Error compensation method for Mars rover APS sun sensor

A solar sensor and error compensation technology, applied in instruments, measuring devices, etc., can solve the problems of long operation time and low product update rate of single-chip microcomputer 80C32E, and achieve the effect of improving product accuracy, increasing product update rate, and reducing the amount of calculation

Pending Publication Date: 2021-12-03
BEIJING INST OF CONTROL ENG
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Problems solved by technology

[0005] During the development of the APS solar sensors of Chang'e-3 and Chang'e-4, when the angle error compensation is carried out, the error introduced by refraction and assembly reaches more than 5°, and it needs to be compensated to within 0.1°, which requires 7th-order polynomial operations to be performed 7 times , similar to patent CN103411580A (two-axis angle determination method in linear array APS sun sensor), this 7-degree polynomial operation needs to be iteratively compensated for multiple times to select a suitable co

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  • Error compensation method for Mars rover APS sun sensor
  • Error compensation method for Mars rover APS sun sensor
  • Error compensation method for Mars rover APS sun sensor

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Embodiment Construction

[0059] The present invention will be further elaborated below.

[0060] The APS solar sensor uses the APS image sensor to image the bright spots of the sun, and calculates the position of the center of mass of the bright spots of the sun to obtain the azimuth of the sun. In the APS solar sensor of the Mars rover, the refraction of the protective glass of the image sensor, the distortion of the hemispherical cover, and the systematic errors in the product assembly process can reach more than 5° at the boundary of the field of view.

[0061] The invention firstly proposes to compensate the angle error of the APS sun sensor twice, first compensate the coordinates, and then compensate the angle residual.

[0062] The specific implementation steps are as follows:

[0063] The first step: use the centroid method to obtain the coordinate position of the solar bright spot (x 实际i ,y 实际i );

[0064] x 实际i =xa i / ga i ;

[0065] the y 实际i =ya i / ga i ;

[0066] xa i is the g...

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Abstract

The invention relates to an error compensation method for a Mars rover APS sun sensor. According to the method, the coordinates of the mass center of a solar hot spot are corrected by using the idea of camera distortion correction, a cubic polynomial of the theoretical coordinate position and the actual mass center position of the mass center of the solar hot spot is established, and the coefficient of the cubic polynomial is obtained by using a least square method; An angle residual error after coordinate compensation is solved by adopting a secondary compensation thought, and the problem of rapid positioning of an angle compensation curve is solved. The calculation amount is reduced to two times of third-order polynomial calculation and two times of seventh-order polynomial calculation, the precision reaches 0.03 degree (3 sigma) after error compensation, the calculation amount is reduced, the product updating rate is increased, and the product precision is improved.

Description

technical field [0001] The invention belongs to the field of optical attitude sensors, and relates to an error compensation method for an APS sun sensor of a Mars rover. Background technique [0002] The sun sensor is an optical attitude sensor that measures the angle between the spacecraft attitude and the sun's ray vector, taking the sun as the reference orientation. The sun sensor on the rover measures the direction of the sun vector, which provides yaw pointing for the rover on the surface of Mars, ensures that the rover moves in the predetermined direction, and at the same time completes the correction of the long-term drift of the gyro. [0003] The area array APS CMOS image sensor used in the sun sensor of the Mars rover is used as a photodetector. The small hole on the light introducer is used to realize light introduction. The sunlight reaches the APS image sensor through the small hole to form a bright sun spot. The energy center of the bright spot can determine t...

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Application Information

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IPC IPC(8): G01C25/00
CPCG01C25/00
Inventor 张建福王立吴奋陟常晔李连升尹路高长山陈建新李志平顾朋韩沛宏
Owner BEIJING INST OF CONTROL ENG
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