,KANG Jianbing,LIU Xuefeng.Data Amalgamation of Coarse and Fine Channels and Error Correction of Inductosyn[J].Optics and Precision Engineering,2015,23(10):381-387.(in Chinese)
[5]李秋明,冯汝鹏,王景贺,等.感应同步器测角系统误差分析及补偿[J].中国惯性技术学报,1998,6(1):50-53.LI Qiuming,FENG Rupeng,WANG Jinghe,et al.Error Analysis and Compensation for Inductosyn Angle Measuring System[J].Chinese Society of Inertial Technology,1998,6(1):50-53.(in Chinese)
[6]刘承军,齐明,邹继斌.感应同步器测角系统误差建模[J].哈尔滨工业大学学报,2009,41(9):51-55.LIU Chengjun,QI Ming,ZOU Jibin.Error Modeling of Inductosyn Angle Measuring System[J].Journal of Harbin Institute of Technology,2009,41(9):51-55.(in Chinese)
[7]齐明,邹继斌,胡建辉.神经网络在感应同步器零位误差补偿中的应用[J].中国电机工程学报,2008,28(9):105-110.QI Ming,ZOU Jibin,HU Jianhui.Application of Neural Network in Pitch Error Compensation of Inductosyn[J].Proceedings of the CSEE,2008,28(9):105-110.(in Chinese)
[8]张翠芳.基于神经网络的感应同步器测角系统的误差补偿[D].哈尔滨:哈尔滨工业大学,2008.ZHANG Cuifang.Error Compensation of Angular Measuring System of Inductosyn Based on Neural Network[D].Harbin:Harbin Institute of Technology,2008.(in Chinese)
[9]尚超,王淦泉,陈桂林.基于经纬仪的感应同步器测角精度检测方法研究[J].传感技术学报,2008,21(5):865-868.SHANG Chao,WANG Ganquan,CHEN Guilin.Test Method of the Absolute Angle Measuring System with Inductosyn Based on Theodolite[J].Chinese Journal of Sensors and Actuaors,2008,21(5):865-868.(in Chinese)
[10]任顺清,伊国兴,曾庆双,等.小范围回转轴系感应同步器测角系统的误差分离技术[J].电机与控制学报,2005,9(2):183-186.REN Shunqing,YI Guoxing,ZENG Qingshuang,et al.Error Separating Technology of Inductosyn Angle-measuring System in Limiting Rotation Axis System[J].Electric Machines and Control,2005,9(2):183-186.(in Chinese)
[11]汪逸群,颜昌翔,贾平.非接触式扫描反射镜定位精度检测方法[J].红外与激光工程,2012,41(4):1057-1061.WANG Yiqun,YAN Changxiang,JIA Ping.Non-contact Position Precision Detecting Method of Scanning Mirror[J].Infrared and Laser Engineering,2012,41(4):1057-1061.(in Chinese)
[12]陈希军,任顺清.感应同步器测角误差的自动化检测与补偿[J].电机与控制学报,2010,14(4):41-45.CHEN Xijun,REN Shunqing.Automatic Measurement and Compensation of Inductosyn Angular Displacement Error[J].Electric Machines and Control,2010,14(4):41-45.(in Chinese)
[13]齐凤梅,石治国.圆感应同步器安装误差修正方法研究[J].光学技术,2006,32(z1):445-448.QI Fengmei,SHI Zhiguo.The Installation Error Revise Method Research of Round Inductosyn[J].Optical Technique,2006,32(z1):445-448.(in Chinese)
[14]孙泽林,王昭,翟唤春.双经纬仪交会测量火炮调炮精度的误差分析与抑制[J].光学精密工程,2011,19(10):2434-2441.SUN Zelin,WANG Zhao,ZHAI Huanchun.Analysis and Control of Error on Two Theodolite Intersection Measurement for Gun Rotated Accuracy of Artillery[J].Optics and Precision Engineering,2011,19(10):2434-2441.(in Chinese)
[15]娄莉娜,朱革,王先全,等.感应同步器测角系统短周期误差的研究及软件补偿[J].计算机测量与控制,2010,18(8):1730-1735.LOU Lina,ZHU Ge,WANG Xianquan,et al.Error Research and Software Compensation of Inducotsyn Angle Measuring System[J].Computer Measurement and Control,2010,18(8):1730-1735.(in Chinese)
[16]王先全,吴敏,冯济琴,等.基于FPGA的感应同步器的数据采集和处理的研究[J].仪表技术与传感器,2010,5(1):41-43.WANG Xianquan,WU Min,FENG Jiqin,et al.Data Acquisition and Processing for Inductosyn Based on FPGA[J].Instrument Technique and Sensor,2010,5(1):41-43.(in Chinese)
[17]沈胜兵.基于DSP的感应同步器测角系统设计与实现[D].哈尔滨:哈尔滨工业大学,2014.SHEN Shengbing.Design and Implementation of Inductosyn Transducer Angle Measurement Based on DSP[D].Harbin:Harbin Institute of Technology,2014.(in Chinese)
[18]邓辉宇,苏宝库.鉴幅型测角系统动态误差建模研究[J].哈尔滨工业大学学报,2001,33(5):646-650.DENG Huiyu,SU Baoku.Dynamic Error Model of Angular Measuring System of Amplitude Discrimination Mode[J].Journal of Harbin Institute of Technology,2001,33(5):646-650.(in Chinese)
[19]袁辉,刘朝晖,李治国,等.圆感应同步器系统误差的动态提取与补偿[J].光学精密工程,2015,23(3):794-802.YUAN Hui,LIU Zhaohui,LI Zhiguo,et al.Dynamic Extracting and Compensation of System Error for Rotary Inductosyn[J].Optics and Precision Engineering,2015,23(3):794-802.(in Chinese)
[20]张育,王建字,刘银年,等.感应同步器动态误差分析及修正[J].科学技术与工程,2010,10(17):4205-4209.ZHANG Yu,WANG Jianzi,LIU Yinnian,et al.Analysis and Correction of Dynamic Error in Inducosyn[J].Science Technology and Engineering,2010,10(17):4205-4209.(in Chinese)
[21]刘强,尔联洁,陈敬泉,等.基于线性外推原理的圆感应同步器输出动态补偿[J].仪器仪表学报,2004,25(1):106-108.LIU Qiang,ER Lianjie,CHEN Jingquan,et al.Dynamic Compensation of Inductosyn Output Based on Linear Extrapolation Scheme[J].Chinese Journal of Scientific Instrument,2004,25(1):106-108.(in Chinese)