A fast mirror-based image stabilizing device and method

Abstract

The application discloses a kind of based on quick swing mirror's steady device and steady method, to inhibit satellite dynamic platform attitude disturbance to the influence of space-based turntable follow sight steady precision, improve the spatial celestial body image definition of optical camera acquisition.It is specifically including satellite attitude simulator, space-based turntable, turntable control unit, swing mirror, swing mirror control unit, three-axis gyro and power component;The space-based turntable is set on satellite attitude simulator, and is connected with turntable control unit, and turntable control unit controls space-based turntable operation;The swing mirror is set in the center of space-based turntable;The three-axis gyro is set on satellite attitude simulator, for detecting the micro-disturbance signal of satellite attitude simulator to space-based turntable;The swing mirror control unit is connected with swing mirror and three-axis gyro respectively, for receiving the micro-disturbance signal, and according to micro-disturbance signal driving swing mirror reverse compensation;The power component is connected with three-axis gyro and turntable control unit respectively, for power supply.

Description

TECHNICAL FIELD

[0001] The present application relates to a kind of image stabilizing device and method, specifically, a kind of image stabilizing device and image stabilizing method based on fast swing mirror. BACKGROUND

[0002] The precision tracking and sighting image stabilization technology based on space-based turntable is an important technology in the field of space astronomy observation, i.e., the space-based turntable is installed on the satellite platform to carry the space optical camera. In this technical system, the tracking and sighting image stabilization precision of the space-based turntable is an important guarantee for the space optical camera to obtain clear images of space celestial bodies. In actual work process, the tracking and sighting image stabilization precision of the space-based turntable is affected by the satellite platform attitude disturbance. However, the existing space-based turntable mainly works in the application scene with low tracking and sighting image stabilization precision requirement; no specific technology is taken to suppress the satellite platform attitude disturbance. Therefore, in the space astronomy observation task, the disturbance of the satellite platform often leads to the space optical camera obtaining unclear images of space celestial bodies. SUMMARY

[0003] The purpose of the present application is to provide an image stabilizing device and method based on fast swing mirror to suppress the influence of satellite platform attitude disturbance on the tracking and sighting image stabilization precision of space-based turntable and improve the clarity of space celestial body images obtained by optical camera.

[0004] In order to achieve the above purpose, the present application provides an image stabilizing device based on fast swing mirror, which is characterized by comprising a satellite attitude simulator, a space-based turntable, a turntable control unit, a swing mirror, a swing mirror control unit, a three-axis gyroscope and a power supply assembly.

[0005] The space-based turntable is arranged on the satellite attitude simulator and connected with the turntable control unit, and the turntable control unit controls the operation of the space-based turntable.

[0006] The swing mirror is arranged at the center of the space-based turntable.

[0007] The three-axis gyroscope is arranged on the satellite attitude simulator to detect the micro-disturbance signal of the satellite attitude simulator to the space-based turntable.

[0008] The swing mirror control unit is connected with the swing mirror and the three-axis gyroscope respectively, for receiving the micro-disturbance signal and driving the swing mirror to compensate reversely according to the micro-disturbance signal.

[0009] The power supply assembly is connected with the three-axis gyroscope and the turntable control unit respectively for power supply.

[0010] Further, it further comprises a detection unit.

[0011] The detection unit comprises a laser, a laser detector, a light spot signal processor and a signal display.

[0012] The laser emits a detection light to the center of the swing mirror;

[0013] The detection light is reflected by the swing mirror and received by the laser detector;

[0014] The spot signal processor is connected with the laser detector, used for receiving and processing the spot signal of the laser detector, and then sending to the signal display;

[0015] The signal display is used for displaying the spot position information.

[0016] Further, the swing mirror control unit comprises a gyro signal processor and a swing mirror controller;

[0017] The gyro signal processor is connected with the three-axis gyro and the swing mirror controller respectively, used for receiving the micro-disturbance signal and converting it into compensation information of the swing mirror, and then sending the compensation information to the swing mirror controller; the swing mirror controller controls the swing mirror to reverse compensation according to the received compensation information, so as to stabilize the swing mirror.

[0018] Further, the turntable control unit comprises a turntable electric control box and a turntable control upper computer;

[0019] The turntable electric control box is connected with the turntable control upper computer and the space-based turntable respectively;

[0020] The turntable control upper computer sends a control instruction to the turntable electric control box, and the turntable electric control box drives the space-based turntable to run according to the control instruction.

[0021] Further, the power supply assembly comprises a first direct current power supply, a second direct current power supply, a V direct current power supply and a V direct current power supply;

[0022] The first direct current power supply is connected with the laser and the laser detector respectively;

[0023] The second direct current power supply is connected with the spot signal processor;

[0024] The V direct current power supply is connected with the gyro assembly;

[0025] The V direct current power supply is connected with the turntable electric control box.

[0026] Further, the laser detector is a two-dimensional position sensitive detector of double-sided type.

[0027] Further, the three-axis gyro is an optical fiber gyro.

[0028] Meanwhile, the application also provides a steady image method based on the fast swing mirror, which is characterized by comprising the following steps:

[0029] Step 1. Start the satellite attitude simulator, the mirror control unit and the turntable control unit, the satellite attitude simulator simulates the satellite platform to generate a micro disturbance to the space-based turntable;

[0030] Step 2. The three-axis gyroscope detects the micro disturbance signal of the satellite attitude simulator and sends the micro disturbance signal to the mirror control unit;

[0031] Step 3. The mirror control unit receives and processes the micro disturbance signal to obtain the compensation information of the mirror, and controls the mirror to compensate in the opposite direction according to the compensation information to stabilize the mirror and further stabilize the light spot.

[0032] The beneficial effects of the present application are:

[0033] 1. The three-axis gyroscope is installed on the satellite attitude simulator, the three-axis gyroscope detects the satellite attitude micro disturbance signal, and the satellite attitude disturbance is corrected according to the detected micro disturbance signal and the fast mirror, so as to suppress the influence of the satellite moving platform attitude disturbance on the space-based turntable tracking and imaging precision, and improve the spatial celestial image clarity obtained by the optical camera. The image stabilization device can be widely applied to deep space exploration, space precision measurement, astronomical observation, space remote sensing, space debris observation and other fields, and is a common key platform technology in the field of space scientific exploration, which has the characteristics of wide application range and strong universality.

[0034] 2. The three-axis fiber-optic gyroscope with high precision is arranged in the image stabilization device, so as to improve the accuracy of micro disturbance signal detection and further improve the accuracy of mirror reverse compensation.

[0035] 3. The detection unit is further arranged, which can detect and verify the accuracy of mirror reverse compensation, so as to adjust the control accuracy of the mirror control unit and further improve the image stabilization accuracy of the mirror. BRIEF DESCRIPTION OF DRAWINGS

[0036] Figure 1 is a structural schematic diagram of an embodiment of the image stabilization device based on the fast mirror of the present application;

[0037] Figure 2 is a principle diagram of the image stabilization device based on the fast mirror of the present application;

[0038] Figure 3 is a platform stability curve diagram before image stabilization in the embodiment of the present application;

[0039] Figure 4 is a platform stability curve diagram after image stabilization in the embodiment of the present application.

[0040] REFERENCE NUMERALS:

[0041] 1-satellite attitude simulator, 2-space-based turntable, 3-mirror, 5-three-axis gyro, 6-laser, 7-laser detector, 8-spot signal processor, 9-signal display, 10- gyro signal processor, 11-mirror controller, 12-turntable control box, 13-turntable control host computer, 14-first DC power supply, 15-second DC power supply, 16-5V DC power supply, 17-28V DC power supply. DETAILED DESCRIPTION

[0042] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0043] The embodiment of the present application provides a steady image device based on a fast mirror, which combines Figure 1 and Figure 2 As shown in the figure, the steady image device includes a satellite attitude simulator 1, a space-based turntable 2, a turntable control unit, a mirror 3, a mirror control unit, a three-axis gyro 5, a detection unit, and a power supply component. The turntable control unit includes a turntable control box 12 and a turntable control host computer 13. The mirror control unit includes a gyro signal processor 10 and a mirror controller 11. The detection unit includes a laser 6, a laser detector 7, a spot signal processor 8, and a signal display 9. The power supply component includes a first DC power supply 14, a second DC power supply 15, a 5V DC power supply 16, and a 28V DC power supply 17. The spot signal processor 8, the gyro signal processor 10, the signal display 9, the mirror controller 11, the turntable control box 12, and the turntable control host computer 13 are the control platform modules of the device. The laser 6 and the laser detector 7 are the optical platform modules of the device. The space-based turntable 2, the mirror 3, and the three-axis gyro 5 are the steady image platform modules of the device.

[0044] The connection relationship of each component is as follows:

[0045] The space-based turntable 2 is arranged on the satellite attitude simulator 1 and connected with a turntable electric control box 12, the space-based turntable 2 is a two-dimensional tracking turntable; meanwhile, the turntable electric control box 12 is also connected with a turntable control upper computer 13 and a 28V direct current power supply 17; the turntable control upper computer 13 sends a control instruction to the turntable electric control box 12, the turntable electric control box 12 drives the space-based turntable 2 to make a positioning instruction action according to the control instruction, and the 28V direct current power supply 17 supplies power for the turntable electric control box 12. The satellite attitude simulator 1 is used for simulating the micro disturbance of the satellite platform to the space-based turntable 2; the mirror 3 is arranged at the center of the space-based turntable 2 and connected with a mirror controller 11; in the test platform, the mirror is used for simulating the mirror in the optical camera light path, and the mirror moves with the space-based turntable 2; the three-axis gyroscope 5 is arranged on the satellite attitude simulator 1 and used for detecting the micro disturbance signal of the satellite attitude simulator 1 to the space-based turntable 2 attitude; the gyroscope signal processor 10 (i.e. the mirror control DSP) is connected with the mirror controller 11 and the three-axis gyroscope 5 respectively, used for receiving the micro disturbance signal detected by the three-axis gyroscope 5, and solving the micro disturbance signal measured by the three-axis gyroscope 5, converting the micro disturbance signal into compensation information of the mirror 3, and then sending the compensation information to the mirror controller 11 through the DA acquisition card; the mirror controller 11 controls the mirror 3 to move reversely according to the received compensation information, i.e. reverse compensation, so as to stabilize the mirror 3, and the mirror 3 is stabilized, so that the laser beam is stabilized. Meanwhile, the three-axis gyroscope 5 is also connected with a 5V direct current power supply 16; the 5V direct current power supply 16 supplies power for the three-axis gyroscope 5, the gyroscope signal processor 10 and the mirror controller 11.

[0046] In the process, the laser 6 can be always turned on or turned on according to the need, and the laser 6 is a light source; the turned-on laser 6 emits a detection light to the center of the mirror 3 on the space-based turntable 2; the detection light is received by the laser detector 7 after being reflected by the mirror 3, i.e. the detection light can be directly incident to the target surface of the laser detector 7 after being reflected by the mirror 3, and it can be understood that the space-based turntable 2 and the mirror 3 control the pointing position of the detection light optical axis, and the laser detector 7 detects the light spot position; the light spot signal processor 8 is connected with the laser detector 7, used for receiving and processing the light spot signal of the laser detector 7, and then sending to the signal display 9; the signal display 9 is used for displaying the light spot position information. The first direct current power supply 14 is connected with the laser 6 and the laser detector 7 respectively, used for supplying power for the laser 6 and the laser detector 7; the second direct current power supply 15 is connected with the light spot signal processor 8, used for supplying power for the light spot signal processor 8 and the signal display 9.

[0047] The method for stabilizing the image by using the above-mentioned image stabilizing device based on the fast mirror includes the following steps:

[0048] Step 1. Start the satellite attitude simulator 1, the mirror control unit and the turntable control unit, the satellite attitude simulator 1 simulates the micro disturbance of the satellite platform to the space-based turntable 2;

[0049] Specifically, the satellite attitude simulator 1, the gyro signal processor 10, the mirror controller 11, the turntable electric control box 12 and the turntable control upper computer 13 are started, the turntable control upper computer 13 sends control instructions, i.e. guide data, to the turntable electric control box 12, the turntable electric control box 12 controls the space-based turntable 2 to start moving according to the control instructions, and the satellite attitude simulator 1 simulates the micro-disturbance motion.

[0050] Step 2. The three-axis gyro 5 detects the micro-disturbance signal of the satellite attitude simulator 1 and sends the micro-disturbance signal to the mirror control unit;

[0051] Specifically, the three-axis gyro 5 detects the micro-disturbance signal of the satellite attitude simulator 1 and sends the micro-disturbance signal to the gyro signal processor 10.

[0052] Step 3. The mirror control unit receives and processes the micro-disturbance signal to obtain the compensation information of the mirror 3, and then controls the mirror 3 to compensate reversely according to the compensation information to stabilize the mirror 3 and further stabilize the light spot.

[0053] Specifically, the gyro signal processor 10 obtains the compensation information of the mirror 3 after integral operation, and then sends the compensation information to the mirror controller 11, which controls the mirror 3 to compensate reversely according to the compensation information to stabilize the mirror 3 and further stabilize the light spot.

[0054] In order to verify and improve the image stabilization precision of the image stabilization device, the following steps can be used for verification:

[0055] Step 1. Turn off the mirror control unit, start the turntable control unit, the satellite attitude simulator 1 and the laser 6, the laser 6 emits detection light to the center of the mirror 3, and the detection light is reflected to the target surface of the laser detector 7 through the mirror 3;

[0056] Specifically, the mirror control unit is turned off, the turntable electric control box 12, the turntable control upper computer 13, the satellite attitude simulator 1 and the laser 6 are started, the turntable control upper computer 13 sends control instructions, i.e. guide data, to the turntable electric control box 12, the turntable electric control box 12 controls the space-based turntable 2 to start moving according to the control instructions, the satellite attitude simulator 1 simulates the micro-disturbance motion, the laser 6 emits detection light to the center of the mirror 3, and the detection light is reflected to the target surface of the laser detector 7 through the mirror 3.

[0057] Step 2. The laser detector 7 detects the light spot signal of the detection light and sends it to the light spot signal processor 8, which processes it and then sends it to the signal display 9, which displays and records the first light spot position information of the detection light; according to the first light spot position information, the stability of the mirror before image stabilization can be obtained;

[0058] Step 3. Turn on the swing mirror control unit, the swing mirror control unit receives and processes the micro-disturbance signal detected by the three-axis gyroscope 5, obtains the compensation information of the swing mirror 3, and then controls the swing mirror 3 to reverse compensation according to the compensation information to stabilize the swing mirror 3, and further stabilize the light spot;

[0059] Specifically, turn on the gyroscope signal processor 10 and the swing mirror controller 11, the gyroscope signal processor 10 receives the micro-disturbance signal detected by the three-axis gyroscope 5, and obtains the compensation information of the swing mirror 3 after integration operation, and then sends the compensation information to the swing mirror controller 11, the swing mirror controller 11 controls the swing mirror 3 to reverse compensation according to the compensation information to stabilize the swing mirror 3, and further stabilize the light spot.

[0060] Step 4. The laser 6 continues to emit detection light, the laser detector 7 continues to detect the light spot signal of the detection light and sends it to the light spot signal processor 8, which is processed by the light spot signal processor 8 and then sent to the signal display 9, which displays and records the second light spot position information after stabilization; According to the second light spot position information, the stability of the swing mirror 3 after image stabilization can be obtained;

[0061] Step 5. Compare the stability of the swing mirror before image stabilization with the stability of the swing mirror after image stabilization, and the image stabilization effect of the image stabilization device can be seen; in addition, the swing mirror control unit can be adjusted according to the stability of the swing mirror before image stabilization to improve the image stabilization accuracy of the swing mirror 3.

[0062] The laser spot offset dp is obtained by the laser detector, and L is the distance from the swing mirror to the laser detector (PSD), then the rotation angle dθ of the swing mirror is converted to dθ = dp / 2L, and the swing mirror stability is obtained by differentiating the position information of the light spot offset. As shown in Figure 3 Before image stabilization, the stability of the swing mirror is 0.015° / s (σ), as shown in Figure 4 After image stabilization, the stability of the swing mirror is 0.005° / s (σ), as shown in

[0063] The above is only a specific embodiment of the present application, but the protection scope of the present application is not limited thereto, any change or replacement within the technical scope disclosed by the present application should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. An image stabilization device based on a fast-swinging mirror, characterized in that: It includes a satellite attitude simulator (1), a space-based turntable (2), a turntable control unit, a pendulum mirror (3), a pendulum mirror control unit, a three-axis gyroscope (5), a power supply assembly, and a detection unit; The space-based turntable (2) is set on the satellite attitude simulator (1) and connected to the turntable control unit, which controls the operation of the space-based turntable (2). The pendulum mirror (3) is positioned at the center of the space-based turntable (2); The three-axis gyroscope (5) is mounted on the satellite attitude simulator (1) and is used to detect the micro-disturbance signal of the satellite attitude simulator (1) on the space-based turntable (2); The swing mirror control unit is connected to the swing mirror (3) and the three-axis gyroscope (5) respectively, and is used to receive the micro-disturbance signal and drive the swing mirror (3) to perform reverse compensation according to the micro-disturbance signal; The power supply components are connected to the three-axis gyroscope (5) and the turntable control unit respectively, and are used to supply power; The detection unit includes a laser (6), a laser detector (7), a spot signal processor (8), and a signal display (9); The laser (6) emits a detection beam to the center of the swing mirror (3); The detection light is reflected by the pendulum mirror (3) and then received by the laser detector (7); The spot signal processor (8) is connected to the laser detector (7) and is used to receive and process the spot signal of the laser detector (7) and then send it to the signal display (9); The signal display (9) is used to display the position information of the light spot.

2. The image stabilization device based on a fast-swinging mirror according to claim 1, characterized in that: The mirror control unit includes a gyroscope signal processor (10) and a mirror controller (11); The gyroscope signal processor (10) is connected to the three-axis gyroscope (5) and the mirror controller (11) respectively. It is used to receive the micro-disturbance signal and convert it into compensation information for the mirror (3). Then, the compensation information is sent to the mirror controller (11). The mirror controller (11) controls the mirror (3) to perform reverse compensation according to the received compensation information to stabilize the mirror (3).

3. The image stabilization device based on a fast-swinging mirror according to claim 2, characterized in that: The turntable control unit includes a turntable electrical control box (12) and a turntable control host computer (13); The turntable electrical control box (12) is connected to the turntable control host computer (13) and the space-based turntable (2) respectively; The turntable control host computer (13) sends control commands to the turntable electrical control box (12), and the turntable electrical control box (12) drives the space-based turntable (2) to operate according to the control commands.

4. The image stabilization device based on a fast-swinging mirror according to claim 3, characterized in that: The power supply assembly includes a first DC power supply (14), a second DC power supply (15), a 5V DC power supply (16), and a 28V DC power supply (17); The first DC power supply (14) is connected to the laser (6) and the laser detector (7) respectively; The second DC power supply (15) is connected to the spot signal processor (8); The 5V DC power supply (16) is connected to the gyroscope assembly; The 28V DC power supply (17) is connected to the turntable control box (12).

5. The image stabilization device based on a fast-swinging mirror according to claim 4, characterized in that, The laser detector (7) is a two-dimensional position-sensitive detector with two sides.

6. The image stabilization device based on a fast-swinging mirror according to claim 5, characterized in that, The three-axis gyroscope (5) is a fiber optic gyroscope.

7. A method for image stabilization based on a fast-swinging mirror, employing the image stabilization device based on a fast-swinging mirror as described in claim 1, characterized in that, Includes the following steps: Step 1. Start the satellite attitude simulator (1), the mirror control unit and the turntable control unit. The satellite attitude simulator (1) simulates the satellite platform generating micro-disturbances on the space-based turntable (2). Step 2. The three-axis gyroscope (5) detects the micro-disturbance signal of the satellite attitude simulator (1) and sends the micro-disturbance signal to the swing mirror control unit; Step 3. The mirror control unit receives and processes the micro-disturbance signal to obtain the compensation information of the mirror (3), and controls the mirror (3) to perform reverse compensation according to the compensation information to stabilize the mirror (3) and thus stabilize the light spot.

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