Efficient measurement system and method for star sensor mounting reference

Abstract

The application relates to a high-efficiency measurement system and method for a star sensor installation reference, and belongs to the technical field of star sensor measurement. In order to solve the problems of high cost and low efficiency of the measurement mode of the installation of a reference prism of a star sensor, a geographic coordinate system is established by taking a star simulator as a source in a reference calibration stage, the measurement reference is transferred to the position and posture of a spectroscope by the sequential calibration of a theodolite, a standard mirror and the spectroscope, and a measurement reference coordinate system is established; in a measurement stage, the star simulator, the theodolite, the spectroscope, a three-axis turntable I, a three-axis turntable II and a star sensor are combined and used, the positions of the spectroscope and the three-axis turntable I are kept as the positions in the reference calibration stage, the star sensor is installed on the three-axis turntable II, the star sensor is aligned with the star simulator, the theodolite is aligned with the star sensor and the spectroscope respectively, the space direction of the Y plane of the star sensor prism is measured by using the theodolite, and the space direction of the Z plane of the star sensor is indirectly measured through the spectroscope.

Description

Technical Field

[0001] This invention belongs to the field of star sensor measurement technology, specifically relating to an efficient measurement system and method for star sensor mounting reference. Background Technology

[0002] The star sensor is a core component of the satellite attitude control system, and its measurement accuracy directly affects the satellite's attitude determination accuracy. Before being installed on the satellite, the relationship between the star sensor's optical reference and its mechanical mounting reference, i.e., the mounting reference matrix, must be accurately measured. Traditional measurement methods typically employ two high-precision theodolites for multi-station intersection measurements. While this method offers high accuracy, it suffers from drawbacks such as system complexity, high equipment cost, large footprint, and cumbersome operation procedures. Summary of the Invention

[0003] The problem this invention aims to solve is the high cost and low efficiency of the measurement method based on the star sensor reference prism mounting. It proposes a high-efficiency measurement system and method for star sensor reference mounting.

[0004] To achieve the above objectives, the present invention provides the following technical solution:

[0005] A high-efficiency measurement system for mounting a star sensor reference includes a star simulator, a theodolite, a standard mirror, a beam splitter, a three-axis turntable I, a star sensor, and a three-axis turntable II;

[0006] During the benchmark calibration phase, a combination of a star simulator, theodolite, standard mirror, spectroscope, and three-axis turntable I is used. The star simulator is used as the source to establish a geographic coordinate system. Through the sequential calibration of the theodolite, standard mirror, and spectroscope, the measurement benchmark is transferred to the position and attitude of the spectroscope, thus establishing the measurement benchmark coordinate system.

[0007] During the measurement phase, a combination of a star simulator, a theodolite, a beam splitter, a three-axis turntable I, a three-axis turntable II, and a star sensor is used. The positions of the beam splitter and the three-axis turntable I are kept as the reference positions for the calibration phase. The star sensor is installed on the three-axis turntable II and aligned with the star simulator. The theodolite is aligned with both the star sensor and the beam splitter. This allows the theodolite to measure the spatial orientation of the Y-plane of the star sensor prism and the beam splitter to indirectly measure the spatial orientation of the Z-plane of the star sensor.

[0008] Furthermore, the beam splitter is a semi-transparent, semi-reflective mirror.

[0009] Furthermore, the theodolite is aligned with the attitude of the star simulator to establish a geographic coordinate system.

[0010] Furthermore, place the standard mirror in front of the theodolite, ensuring it is within the field of view along the optical axis of the theodolite. Adjust the attitude of the standard mirror so that the crosshairs reflected by the standard mirror from the theodolite coincide with the crosshairs of the eyepiece. Then move the theodolite to a position relative to the optical axis of the star sensor of the standard mirror and aim at the standard mirror to adjust its attitude.

[0011] Then, the beam splitter placed on the three-axis turntable I is positioned between the theodolite and the standard mirror to adjust the beam splitter's attitude and complete the benchmark calibration.

[0012] An efficient measurement method for a star sensor mounting reference, based on the aforementioned efficient measurement system for a star sensor mounting reference, includes the following steps:

[0013] S1. Perform baseline calibration;

[0014] S2. Measure the star sensor mounting reference to obtain the measured angle data;

[0015] S3. Based on the measured angle data and the reflection transformation principle of the beam splitter, calculate the transfer matrix from the star sensor mounting reference coordinate system ARF to the measurement reference coordinate system FRF;

[0016] S4. Convert the transition matrix to Euler angles or quaternions.

[0017] Furthermore, the specific implementation method of step S1 includes the following steps:

[0018] S1.1. Use a theodolite to calibrate the attitude of the satellite simulator and establish a geographic coordinate system;

[0019] S1.2. Place the standard mirror in front of the theodolite and adjust the orientation of the standard mirror so that the crosshairs of the theodolite reflected by it coincide with the crosshairs of the eyepiece.

[0020] S1.3. Move the theodolite to a position relative to the optical axis of the star sensor of the standard mirror, rotate its azimuth angle by 90° and aim at the standard mirror, adjust the attitude of the theodolite so that the reflecting crosshairs coincide, and set the azimuth angle reading to zero at this time;

[0021] S1.4. Place a beam splitter in the optical path between the theodolite and the standard mirror, install it on the three-axis turntable I, adjust the beam splitter's attitude so that the crosshairs transmitted and reflected by the standard mirror in the theodolite coincide with the crosshairs reflected by the beam splitter, thus completing the reference transfer, and then remove the standard mirror.

[0022] Furthermore, the specific implementation method of step S2 includes the following steps:

[0023] S2.1. Keep the relative position of the beam splitter and the three-axis turntable I unchanged, install the star sensor on the three-axis turntable II, the lateral distance between the prism of the star sensor and the beam splitter is less than the effective aperture of the theodolite, and the longitudinal distance is less than 1 / 2 the length of the standard mirror. Adjust the three-axis turntable II so that the center star point of the star simulator is accurately imaged on the calibration principal point of the star sensor.

[0024] S2.2. Use a theodolite to aim the prism Y of the star sensor. A20 Adjust the instrument to align the reflecting crosshairs, and record the azimuth reading at this point. and pitch angle readings ;

[0025] S2.3. Use a theodolite to aim at prism Z, which is the star sensor reflected by the beam splitter. A21 Adjust the theodolite to align the reflected crosshairs of the image, and record the azimuth reading at this point. and pitch angle readings ;

[0026] Obtain the azimuth angle of the star sensor prism Pitch angle ; Beam splitter azimuth angle Pitch angle .

[0027] Furthermore, step S3 is based on , , , Calculate the transition matrix from the installation reference coordinate system ARF of the star sensor to the measurement reference coordinate system FRF;

[0028] S3.1. Based on the spatial pointing vector of the Y-axis of the ARF in the FRF, and considering the reflection transformation of the beam splitter, the ARF is obtained. The spatial pointing vector of the axis in the FRF as well as The spatial pointing vector of the axis in the FRF ;

[0029] Then, after reflection by the beam splitter, the ARF The spatial orientation of the axis within the FRF is:

[0030] ;

[0031] Then ARF The spatial pointing vector of the axis in the FRF is:

[0032] ;

[0033] S3.2. Calculate the transition matrix from ARF to FRF. The calculation formula is:

[0034] .

[0035] Furthermore, step S4 converts the transfer matrix into a representation of Euler angles or quaternions for use in attitude transfer calculations for the satellite platform.

[0036] The beneficial effects of this invention are:

[0037] The present invention discloses an efficient measurement system for a star sensor mounting reference, which adopts a scheme combining a single theodolite and a beam splitter to replace the traditional dual theodolite system. Through the design of the reference transmission optical path, the beam splitter reflects a reference surface of the star sensor that is difficult to observe directly into the field of view of the theodolite, thereby realizing the angle measurement of the two orthogonal reference surfaces of the star sensor using only one theodolite.

[0038] The present invention discloses a high-efficiency measurement system for star sensor mounting reference, which uses a single theodolite, significantly reducing equipment procurement and maintenance costs; it simplifies system layout and is more suitable for operation in compact laboratory or factory environments; the present invention ensures the accuracy of indirect measurement through the precise positioning and reflection principle of the beam splitter, and the accuracy loss is within an acceptable range compared with traditional methods; the present invention reduces the complexity of equipment debugging and collaborative operation, and greatly improves measurement efficiency. Attached Figure Description

[0039] Figure 1 This is a schematic diagram of the overall attitude of the theodolite adjusting star simulator of the present invention;

[0040] Figure 2 This is a schematic diagram illustrating the adjustment of the standard mirror's attitude according to the present invention;

[0041] Figure 3 This is a schematic diagram illustrating the repositioning and recalibration of the theodolite according to the present invention.

[0042] Figure 4 This is a schematic diagram illustrating the adjustment of the beam splitter's orientation according to the present invention;

[0043] Figure 5 This is a top view of the system layout during the measurement phase of the present invention. Detailed Implementation

[0044] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only for explaining the invention and are not intended to limit the invention; that is, the described specific embodiments are merely a part of the embodiments of the invention, and not all of them. The components of the specific embodiments of the invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations, and the invention may also have other embodiments.

[0045] Therefore, the following detailed description of specific embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected specific embodiments of the invention. All other specific embodiments obtained by those skilled in the art based on these specific embodiments without inventive effort are within the scope of protection of this invention.

[0046] To further understand the invention's content, features, and effects, the following specific embodiments are provided, along with accompanying drawings. Figure 1 -Appendix Figure 5 Detailed explanation is as follows:

[0047] Example 1:

[0048] A high-efficiency measurement system for mounting a star sensor reference includes a star simulator 1, a theodolite 2, a standard mirror 3, a beam splitter 4, a three-axis turntable I 5, a star sensor 6, and a three-axis turntable II 7;

[0049] During the benchmark calibration stage, the star simulator 1, theodolite 2, standard mirror 3, spectroscope 4, and three-axis turntable I5 are used in combination. The geographic coordinate system is established with the star simulator 1 as the source. Through the sequential calibration of theodolite 2, standard mirror 3, and spectroscope 4, the measurement benchmark is transferred to the position and attitude of the spectroscope 4, and the measurement benchmark coordinate system is established.

[0050] During the measurement phase, the star simulator 1, theodolite 2, beam splitter 4, three-axis turntable I 5, three-axis turntable II 7, and star sensor 6 are used in combination. The positions of beam splitter 4 and three-axis turntable I 5 are kept as the reference positions for the calibration phase. Star sensor 6 is installed on three-axis turntable II 7 and aligned with star simulator 1. Theodolite 2 is aligned with star sensor 6 and beam splitter 4 respectively. This allows the theodolite 2 to measure the spatial orientation of the Y-plane of the prism of star sensor 6 and the beam splitter 4 to indirectly measure the spatial orientation of the Z-plane of star sensor 6.

[0051] Furthermore, the beam splitter 4 is a semi-transparent and semi-reflective mirror.

[0052] Furthermore, the theodolite 2 is aligned with the attitude of the star simulator 1 to establish a geographic coordinate system.

[0053] Furthermore, place the standard mirror 3 in front of the theodolite 2, ensuring it is within the field of view of the theodolite 2 along its optical axis. Adjust the attitude of the standard mirror 3 so that the crosshairs reflected by the standard mirror 3 from the theodolite 2 coincide with the crosshairs of the eyepiece. Then move the theodolite 2 to a position relative to the optical axis of the standard mirror 3 with respect to the star sensor 6 and aim at the standard mirror 3 to adjust its attitude.

[0054] Then, the beam splitter 4, which is placed on the three-axis turntable I5, is placed between the theodolite 2 and the standard mirror 3, and the attitude of the beam splitter 4 is adjusted to complete the benchmark calibration.

[0055] Example 2:

[0056] A highly efficient measurement method for a star sensor mounting reference, based on the highly efficient measurement system for a star sensor mounting reference described in Example 1, is characterized by comprising the following steps:

[0057] S1. Perform baseline calibration;

[0058] Furthermore, the specific implementation method of step S1 includes the following steps:

[0059] S1.1. Use the theodolite 2 to calibrate the attitude of the satellite simulator 1 and establish a geographic coordinate system;

[0060] Next, level the theodolite; adjust its azimuth, aiming it at the star simulator so that the vertical line of the crosshairs coincides with the central star point. Adjust the pitch angle of the star simulator so that the star point coincides with the horizontal line of the crosshairs; adjust the roll angle of the star simulator so that the angle between the line connecting two star points of the same diameter and the horizontal line is less than [the angle between the line connecting the ...]]. Repeat the first two steps to ensure that the star simulator's attitude simultaneously satisfies: ① the central star point coincides with the crosshairs, and ② the angle between the line connecting two star points on the same diameter and the horizontal line is less than 1. Use the current star simulator attitude as the geographic coordinate system;

[0061] S1.2. Place the standard mirror 3 in front of the theodolite 2, and adjust the orientation of the standard mirror 3 so that the crosshairs reflected by the standard mirror 3 coincide with the crosshairs of the eyepiece.

[0062] S1.3. Move the theodolite 2 to a position relative to the optical axis of the standard mirror 3 with respect to the star sensor 6, rotate its azimuth angle by 90° and aim at the standard mirror 3, adjust the attitude of the theodolite 2 so that the reflecting crosshairs coincide, and set the azimuth angle reading to zero at this time;

[0063] S1.4. Place a beam splitter 4 in the optical path between the theodolite 2 and the standard mirror 3, and install it on the three-axis turntable I5. Adjust the attitude of the beam splitter 4 so that the crosshairs transmitted and reflected by the standard mirror 3 in the theodolite 2 coincide with the crosshairs reflected by the beam splitter 4, thus completing the reference transfer. Then remove the standard mirror 3.

[0064] Furthermore, place the standard mirror in front of the theodolite, ensuring it is within the field of view along the optical axis of the theodolite. Adjust the attitude of the standard mirror so that the crosshairs reflected by the standard mirror from the theodolite coincide with the crosshairs of the eyepiece. Move the theodolite to a position where the standard mirror is aligned with the optical axis of the star sensor. Rotate the azimuth angle by 90° to aim at the standard mirror. Adjust the attitude of the theodolite so that the crosshairs reflected by the standard mirror from the theodolite coincide with the crosshairs of the eyepiece, and set the azimuth angle reading to zero. Place a beam splitter mounted on a three-axis turntable I between the theodolite and the standard mirror. The surface of the beam splitter facing the theodolite should be semi-transparent and semi-reflective. Adjust the attitude of the beam splitter so that the crosshairs reflected by the standard mirror coincide with the crosshairs reflected by the mirror, and then remove the standard mirror.

[0065] S2. Measure the star sensor mounting reference to obtain the measured angle data;

[0066] Furthermore, the specific implementation method of step S2 includes the following steps:

[0067] S2.1. Keep the relative positions of the beam splitter 4 and the three-axis turntable I 5 unchanged, and install the star sensor 6 on the three-axis turntable II 7. The lateral distance between the prism of the star sensor 6 and the beam splitter 4 is less than the effective aperture of the theodolite 2, and the longitudinal distance is less than 1 / 2 the length of the standard mirror 3. Adjust the three-axis turntable II 7 so that the center star point of the star simulator 1 is accurately imaged on the calibration principal point of the star sensor 6.

[0068] S2.2. Use the theodolite 2 to aim at the prism Y of the star sensor 6. A20 Adjust the instrument to align the reflecting crosshairs, and record the azimuth reading of the theodolite at this point. and pitch angle readings ;

[0069] S2.3. Use the theodolite 2 to aim at the prism Z of the star sensor 6 reflected by the beam splitter 4. A21 Adjust the theodolite to align the reflected crosshairs of the image, and record the azimuth reading at this point. and pitch angle readings ;

[0070] Therefore, the azimuth angle of the star sensor prism can be obtained. Pitch angle ; Beam splitter azimuth angle Pitch angle .

[0071] Furthermore, power on the three-axis turntable I, maintaining the relative positional relationship between the three-axis turntable I and the beam splitter, and install the star sensor on the three-axis turntable II. The lateral distance between the star sensor prism and the beam splitter is less than the effective aperture of the theodolite, and the longitudinal distance is less than 1 / 2 the length of the standard mirror. By adjusting the azimuth and pitch axes of the three-axis turntable II, the central star point is imaged onto the star sensor's calibration principal point. The deviation between the image spot of the central star point and the star sensor's calibration principal point is less than [a certain value]. By adjusting the roll angle of the three-axis turntable II, the light spot is positioned such that when the central star point is imaged in the left and right extreme fields of view of the star sensor, the light spot is... Directional deviation less than Repeat the previous step, ensuring that the conditions of the previous step are met again; point the theodolite at the prism. Adjust the theodolite's attitude so that the crosshairs reflected by the star-sensitive prism align with the theodolite eyepiece.

[0072] S3. Based on the measured angle data and the reflection transformation principle of the beam splitter, calculate the transfer matrix from the star sensor mounting reference coordinate system ARF to the measurement reference coordinate system FRF;

[0073] Furthermore, step S3 is based on , , , Calculate the transition matrix from the installation reference coordinate system ARF to the measurement reference coordinate system FRF of star sensor 6;

[0074] S3.1. Based on the spatial pointing vector of the Y-axis of the ARF in the FRF, and considering the reflection transformation of beam splitter 4, the ARF is obtained. The spatial pointing vector of the axis in the FRF as well as The spatial pointing vector of the axis in the FRF ;

[0075] Furthermore, the optical axis ( The direction of the axis is along the direction of light transmission. The axial direction is perpendicular to the principal section. Therefore, after reflection... shaft and The axes are in the same direction; the coordinates of the other two coordinate axes perpendicular to the edge are interchanged, and the coordinate axes that are on the same straight line as the direction of light transmission after reflection ( (axis) and mirror normal If the included angle is greater than 90°, the sign will be reversed after the coordinates are swapped. Axial direction and Consistent direction Axial direction and Consistent in direction;

[0076] Then ARF The spatial orientation of the axis within the FRF is:

[0077] ;

[0078] ARF The spatial orientation of the axis within the FRF is:

[0079] ;

[0080] Based on the principle of coordinate transformation of a reflecting prism, by Derive the spatial pointing vector of the Z-axis in the FRF from the ARF. ;

[0081] Then, after reflection by the beam splitter, the ARF The spatial orientation of the axis within the FRF is:

[0082] ;

[0083] Then the spatial pointing vector of the X-axis of the ARF in the FRF is:

[0084]

[0085]

[0086] S3.2. Calculate the transition matrix from ARF to FRF. The calculation formula is:

[0087] ;

[0088] Furthermore,

[0089] ;

[0090] S4. Convert the transition matrix to Euler angles or quaternions.

[0091] Furthermore, step S4 converts the transfer matrix into a representation of Euler angles or quaternions for use in attitude transfer calculations for the satellite platform.

[0092] Furthermore,

[0093] The Euler angles for the transformation from ARF to FRF are: ;

[0094] The rotation angle is: In the formula The trace of a matrix is ​​the sum of the diagonal data. .

[0095] The rotation axis vector is: ;

[0096] Then a quaternion can be represented as:

[0097] ;

[0098] The quaternion between ARF and FRF facilitates attitude transfer after the star sensor is installed on the satellite, and associates the ARF with the satellite's mechanical coordinate system to measure the satellite's attitude.

[0099] In summary, the method of this embodiment includes: establishing a geographic coordinate system using a star simulator; transferring the initial reference using a theodolite and a standard mirror; introducing a beam splitter and adjusting it so that its reflected image coincides with the transmitted image of the standard mirror to complete the accurate transfer of the reference; mounting the star sensor on a three-axis turntable and aligning its optical axis; using a single theodolite to directly measure the spatial angles of the star sensor prism's Y-plane and indirectly measuring its Z-plane using the beam splitter; and finally, calculating the transfer matrix from the star sensor's installation reference coordinate system to the measurement reference coordinate system based on the measurement data and the principle of mirror transformation. This invention uses a combination of a single theodolite and a beam splitter, which, compared to traditional methods, significantly reduces system cost, complexity, and space occupation while ensuring accuracy, and greatly improves measurement efficiency.

[0100] It should be noted that relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0101] Although this application has been described above with reference to specific embodiments, various modifications can be made and components can be replaced with equivalents without departing from the scope of this application. In particular, as long as there is no structural conflict, the features in the specific embodiments disclosed in this application can be combined with each other in any way. The lack of an exhaustive description of these combinations in this specification is merely for the sake of brevity and resource conservation. Therefore, this application is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A high-efficiency measurement system for a star sensor mounting reference, characterized in that, Includes a star simulator (1), a theodolite (2), a standard mirror (3), a beam splitter (4), a three-axis turntable I (5), a star sensor (6), and a three-axis turntable II (7); In the benchmark calibration stage, the star simulator (1), theodolite (2), standard mirror (3), spectroscope (4), and three-axis turntable I (5) are used in combination to establish a geographic coordinate system with the star simulator (1) as the source. Through the sequential calibration of the theodolite (2), standard mirror (3), and spectroscope (4), the measurement benchmark is transferred to the position and attitude of the spectroscope (4) to establish the measurement benchmark coordinate system. During the measurement phase, the star simulator (1), theodolite (2), beam splitter (4), three-axis turntable I (5), three-axis turntable II (7), and star sensor (6) are used in combination. The positions of beam splitter (4) and three-axis turntable I (5) are kept as the reference positions during the calibration phase. The star sensor (6) is installed on three-axis turntable II (7). The star sensor (6) is aligned with the star simulator (1). The theodolite (2) is aligned with the star sensor (6) and the beam splitter (4) respectively. The theodolite (2) is used to measure the spatial orientation of the Y plane of the prism of the star sensor (6) and indirectly measure the spatial orientation of the Z plane of the star sensor (6) through the beam splitter (4).

2. The high-efficiency measurement system for a star sensor mounting reference according to claim 1, characterized in that, The beam splitter (4) is a semi-transparent and semi-reflective mirror.

3. The high-efficiency measurement system for a star sensor mounting reference according to claim 1 or 2, characterized in that, The theodolite (2) is aligned with the attitude of the star simulator (1) to establish a geographic coordinate system.

4. The high-efficiency measurement system for a star sensor mounting reference according to claim 3, characterized in that, Place the standard mirror (3) in front of the theodolite (2) and ensure that it is within the field of view of the optical axis of the theodolite (2). Adjust the attitude of the standard mirror (3) so that the crosshairs reflected by the standard mirror (3) of the theodolite (2) coincide with the crosshairs of the eyepiece. Then move the theodolite (2) to a position relative to the optical axis of the standard mirror (3) with respect to the star sensor (6) and aim at the standard mirror (3) to adjust the attitude of the standard mirror (3). Then, the beam splitter (4) placed on the three-axis turntable I (5) is placed between the theodolite (2) and the standard mirror (3) to adjust the attitude of the beam splitter (4) and complete the benchmark calibration.

5. A highly efficient measurement method for a star sensor mounting reference, implemented using the highly efficient measurement system for a star sensor mounting reference as described in any one of claims 1-4, characterized in that, Includes the following steps: S1. Perform baseline calibration; S2. Measure the star sensor mounting reference to obtain the measured angle data; S3. Based on the measured angle data and the reflection transformation principle of the beam splitter, calculate the transfer matrix from the star sensor mounting reference coordinate system ARF to the measurement reference coordinate system FRF; S4. Convert the transition matrix to Euler angles or quaternions.

6. The efficient measurement method for a star sensor mounting reference according to claim 5, characterized in that, The specific implementation method of step S1 includes the following steps: S1.

1. Use the theodolite (2) to calibrate the attitude of the star simulator (1) and establish a geographic coordinate system; S1.

2. Place the standard mirror (3) in front of the theodolite (2) and adjust the attitude of the standard mirror (3) so that the crosshairs of the theodolite (2) reflected by it coincide with the crosshairs of the eyepiece; S1.

3. Move the theodolite (2) to a position relative to the optical axis of the standard mirror (3) with respect to the star sensor (6), rotate its azimuth angle by 90° and aim at the standard mirror (3), adjust the attitude of the theodolite (2) so that the reflecting crosshairs coincide, and set the azimuth angle reading to zero at this time; S1.

4. Place a beam splitter (4) in the optical path between the theodolite (2) and the standard mirror (3), install it on the three-axis turntable I (5), adjust the attitude of the beam splitter (4) so ​​that the crosshairs transmitted and reflected by the standard mirror (3) in the theodolite (2) coincide with the crosshairs reflected by the beam splitter (4) to complete the reference transfer, and then remove the standard mirror (3).

7. The efficient measurement method for a star sensor mounting reference according to claim 6, characterized in that, The specific implementation method of step S2 includes the following steps: S2.

1. Keep the relative position of the beam splitter (4) and the three-axis turntable I (5) unchanged, and install the star sensor (6) on the three-axis turntable II (7). The lateral distance between the prism of the star sensor (6) and the beam splitter (4) is less than the effective aperture of the theodolite (2), and the longitudinal distance is less than 1 / 2 the length of the standard mirror (3). Adjust the three-axis turntable II (7) so that the center star point of the star simulator (1) is accurately imaged on the calibration principal point of the star sensor (6). S2.

2. Use the theodolite (2) to aim at the prism Y of the star sensor (6). A20 Adjust the instrument to make the crosshairs of the theodolite coincide, and record the azimuth reading of the theodolite at this time. and pitch angle readings ; S2.

3. Using the theodolite (2), aim at the prism Z of the star sensor (6) reflected by the beam splitter (4). A21 Adjust the theodolite to align the crosshairs of the image on the surface and record the azimuth reading of the theodolite at this time. and pitch angle readings ; Obtain the azimuth angle of the star sensor (6) prism Pitch angle ; Beam splitter (4) azimuth angle Pitch angle .

8. The efficient measurement method for a star sensor mounting reference according to claim 7, characterized in that, Step S3 according to , , , Calculate the transfer matrix from the installation reference coordinate system ARF of the star sensor (6) to the measurement reference coordinate system FRF; S3.

1. Based on the spatial pointing vector of the Y-axis of the ARF in the FRF, and considering the reflection transformation of the beam splitter (4), the ARF is obtained. The spatial pointing vector of the axis in the FRF as well as The spatial pointing vector of the axis in the FRF ; Then, after reflection by the beam splitter, the ARF The spatial orientation of the axis within the FRF is: ； Then ARF The spatial pointing vector of the axis in the FRF is: ； S3.

2. Calculate the transition matrix from ARF to FRF. The calculation formula is: 。 9. The efficient measurement method for a star sensor mounting reference according to claim 8, characterized in that, Step S4 converts the transfer matrix into Euler angles or quaternion representation for attitude transfer calculation of the satellite platform.

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