Inter-satellite baseline measurement method and device based on rotary table

Abstract

The invention discloses an inter-satellite baseline measurement method and device based on a rotary table, and belongs to the technical field of space measurement. The method is realized by an inter-satellite baseline measurement device in the measurement system, and the measurement system further comprises a three-axis turntable, a laser vision fusion measurement device and a GNSS (Global Navigation Satellite System), the laser vision fusion measurement device comprises a laser ranging module and a vision measurement module. The laser vision fusion measurement device is fixedly connected with the three-axis turntable, the laser vision fusion measurement device rotates along with the rotation of the three-axis turntable, and an inter-satellite baseline preliminary measurement result is determined by using GNSS navigation data; the inter-satellite preliminary measurement result comprises a preliminary baseline direction; according to the initial base line direction, controlling the three-axis turntable to adjust towards the initial base line direction, so that the laser vision fusion measurement device is aligned with the auxiliary star target; and performing fusion measurement on the auxiliary star target by using the laser vision fusion measurement device to obtain actual baseline data between the auxiliary star target and the laser vision fusion measurement device. According to the invention, high-precision inter-satellite baseline measurement can be rapidly realized.

Description

Technical Field

[0001] The present invention relates to the field of space measurement technology, and in particular to a turntable-based inter-satellite baseline measurement method and device. Background Art

[0002] When distributed satellite formations operate collaboratively, intersatellite baseline measurements are required. Related technologies utilize GNSS navigation on satellites to achieve this intersatellite baseline measurement. However, the intersatellite baselines obtained using GNSS navigation are poorly accurate, necessitating a more precise intersatellite baseline measurement method. Summary of the Invention

[0003] The present invention provides a turntable-based intersatellite baseline measurement method and device, which can solve the problem of poor intersatellite baseline measurement accuracy in related technologies. The technical solution is as follows:

[0004] On the one hand, a turntable-based intersatellite baseline measurement method is provided, which is implemented by an intersatellite baseline measurement device in a measurement system. The measurement system is located in the main satellite of a distributed satellite formation. The measurement system also includes: a three-axis turntable, a laser vision fusion measurement device, and a GNSS; the laser vision fusion measurement device includes: a laser ranging module and a vision measurement module; the laser vision fusion measurement device is fixedly connected to the three-axis turntable, and the laser vision fusion measurement device rotates with the rotation of the three-axis turntable; the method includes:

[0005] Determining preliminary inter-satellite baseline measurement results using primary satellite GNSS navigation data and auxiliary satellite GNSS navigation data; the preliminary inter-satellite baseline measurement results include preliminary baseline pointing;

[0006] According to the preliminary baseline orientation, the three-axis turntable is controlled to adjust toward the preliminary baseline orientation so that the laser vision fusion measurement device is aligned with the auxiliary satellite target;

[0007] The laser vision fusion measurement device is used to perform fusion measurement on the auxiliary star target to obtain actual baseline data between the auxiliary star target and the auxiliary star target.

[0008] On the other hand, a turntable-based intersatellite baseline measurement device is provided. The device is located in a measurement system located in a primary satellite of a distributed satellite formation. The measurement system further comprises: a three-axis turntable, a laser vision fusion measurement device, and a GNSS; the laser vision fusion measurement device comprises: a laser ranging module and a vision measurement module; the laser vision fusion measurement device is fixedly connected to the three-axis turntable, and the laser vision fusion measurement device rotates in accordance with the rotation of the three-axis turntable; the intersatellite baseline measurement device comprises:

[0009] a determination unit, configured to determine a preliminary inter-satellite baseline measurement result using the primary satellite GNSS navigation data and the auxiliary satellite GNSS navigation data; the preliminary inter-satellite baseline measurement result includes a preliminary baseline pointing;

[0010] A control unit, configured to control the three-axis turntable to adjust toward the preliminary baseline according to the preliminary baseline, so as to align the laser vision fusion measurement device with the auxiliary satellite target;

[0011] An acquisition unit is used to acquire actual baseline data between the auxiliary satellite target and the auxiliary satellite target obtained after the laser vision fusion measurement device performs fusion measurement on the auxiliary satellite target.

[0012] In another aspect, a measurement system is provided. The measurement system is located in a primary satellite of a distributed satellite formation, and includes: an intersatellite baseline measurement device, a three-axis turntable, a laser vision fusion measurement device, and a GNSS; the laser vision fusion measurement device includes: a laser ranging module and a vision measurement module; the laser vision fusion measurement device is fixedly connected to the three-axis turntable, and the laser vision fusion measurement device rotates in response to the rotation of the three-axis turntable;

[0013] The inter-satellite baseline measurement device is used to determine the preliminary inter-satellite baseline measurement result using the primary satellite GNSS navigation data and the auxiliary satellite GNSS navigation data; the preliminary inter-satellite measurement result includes the preliminary baseline pointing; according to the preliminary baseline pointing, the three-axis turntable is controlled to adjust to the preliminary baseline pointing so that the laser vision fusion measurement device is aligned with the auxiliary satellite target; and the actual baseline data between the auxiliary satellite target and the laser vision fusion measurement device obtained after the laser vision fusion measurement device performs fusion measurement on the auxiliary satellite target is obtained.

[0014] On the other hand, a computer device is provided, comprising a memory and a processor, wherein the memory is used to store a computer program, and the processor is used to execute the computer program stored in the memory to implement the steps of the above-mentioned turntable-based inter-satellite baseline measurement method.

[0015] On the other hand, a computer-readable storage medium is provided, wherein a computer program is stored in the storage medium, and when the computer program is executed by a processor, the steps of the above-mentioned turntable-based inter-satellite baseline measurement method are implemented.

[0016] On the other hand, a computer program product is provided, comprising a computer program, which implements the steps of the above-mentioned turntable-based inter-satellite baseline measurement method when executed by a processor.

[0017] The technical solution provided by the present invention can at least bring the following beneficial effects:

[0018] GNSS navigation data is used to roughly provide preliminary baseline pointing for the laser vision fusion measurement device, which is then used to control the three-axis turntable to roughly track the auxiliary satellite target. The laser vision fusion measurement device is then used to perform high-precision measurement of the auxiliary satellite target, thereby quickly achieving high-precision inter-satellite baseline measurement. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0020] Figure 1 This is a flow chart of a turntable-based intersatellite baseline measurement method provided by one embodiment of the present invention;

[0021] Figure 2 This is a structural diagram of an intersatellite baseline measurement device based on a turntable provided in one embodiment of the present invention;

[0022] Figure 3 This is a hardware architecture diagram of a computer device provided by one embodiment of the present invention. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0024] Please refer to Figure 1 An embodiment of the present invention provides a turntable-based intersatellite baseline measurement method, which is implemented by an intersatellite baseline measurement device in a measurement system. The measurement system is located in the master satellite of a distributed satellite formation. The measurement system also includes: a three-axis turntable, a laser vision fusion measurement device, and a GNSS. The laser vision fusion measurement device includes: a laser ranging module and a vision measurement module. The laser vision fusion measurement device is fixedly connected to the three-axis turntable and rotates with the rotation of the three-axis turntable. The method includes:

[0025] Step 100: Determine preliminary inter-satellite baseline measurement results using primary satellite GNSS navigation data and auxiliary satellite GNSS navigation data; the preliminary inter-satellite baseline measurement results include preliminary baseline pointing.

[0026] Step 102: According to the preliminary baseline orientation, the three-axis turntable is controlled to adjust toward the preliminary baseline orientation so that the laser vision fusion measurement device is aligned with the auxiliary satellite target;

[0027] Step 104: Use the laser vision fusion measurement device to perform fusion measurement on the auxiliary satellite target to obtain actual baseline data between the auxiliary satellite target and the auxiliary satellite target.

[0028] In an embodiment of the present invention, a three-axis turntable and a laser vision fusion measurement device are introduced into the satellite's measurement system. GNSS navigation data is used to roughly provide a preliminary baseline pointing for the laser vision fusion measurement device. The preliminary baseline pointing is used to control the three-axis turntable to roughly track the auxiliary satellite target. Then, the laser vision fusion measurement device is used to perform high-precision measurement of the auxiliary satellite target, thereby quickly achieving high-precision inter-satellite baseline measurement.

[0029] Described below Figure 1 How to perform the steps shown.

[0030] First, with respect to step 100 , the primary satellite GNSS navigation data and the auxiliary satellite GNSS navigation data are used to determine the preliminary inter-satellite baseline measurement result.

[0031] Both the primary and secondary satellites are equipped with GNSS, which can be used to calculate their own orbital positions. The secondary satellite can directly send its GNSS navigation data to the primary satellite, or it can send the calculated secondary satellite orbital position to the primary satellite.

[0032] In the embodiment of the present invention, the data interaction modes between the auxiliary satellite and the primary satellite may include at least the following two modes:

[0033] Method 1: Data exchange is carried out through dedicated inter-satellite links in a distributed satellite formation;

[0034] Method 2: Forwarding interactive data through ground measurement and control stations.

[0035] Of the two data interaction methods mentioned above, Method 1 is not restricted by the measurement and control arc segment, laying the foundation for preliminary measurement of the all-day time baseline. It has higher flexibility and autonomy, low latency and higher accuracy. Method 2 serves as a backup for Method 1, improving the reliability of the system.

[0036] The primary satellite uses GNSS navigation data from both the primary and secondary satellites to calculate preliminary intersatellite baseline measurements. These preliminary intersatellite baseline measurements include a preliminary baseline heading and length. This preliminary baseline heading provides the measurement system with a rough visual orientation, enabling the laser vision fusion measurement device to quickly align with the secondary satellite target.

[0037] Then, for step 102 , according to the preliminary baseline orientation, the three-axis turntable is controlled to adjust toward the preliminary baseline orientation so that the laser vision fusion measurement device is aligned with the auxiliary satellite target.

[0038] The visual measurement module in the laser vision fusion measurement device needs to calculate the posture of the auxiliary satellite target relative to the visual measurement module by shooting the auxiliary satellite target. Therefore, it is necessary to ensure that the auxiliary satellite target is located within the field of view of the visual measurement module. Since the preliminary baseline pointing can provide a rough visual pointing for the measurement system, after controlling the three-axis turntable to adjust to the preliminary baseline pointing, the auxiliary satellite target can be located within the field of view of the visual measurement module.

[0039] Among them, the laser vision fusion measurement device is fixedly connected to the three-axis turntable, and the laser vision fusion measurement device rotates along with the rotation of the three-axis turntable, and the relative posture and position of the laser vision fusion measurement device and the three-axis turntable do not change with the rotation of the three-axis turntable.

[0040] In an embodiment of the present invention, step 102 may specifically include: calculating the control angle of the three-axis turntable based on the preliminary baseline orientation, the installation matrix of the three-axis turntable, and the installation matrix of the laser vision fusion measurement device; and turning toward the preliminary baseline orientation according to the minimum path based on the control angle.

[0041] The three-axis turntable is installed on the main satellite with high precision and the installation matrix A1 is known. The laser vision fusion measurement device is installed on the three-axis turntable with high precision and the installation matrix A2 is known. The auxiliary satellite target is installed on the auxiliary satellite with high precision and the installation matrix A3 is known. The current angle A4 of the three-axis turntable is known. According to A0~A4, the reference angle error A5 can be obtained. A5 directly reflects the relative attitude error between the laser vision fusion measurement device and the auxiliary satellite target. Then, the control angle of the three-axis turntable can be calculated according to A5, A1, and A4.

[0042] If there is an auxiliary satellite target in the field of view image of the visual measurement module, then the visual measurement module can calculate the posture of the auxiliary satellite target relative to the visual measurement module based on the auxiliary satellite target. If the auxiliary satellite target can be located within the specified area of ​​the field of view image of the visual measurement module, and the specified area is the central area of ​​the field of view image of the visual measurement module, then the calculation result can effectively eliminate error factors such as imaging distortion, thereby improving the accuracy of the measurement result. Therefore, in one embodiment of the present invention, after turning toward the preliminary baseline direction according to the minimum path based on the control angle, it can also include: obtaining the current field of view image based on the visual measurement module, and determining whether the auxiliary satellite target is located within the specified area of ​​the current field of view image; if not, based on the position of the auxiliary satellite target in the current field of view image, controlling the three-axis turntable so that the auxiliary satellite target is located within the specified area.

[0043] If the auxiliary satellite target is located within the specified area of ​​the current field of view image, it indicates that the vision measurement module has been aligned with the auxiliary satellite target.

[0044] In an embodiment of the present invention, when controlling the rotation of the three-axis turntable, it can be rotated according to the minimum path, thereby improving the adjustment speed, quickly capturing the auxiliary satellite target, and also placing the auxiliary satellite target within the small field of view of the visual measurement module, thereby improving the visual measurement accuracy.

[0045] Finally, for step 104, the laser vision fusion measurement device is used to perform fusion measurement on the auxiliary satellite target to obtain actual baseline data between the auxiliary satellite target and the auxiliary satellite target.

[0046] In order to achieve a measurement benchmark for the visual measurement module and the laser ranging module, in one embodiment of the present invention, the auxiliary star target includes at least three corner cube prisms, and the at least three corner cube prisms form a three-dimensional configuration; the laser ranging module and the visual measurement module share the auxiliary star target; in addition, the visual measurement module is also configured with an illumination light source, and the target has high reflectivity in both the illumination band of the visual measurement module and the operating band of the laser ranging module, and can be used for both visual imaging and laser ranging. As a result, the visual measurement module and the laser ranging module have the same measurement benchmark for the auxiliary star target, thereby improving measurement accuracy.

[0047] Then, this step 104 may specifically include the following steps 1040-1046:

[0048] Step 1040: Acquire a target image obtained by imaging the auxiliary satellite target using the visual measurement module, extract the two-dimensional coordinates of the target in the image plane coordinate system from the target image, and determine the orientation of the target in the visual measurement coordinate system based on the two-dimensional coordinates of the target;

[0049] Step 1042: Based on the orientation of the ranging target in the visual measurement coordinate system, the coordinate transformation relationship between the visual measurement coordinate system and the laser measurement coordinate system is used to obtain the orientation of the ranging target in the laser measurement coordinate system. Based on the orientation of the ranging target in the laser measurement coordinate system, the light beam transmission direction of the laser ranging module is adjusted so that the light beam points to the ranging target, and the laser ranging module measures the distance to the ranging target. The ranging target may be a portion or all of the targets in the cooperative target array.

[0050] Step 1044: using the coordinate transformation relationship between the visual measurement coordinate system and the laser measurement coordinate system, convert the distance of the ranging target to the three-dimensional position of the ranging target in the visual measurement coordinate system;

[0051] Step 1046: For the ranging target, a ranging equation is established based on the three-dimensional position of the ranging target and the coordinate transformation relationship between the visual measurement coordinate system and the target coordinate system. For the non-ranging target, a non-ranging equation is established based on the two-dimensional coordinates of the non-ranging target in the image plane coordinate system and the pinhole imaging model. The equation system formed by all targets is solved to obtain the actual baseline data between the visual measurement module and the auxiliary satellite target.

[0052] It can be understood that the imaging of the auxiliary star target by the visual measurement module is completed when the auxiliary star target is illuminated by the illumination light source.

[0053] Assume that the auxiliary satellite target coordinate system is the target coordinate system O T -X T Y T Z T , the body coordinate system of the visual measurement module is the visual measurement coordinate system O C -X C Y C Z C , the main coordinate system of the laser ranging module is the laser measurement coordinate system O L -X L Y L Z L , the rotation matrix from the target coordinate system to the visual measurement coordinate system is The translation vector from the visual measurement coordinate system to the target coordinate system is The rotation matrix from the visual measurement coordinate system to the laser measurement coordinate system is: The translation vector from the laser measurement coordinate system to the visual measurement coordinate system is in, and Can be obtained through external calibration means, and To be measured.

[0054] The auxiliary star target is the feature point of the auxiliary star target. The coordinates of the i-th target in the target coordinate system are (i=1,2,…,N, N is the number of targets), the coordinates in the visual measurement coordinate system are Here, the symbol H represents the transpose of a matrix or vector. The Euler angles from the target coordinate system to the visual measurement coordinate system are denoted as γ, α, and β. These three angles determine the rotation matrix The value of translation vector Then it is recorded as [x,y,z] H , γ, α, β, x, y, z are the six unknown quantities to be solved, and Y i C and are all functions of these six unknown quantities.

[0055] The distance to the target is measured by the laser ranging module Finally, the measurement results of the laser ranging module and the visual measurement module need to be integrated. Therefore, the coordinate transformation relationship between the visual measurement coordinate system and the laser measurement coordinate system can be used to convert the distance of the ranging target into the three-dimensional position of the ranging target in the visual measurement coordinate system.

[0056] Assuming that the number of ranging targets is m and the serial numbers of the ranging targets are N-m+1-N, then according to the three-dimensional positions of the ranging targets, the equations corresponding to these ranging targets in the above equations can be directly replaced to obtain a nonlinear equation system consisting of 2N+m equations; that is:

[0057] The non-ranging equation established for the non-ranging target (the serial number of the non-ranging target is 1-Nm) is:

[0058]

[0059] The ranging equation established for the ranging target (the serial number of the ranging target is N-m+1-N) is:

[0060]

[0061] f k (γ,α,β,x,y,z)=Y i C -Y i CR =0,k=3i-N+m-1,i=N-m+1,…,N

[0062]

[0063] Among them, γ, α, β are the Euler angles from the target coordinate system to the visual measurement coordinate system; [x, y, z] H is the translation vector from the visual measurement coordinate system to the target coordinate system; is the two-dimensional coordinate of the target in the image plane coordinate system; is the coordinate of the i-th target in the visual measurement coordinate system; is the conversion of the distance of the i-th target to the three-dimensional position in the visual measurement coordinate system; F is the focal length of the visual measurement module; N is the total number of targets in the cooperative target array, N is an integer not less than 3; m is the number of ranging targets, m is an integer not less than 1 and not greater than N, the 1st to (Nm)th targets are non-ranging targets, and the (N-m+1)th to Nth targets are ranging targets;

[0064] in, is the coordinate of the i-th target in the target coordinate system, It is the rotation matrix from the target coordinate system to the visual measurement coordinate system, determined by the Euler angle.

[0065] In the nonlinear equation group consisting of the above 2N+m equations, the target information measured by the laser ranging module can impose effective constraints on the distance to the target position for target measurement, making up for the shortcomings of the traditional visual measurement module and improving the measurement accuracy of the relative position of the target in the z-axis direction in the iterative calculation results.

[0066] In one embodiment of the present invention, the frequency of the frequency modulated continuous wave emitted by the laser ranging module when measuring the distance to the ranging target is obtained after calibration with a femtosecond laser.

[0067] The frequency of the FMCW laser used in the laser ranging module is directly given, but the FMCW laser has nonlinear distortion, which leads to poor accuracy of the calculation results directly using the given frequency. Therefore, a femtosecond laser is introduced to calibrate the frequency of the FMCW laser with high precision through frequency mixing. The calibrated frequency can then be used to calculate high-precision baseline data between the auxiliary satellite target.

[0068] Based on the same inventive concept as the above-mentioned turntable-based intersatellite baseline measurement method, an embodiment of the present invention provides a turntable-based intersatellite baseline measurement device, which is located in a measurement system. The measurement system is located in the main satellite of the distributed satellite formation, and the measurement system further includes: a three-axis turntable, a laser vision fusion measurement device and a GNSS; the laser vision fusion measurement device includes: a laser ranging module and a visual measurement module; the laser vision fusion measurement device is fixedly connected to the three-axis turntable, and the laser vision fusion measurement device rotates following the rotation of the three-axis turntable; please refer to Figure 2 , the intersatellite baseline measurement device includes:

[0069] The determination unit 200 is configured to determine a preliminary inter-satellite baseline measurement result using the primary satellite GNSS navigation data and the auxiliary satellite GNSS navigation data; the preliminary inter-satellite baseline measurement result includes a preliminary baseline pointing;

[0070] The control unit 202 is configured to control the three-axis turntable to adjust toward the preliminary baseline according to the preliminary baseline, so as to align the laser vision fusion measurement device with the auxiliary satellite target;

[0071] The acquisition unit 204 is used to acquire actual baseline data between the auxiliary satellite target and the auxiliary satellite target obtained after the laser vision fusion measurement device performs fusion measurement on the auxiliary satellite target.

[0072] In one embodiment of the present invention, the control unit is specifically used to: calculate the control angle of the three-axis turntable based on the preliminary baseline orientation, the installation matrix of the three-axis turntable, and the installation matrix of the laser vision fusion measurement device; and turn toward the preliminary baseline orientation according to the minimum path based on the control angle.

[0073] In one embodiment of the present invention, the control unit is further configured to, after turning toward the preliminary baseline according to the control angle along the minimum path, obtain a current field of view image based on a visual measurement module, and determine whether the auxiliary satellite target is located within a specified area of ​​the current field of view image; if not, control the three-axis turntable based on the position of the auxiliary satellite target in the current field of view image so that the auxiliary satellite target is located within the specified area.

[0074] In one embodiment of the present invention, the auxiliary satellite target includes at least three corner cube prisms, and the at least three corner cube prisms form a three-dimensional configuration; the laser ranging module and the visual measurement module share the auxiliary satellite target;

[0075] The acquisition unit is specifically configured to:

[0076] Acquire a target image obtained by imaging the auxiliary satellite target using a visual measurement module, extract the two-dimensional coordinates of the target in the image plane coordinate system from the target image, and determine the orientation of the target in the visual measurement coordinate system according to the two-dimensional coordinates of the target;

[0077] According to the orientation of the ranging target in the visual measurement coordinate system, the coordinate transformation relationship between the visual measurement coordinate system and the laser measurement coordinate system is used to obtain the orientation of the ranging target in the laser measurement coordinate system. According to the orientation of the ranging target in the laser measurement coordinate system, the light beam transmission direction of the laser ranging module is adjusted so that the light beam points to the ranging target, and the distance of the ranging target is measured by the laser ranging module; the ranging target is part of the target or all the targets in the cooperative target array;

[0078] The coordinate transformation relationship between the visual measurement coordinate system and the laser measurement coordinate system is used to convert the distance of the ranging target into the three-dimensional position of the ranging target in the visual measurement coordinate system;

[0079] For ranging targets, the ranging equation is established based on the three-dimensional position of the ranging target and the coordinate transformation relationship between the visual measurement coordinate system and the target coordinate system. For non-ranging targets, the non-ranging equation is established based on the two-dimensional coordinates of the non-ranging target in the image plane coordinate system and the pinhole imaging model. The equation group formed by all targets is solved to obtain the actual baseline data between the visual measurement module and the auxiliary satellite target.

[0080] In one embodiment of the present invention, the frequency of the frequency modulated continuous wave emitted by the laser ranging module when measuring the distance to the ranging target is obtained after calibration with a femtosecond laser.

[0081] It should be noted that the above-described embodiment of the turntable-based intersatellite baseline measurement device is merely an example of the division of the aforementioned functional modules. In actual applications, the aforementioned functions can be assigned to different functional modules as needed, i.e., the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. Furthermore, the above-described turntable-based intersatellite baseline measurement device and the turntable-based intersatellite baseline measurement method embodiment share the same concept. The specific implementation process is detailed in the method embodiment and will not be further elaborated here.

[0082] Based on the same inventive concept as the above-mentioned turntable-based intersatellite baseline measurement method, an embodiment of the present invention provides a measurement system, which is located in the primary satellite of a distributed satellite formation. The measurement system includes: an intersatellite baseline measurement device, a three-axis turntable, a laser vision fusion measurement device, and a GNSS. The laser vision fusion measurement device includes: a laser ranging module and a vision measurement module. The laser vision fusion measurement device is fixedly connected to the three-axis turntable and rotates with the rotation of the three-axis turntable.

[0083] The inter-satellite baseline measurement device is used to determine the preliminary inter-satellite baseline measurement result using the primary satellite GNSS navigation data and the auxiliary satellite GNSS navigation data; the preliminary inter-satellite measurement result includes the preliminary baseline pointing; according to the preliminary baseline pointing, the three-axis turntable is controlled to adjust to the preliminary baseline pointing so that the laser vision fusion measurement device is aligned with the auxiliary satellite target; and the actual baseline data between the auxiliary satellite target and the laser vision fusion measurement device obtained after the laser vision fusion measurement device performs fusion measurement on the auxiliary satellite target is obtained.

[0084] The embodiment of the present application also provides a computer device, please refer to Figure 3 The computer device includes a processor and a memory, wherein the memory stores at least one instruction, at least one program, code set, or instruction set, and the at least one instruction, at least one program, code set, or instruction set is loaded and executed by the processor to implement the turntable-based inter-satellite baseline measurement method provided by the above-mentioned method embodiments.

[0085] An embodiment of the present application also provides a computer-readable storage medium, on which is stored at least one instruction, at least one program, code set, or instruction set, and the at least one instruction, at least one program, code set, or instruction set is loaded and executed by a processor to implement the turntable-based inter-satellite baseline measurement method provided in the above-mentioned method embodiments.

[0086] An embodiment of the present application also provides a computer program product, which includes a computer program. A processor of a computer device reads the computer program from a computer-readable storage medium, and the processor executes the computer program, so that the computer device executes the turntable-based inter-satellite baseline measurement method described in any of the above embodiments.

[0087] For the convenience of description, the above systems or devices are described as being divided into various modules or units according to their functions. Of course, when implementing the present application, the functions of each unit can be implemented in the same or multiple software and / or hardware.

[0088] Through the description of the above embodiments, it can be seen that those skilled in the art can clearly understand that the present application can be implemented by means of software plus a necessary general hardware platform. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which can be stored in a storage medium such as ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in various embodiments of the present application or certain parts of the embodiments.

[0089] Finally, it should be noted that, in this document, relational terms such as first, second, third, and fourth are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus comprising the element.

[0090] The above is only a preferred embodiment of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A turntable-based intersatellite baseline measurement method, characterized in that: The method is implemented by an intersatellite baseline measurement device in a measurement system, the measurement system is located in the main satellite of a distributed satellite formation, the measurement system further comprises: a three-axis turntable, a laser vision fusion measurement device and a GNSS; the laser vision fusion measurement device comprises: a laser ranging module and a visual measurement module; the laser vision fusion measurement device is fixedly connected to the three-axis turntable, and the laser vision fusion measurement device rotates with the rotation of the three-axis turntable; the method comprises: Determine preliminary inter-satellite baseline measurement results using primary satellite GNSS navigation data and auxiliary satellite GNSS navigation data; the preliminary inter-satellite baseline measurement results include preliminary baseline pointing; According to the preliminary baseline orientation, the three-axis turntable is controlled to adjust toward the preliminary baseline orientation so that the laser vision fusion measurement device is aligned with the auxiliary satellite target; The laser vision fusion measurement device is used to perform fusion measurement on the auxiliary satellite target to obtain actual baseline data between the auxiliary satellite target and the auxiliary satellite target.

2. The method according to claim 1, characterized in that According to the preliminary baseline orientation, controlling the three-axis turntable to adjust toward the preliminary baseline orientation so that the laser vision fusion measurement device is aligned with the auxiliary satellite target includes: Calculate the control angle of the three-axis turntable according to the preliminary baseline orientation, the installation matrix of the three-axis turntable, and the installation matrix of the laser vision fusion measurement device; The device is steered toward the preliminary baseline according to the control angle and along a minimum path.

3. The method according to claim 2, characterized in that After turning toward the preliminary baseline according to the control angle along the minimum path, the method further includes: Based on the visual measurement module, the current field of view image is obtained, and it is determined whether the auxiliary satellite target is located in the specified area of ​​the current field of view image; if not, based on the position of the auxiliary satellite target in the current field of view image, the three-axis turntable is controlled to make the auxiliary satellite target located in the specified area.

4. The method according to claim 1, characterized in that: The auxiliary satellite target includes at least three corner cube prisms, and the at least three corner cube prisms form a three-dimensional configuration; the laser ranging module and the visual measurement module share the auxiliary satellite target; The method of using the laser vision fusion measurement device to perform fusion measurement on the auxiliary satellite target to obtain actual baseline data between the auxiliary satellite target and the auxiliary satellite target includes: Acquire a target image obtained by imaging the auxiliary satellite target using a visual measurement module, extract the two-dimensional coordinates of the target in the image plane coordinate system from the target image, and determine the orientation of the target in the visual measurement coordinate system according to the two-dimensional coordinates of the target; According to the orientation of the ranging target in the visual measurement coordinate system, the coordinate transformation relationship between the visual measurement coordinate system and the laser measurement coordinate system is used to obtain the orientation of the ranging target in the laser measurement coordinate system. According to the orientation of the ranging target in the laser measurement coordinate system, the light beam transmission direction of the laser ranging module is adjusted so that the light beam points to the ranging target, and then the distance of the ranging target is measured by the laser ranging module; the ranging target is part of the target or all the targets in the cooperative target array; The coordinate transformation relationship between the visual measurement coordinate system and the laser measurement coordinate system is used to convert the distance of the ranging target into the three-dimensional position of the ranging target in the visual measurement coordinate system; For the ranging target, the ranging equation is established according to the three-dimensional position of the ranging target and the coordinate transformation relationship between the visual measurement coordinate system and the target coordinate system; for the non-ranging target, the non-ranging equation is established according to the two-dimensional coordinates of the non-ranging target in the image plane coordinate system and the pinhole imaging model; the equation group formed by all targets is solved to obtain the actual baseline data between the visual measurement module and the auxiliary satellite target.

5. The method according to claim 4, characterized in that The frequency of the emitted frequency modulated continuous wave used by the laser ranging module when measuring the distance to the ranging target is obtained after calibration by the femtosecond laser.

6. An intersatellite baseline measurement device based on a turntable, characterized in that: Located in the measurement system, the measurement system is located in the main satellite of the distributed satellite formation, the measurement system also includes: a three-axis turntable, a laser vision fusion measurement device and a GNSS; the laser vision fusion measurement device includes: a laser ranging module and a visual measurement module; the laser vision fusion measurement device is fixedly connected to the three-axis turntable, and the laser vision fusion measurement device rotates with the rotation of the three-axis turntable; the inter-satellite baseline measurement device includes: A determination unit, used to determine a preliminary inter-satellite baseline measurement result using the primary satellite GNSS navigation data and the auxiliary satellite GNSS navigation data; the preliminary inter-satellite measurement result includes a preliminary baseline pointing; A control unit, used for controlling the three-axis turntable to adjust to the preliminary baseline direction according to the preliminary baseline direction, so that the laser vision fusion measurement device is aligned with the auxiliary satellite target; The acquisition unit is used to acquire the actual baseline data between the auxiliary satellite target and the auxiliary satellite target obtained after the laser vision fusion measurement device performs fusion measurement on the auxiliary satellite target.

7. A measurement system, characterized in that: The measurement system is located in the main satellite of the distributed satellite formation, and the measurement system includes: an intersatellite baseline measurement device, a three-axis turntable, a laser vision fusion measurement device and a GNSS; the laser vision fusion measurement device includes: a laser ranging module and a visual measurement module; the laser vision fusion measurement device is fixedly connected to the three-axis turntable, and the laser vision fusion measurement device rotates with the rotation of the three-axis turntable; The intersatellite baseline measurement device is used to determine the preliminary measurement result of the intersatellite baseline by using the primary satellite GNSS navigation data and the auxiliary satellite GNSS navigation data; the preliminary intersatellite measurement result includes the preliminary baseline pointing; according to the preliminary baseline pointing, the three-axis turntable is controlled to adjust to the preliminary baseline pointing so that the laser vision fusion measurement device is aimed at the auxiliary satellite target; and the actual baseline data between the auxiliary satellite target and the laser vision fusion measurement device obtained after the laser vision fusion measurement device performs fusion measurement on the auxiliary satellite target is obtained.

8. A computer device, characterized in that: The computer device includes a memory and a processor, the memory is used to store a computer program, and the processor is used to execute the computer program stored in the memory to implement the steps of any one of the methods described in claims 1-5.

9. A computer-readable storage medium, characterized in that: The storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method described in any one of claims 1 to 5 are implemented.

10. A computer program product, characterized in that The method comprises a computer program, which, when executed by a processor, implements the steps of the method according to any one of claims 1 to 5.

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