Variable-magnification optical simulator for testing satellite-borne visual navigation system

Abstract

The invention discloses a variable-magnification optical simulator for testing a satellite-borne visual navigation system. The variable-magnification optical simulator mainly comprises an optical camera, a fixed lens, a movable lens, a display screen and the like which are fixedly connected to an optical platform together, wherein the distance between the optical camera and the fixed lens is kept constant, and under the same central optical axis height, the fixed lens and the movable lens are kept coaxial and the distance can be changed through a lead screw guide rail, and the movable lens and the display screen are also kept coaxial and the distance can be changed through the lead screw guide rail; finally, by changing the distance among the fixed lens, the movable lens and the display screen, the optical camera is simulated to acquire space target images with different magnification times; according to the invention, the simulation test of the performance of the satellite-borne visual navigation system in a high dynamic space environment can be simulated.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of satellites, and particularly relates to a variable-magnification optical simulator for testing a spaceborne visual navigation system. BACKGROUND

[0002] With the continuous emergence of new space technologies, the scope of space missions is gradually expanding to new space fields such as on-orbit servicing, formation flying, space debris cleaning and deep space exploration. These new space fields all involve autonomous proximity operations on space targets and have gradually become a hot research field. To achieve autonomous proximity operations of a spacecraft on a space target, the spacecraft needs to have strong relative navigation capabilities. Visual navigation technology has become an enabling technology for various advanced distributed space system missions because of its advantages such as simple hardware configuration, low power consumption and small size, and can be used for relative navigation tasks at various distances. Therefore, a variable-magnification optical simulator for testing a spaceborne visual navigation system is proposed.

[0003] Before applying visual navigation technology to real spacecraft on-orbit missions, a large number of ground simulation verification experiments need to be carried out. Since it is difficult and costly to test the performance of a spaceborne visual navigation system on-orbit, ground simulation testing technology can provide the best means for the development and verification of a spaceborne visual navigation system. Existing ground simulation systems for testing a spaceborne visual navigation system can be divided into static and dynamic functional styles. The static simulation system can simulate a relatively single space scene and cannot obtain the dynamic performance of the spaceborne visual navigation system, while the dynamic simulation system can meet the demand for testing the dynamic performance of the spaceborne visual navigation system. According to relevant information, the existing dynamic simulation system does not have the performance of adjustable magnification and cannot simulate the space target images collected by an optical camera at different magnifications, which is not conducive to the simulation testing of the performance of a spaceborne visual navigation system in a high dynamic space environment, and therefore has great limitations. At present, there is no related patent for a variable-magnification optical simulator for testing a spaceborne visual navigation system in China. SUMMARY

[0004] The application aims to solve the technical problems in the prior art and provide a variable-magnification optical simulator for testing a spaceborne visual navigation system.

[0005] To achieve the above-mentioned purpose, the technical solution provided by the application is as follows: a variable-magnification optical simulator for testing a spaceborne visual navigation system, comprising an optical platform, wherein the optical platform is provided with an optical camera assembly, a moving lens assembly and a display screen assembly.

[0006] The optical camera assembly comprises an optical camera position fine adjustment mechanism fixedly connected to the optical platform, an optical camera mounting plate arranged on the optical camera position fine adjustment mechanism, and an optical camera arranged on the optical camera mounting plate, and a fixed lens position fine adjustment mechanism arranged on the optical platform, a fixed lens arranged on the fixed lens position fine adjustment mechanism, and the distance between the optical camera and the fixed lens being kept constant and at the same center optical axis height;

[0007] The moving lens assembly comprises a moving lens guide rail seat fixedly arranged on the optical platform, a moving lens lead screw guide rail arranged on the moving lens guide rail seat, a first sliding block slidingly arranged on the moving lens lead screw guide rail, a moving lens position fine adjustment mechanism arranged on the first sliding block, a moving lens mounting plate arranged on the moving lens position fine adjustment mechanism, and a moving lens fixedly connected to the moving lens mounting plate, the fixed lens and the moving lens being coaxial, and the first sliding block sliding on the moving lens lead screw guide rail to change the distance between the fixed lens and the moving lens.

[0008] The display screen assembly comprises a display screen guide rail seat fixedly arranged on the optical platform, a display screen lead screw guide rail arranged on the display screen guide rail seat, a second sliding block arranged on the display screen lead screw guide rail, a display screen position fine adjustment mechanism arranged on the second sliding block, and a display screen arranged on the display screen position fine adjustment mechanism, the display screen and the moving lens being coaxial, and the second sliding block sliding on the display screen lead screw guide rail to change the distance between the display screen and the moving lens.

[0009] The change of the distance between the fixed lens, the moving lens, and the display screen is used to simulate the realization of the optical camera collecting space target images at different magnification ratios.

[0010] Further, the optical camera position fine adjustment mechanism comprises four sets of support assemblies, each of the four sets of support assemblies comprising four fixed sleeves fixedly arranged on the optical platform, and a sliding inner rod slidingly connected in each of the four fixed sleeves, the sliding inner rod being fixedly connected to the fixed sleeve through a bolt, and each of the four sliding inner rods being fixedly connected to a corner of the optical camera mounting plate, and the fixed lens position fine adjustment mechanism comprising a set of lens support assemblies, the lens support assemblies being identical in structure to the support assemblies.

[0011] Further, the moving lens position fine adjustment mechanism comprises a first fixed seat arranged on the first sliding block, a first support arranged on the first fixed seat, and a first mounting table arranged on the first support, and the moving lens mounting plate being vertically mounted on the side of the first mounting table, i.e. the mounting direction of the moving lens mounting plate being perpendicular to the moving lens lead screw guide rail.

[0012] Further, the mobile lens guide rail seat is provided with a first motor outside, the output end of the first motor is connected with the mobile lens screw guide rail, and the first mobile block is in sliding connection with a first limiting rod arranged on the mobile lens guide rail seat.

[0013] Further, the display screen position fine adjustment mechanism comprises a second fixing seat arranged on the second mobile block, a second support arranged on the second fixing seat, and a second mounting table arranged on the second support, wherein the display screen is mounted on the front face of the second mounting table and faces the optical camera.

[0014] Further, the display screen guide rail seat is provided with a second motor outside, the output end of the second motor is connected with the display screen screw guide rail, and the second mobile block is in sliding connection with a second limiting rod arranged on the display screen guide rail seat.

[0015] The present application has the following advantages:

[0016] 1. The present application is equipped with an optical camera position fine adjustment mechanism, a mobile lens position fine adjustment mechanism and a display screen position fine adjustment mechanism, which can ensure that the optical camera, the fixed lens, the mobile lens and the display screen are at the same center optical axis height; and the distance between the fixed lens, the mobile lens and the display screen can be changed through the mobile lens screw guide rail, the first mobile block, the display screen screw guide rail and the second mobile block, so as to simulate the optical camera to collect space target images with different magnification.

[0017] 2. The whole device is fixedly connected on an optical platform, and has the advantages of small size, light weight and low cost.

[0018] 3. The present application has high dynamic space target image updating capability, and can simulate the simulation test of the performance of the spaceborne visual navigation system in a high dynamic space environment; the system position precision is high, the position precision of the space target can be controlled within 30", and the star simulation capability is good. BRIEF DESCRIPTION OF DRAWINGS

[0019] The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and serve to explain the principles of the application, and do not limit the application in any way.

[0020] Figure 1 is the overall structure schematic diagram of the variable magnification optical simulator of the present application;

[0021] Figure 2 is the double-lens imaging principle structure schematic diagram of the present application;

[0022] Figure 3 is the structure schematic diagram of the mobile lens position fine adjustment mechanism of the present application;

[0023] Figure 4 is the structure schematic diagram of the display screen position fine adjustment mechanism of the present application.

[0024] Reference signs:

[0025] 1-optical camera position fine adjustment mechanism, 2-optical camera mounting plate, 3-optical camera, 4-fixed lens, 5-optical platform, 6-mobile lens screw guide rail, 7-mobile lens, 8-mobile lens mounting plate, 9-mobile lens position fine adjustment mechanism, 10-display screen, 11-display screen position fine adjustment mechanism, 12-display screen screw guide rail, 13-mobile lens guide rail seat, 14-first sliding block, 15-display screen guide rail seat, 16-second sliding block, 17-first fixed seat, 18-first support, 19-first mounting table, 20-second fixed seat, 21-second support, 22-second mounting table. DETAILED DESCRIPTION

[0026] This part will describe the specific embodiments of the present application in detail, the preferred embodiments of the present application are shown in the drawings, the role of the drawings is to supplement the description of the text part with graphics, so that people can intuitively and visually understand each technical feature and the overall technical scheme of the present application, but it cannot be understood as limiting the protection scope of the present application.

[0027] In the description of the present application, if the first, second is described only for the purpose of distinguishing technical features, it cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features or implicitly indicating the sequence of indicated technical features.

[0028] Reference Figures 1-4 , the preferred embodiment of the present application, a variable optical simulator for testing of spaceborne visual navigation system, characterized in that: comprising an optical platform, the optical platform is provided with optical camera assembly, mobile lens assembly and display screen assembly;

[0029] The optical camera assembly comprises an optical camera position fine adjustment mechanism 1 and a fixed lens position fine adjustment mechanism fixedly connected to the optical platform, the optical camera mounting plate 2 is arranged on the optical camera position fine adjustment mechanism 1, the optical camera 3 is arranged on the optical camera mounting plate 2, the fixed lens 4 is arranged on the fixed lens position fine adjustment mechanism, the distance between the optical camera 3 and the fixed lens 4 remains constant and is at the same center optical axis height;

[0030] The moving lens assembly comprises a moving lens guide rail seat 13 fixedly arranged on the optical platform, a moving lens lead screw guide rail 6 arranged on the moving lens guide rail seat 13, a first sliding block 14 slidingly arranged on the moving lens lead screw guide rail 6, a moving lens position fine adjustment mechanism 9 arranged on the first sliding block 14, a moving lens mounting plate 8 arranged on the moving lens position fine adjustment mechanism 9, and a moving lens 7 fixedly connected to the moving lens mounting plate 8; the fixed lens 4 and the moving lens 7 are coaxial, and the first sliding block 14 slides on the moving lens lead screw guide rail 6, so as to change the distance between the fixed lens 4 and the moving lens 7.

[0031] The display screen assembly comprises a display screen guide rail seat 15 fixedly arranged on the optical platform, a display screen lead screw guide rail 12 arranged on the display screen guide rail seat 15, a second sliding block 16 arranged on the display screen lead screw guide rail 12, a display screen position fine adjustment mechanism 11 arranged on the second sliding block 16, and a display screen 10 arranged on the display screen position fine adjustment mechanism 11; the display screen 10 and the moving lens 7 are coaxial, and the second sliding block 16 slides on the display screen lead screw guide rail 12, so as to change the distance between the display screen 10 and the moving lens 7.

[0032] The change of the distance between the fixed lens 4, the moving lens 7 and the display screen 10 is used to simulate the realization of the optical camera 3 collecting the spatial target image with different magnification.

[0033] In the embodiment, the optical camera position fine adjustment mechanism 1 comprises four groups of support assemblies, each of the four groups of support assemblies comprises four fixed sleeves fixedly arranged on the optical platform, and four sliding inner rods are slidingly connected in the four fixed sleeves; the sliding inner rods are fixedly connected to the fixed sleeves through bolts, and the four sliding inner rods are fixedly connected to four corners of the optical camera mounting plate 2; the fixed lens position fine adjustment mechanism comprises a lens support assembly, and the lens support assembly has the same structure as the support assembly.

[0034] In the embodiment, the moving lens position fine adjustment mechanism 9 comprises a first fixed seat 17 arranged on the first sliding block 14, a first support 18 arranged on the first fixed seat 17, and a first mounting table 19 arranged on the first support 18; the moving lens mounting plate 8 is vertically mounted on the side surface of the first mounting table 19, that is, the mounting direction of the moving lens mounting plate 8 is perpendicular to the moving lens lead screw guide rail 6.

[0035] In the embodiment, the first motor is arranged outside the moving lens guide rail seat 13, the output end of the first motor is connected with the moving lens screw guide rail 6, and the first limiting rod is further arranged on the moving lens guide rail seat 13, and the first sliding block 14 is in sliding connection with the first limiting rod.

[0036] In the embodiment, the display screen position fine adjustment mechanism 11 comprises a second fixing seat 20 arranged on the second sliding block 16, a second support 21 arranged on the second fixing seat 20, and a second mounting table 22 arranged on the second support 21, and the display screen 10 is mounted on the front face of the second mounting table 22 and faces the direction of the optical camera 3.

[0037] In the embodiment, the second motor is arranged outside the display screen guide rail seat 15, the output end of the second motor is connected with the display screen screw guide rail 12, and the second limiting rod is further arranged on the display screen guide rail seat 15, and the second sliding block 16 is in sliding connection with the second limiting rod.

[0038] The working principle of the present application is that the simulated space target image is dynamically played on the display screen 10, the light emitted from the display screen 10 is transformed through two stages of the moving lens 7 and the fixed lens 4, and the simulated space target image on the display screen 10 is imaged through the optical camera 3, wherein the distance between the optical camera 3 and the fixed lens 4 is kept constant and at the same center optical axis height, the fixed lens 4 and the moving lens 7 are kept coaxial and the distance can be changed through the moving lens screw guide rail 6, the moving lens 7 and the display screen 10 are also kept coaxial and the distance can be changed through the moving lens screw guide rail 6 and the display screen screw guide rail 12, and finally the distance between the fixed lens 4, the moving lens 7 and the display screen 10 is changed to simulate the realization of the optical camera 3 collecting the space target image with different magnification.

[0039] The optical principle of the variable magnification optical simulator of the present application is as follows:

[0040] Parameter explanation: H i1 and H i2 are the vertical heights of the space target real image and virtual image respectively; H s is the vertical height of the space target image on the display screen 10; D i1 is the distance between the moving lens 7 and the real image; D i2 is the distance between the fixed lens 4 and the virtual image; D o1 is the distance between the display screen 10 and the moving lens 7; D o2 is the distance between the fixed lens 4 and the real image; D cam is the distance between the fixed lens 4 and the optical camera 3.

[0041] like Figure 2 As shown, the variable magnification optical simulator can simulate the acquisition of spatial target images at different magnifications by the optical camera 3 by changing the distance between the fixed lens 4, the movable lens 7, and the display screen 10. The magnification M of the image formed by the movable lens 7 and the display screen 10 can be determined by the following formula:

[0042]

[0043] To obtain the required magnification M, it is necessary to adjust D. o1 and D i1 The solution is then performed. For ease of calculation, the lens equation is related to the moving lens 7 with focal length f1 and the fixed lens 4 with focal length f2, as shown in the following equation:

[0044]

[0045] The virtual image produced by the fixed lens 4 is an image of the space target obtained by the optical camera 3 in a simulated environment. If the space target to be observed by the optical camera 3 is a non-stellar object at a distance r, the virtual image needs to be placed at D. i2 = -r's position; if the observed object is a distant (≥10km) star or non-stellar object, it can be assumed that these rays are collimated rays. Given D i2 Given the application environment, the distance D between the fixed lens 4 and the real image is... o2 It can be determined by the following formula:

[0046]

[0047] Further obtain

[0048]

[0049] From equation (4), we can see that when D i2 When <0, then D o2 ≤f2, that is, when D i2 When f1 < 0, the image produced by fixed lens 4 is always a virtual image. If we assume that f1 and f2 are both known, then D can be calculated. o1 for

[0050]

[0051] Based on equations (1) and (5), we obtain

[0052] D i1 =(1-M)f1 (6)

[0053] Since the variable magnification optical simulator can adjust the desired magnification, this can be achieved by changing parameters related to the magnification M, such as changing parameter D.o1 and D i1 .

[0054] Thus, the adjustment of the magnification M can be satisfied by two sets of relative movements: one of them is: 1) the relative movement between the display screen 10 and the mobile lens 7; the other is: 2) the relative movement between the mobile lens 7 and the fixed lens 4.

[0055] In addition, in order to reduce the number of moving objects, the lens close to the optical camera 3 is fixed to control the number of variables, thereby reducing the complexity of the variable magnification optical simulator, i.e. D cam is a fixed value.

[0056] The above additional technical features can be combined and used by the skilled person in the art without conflict.

[0057] The above only describes the preferred embodiments of the present application, and any technical solutions that achieve the same purpose by basically the same means fall within the protection scope of the present application.

Claims

1. A variable-magnification optical simulator for testing spaceborne visual navigation systems, characterized in that: It includes an optical platform, on which an optical camera assembly, a movable lens assembly, and a display screen assembly are mounted; The optical camera assembly includes an optical camera position fine-tuning mechanism (1) and a fixed lens position fine-tuning mechanism fixedly connected to the optical platform. An optical camera mounting plate (2) is provided on the optical camera position fine-tuning mechanism (1), an optical camera (3) is provided on the optical camera mounting plate (2), and a fixed lens (4) is provided on the fixed lens position fine-tuning mechanism. The distance between the optical camera (3) and the fixed lens (4) remains constant and is at the same central optical axis height. The movable lens assembly includes a movable lens guide rail base (13) fixedly mounted on the optical platform. A movable lens lead screw guide rail (6) is provided on the movable lens guide rail base (13). A first sliding block (14) is slidably mounted on the movable lens lead screw guide rail (6). A movable lens position fine adjustment mechanism (9) is provided on the first sliding block (14). A movable lens mounting plate (8) is provided on the movable lens position fine adjustment mechanism (9). A movable lens (7) is fixedly connected to the movable lens mounting plate (8). The fixed lens (4) and the movable lens (7) are kept coaxial. The first sliding block (14) slides on the movable lens lead screw guide rail (6) to change the distance between the fixed lens (4) and the movable lens (7). The display screen assembly includes a display screen guide rail base (15) fixedly mounted on the optical platform. A display screen lead screw guide rail (12) is mounted on the display screen guide rail base (15). A second sliding block (16) is mounted on the display screen lead screw guide rail (12). A display screen position fine adjustment mechanism (11) is mounted on the second sliding block (16). A display screen (10) is mounted on the display screen position fine adjustment mechanism (11). The display screen (10) and the moving lens (7) are kept coaxial. The second sliding block (16) slides on the display screen lead screw guide rail (12) to change the distance between the display screen (10) and the moving lens (7). The change in the distance between the fixed lens (4), the movable lens (7), and the display screen (10) is used to simulate the acquisition of spatial target images with different magnifications by the optical camera (3).

2. The variable-magnification optical simulator for testing spaceborne visual navigation systems according to claim 1, characterized in that: The optical camera position fine-tuning mechanism (1) includes four sets of support components. Each of the four sets of support components includes four fixed sleeves fixed on the optical platform. Sliding inner rods are slidably connected inside the four fixed sleeves. The sliding inner rods are positioned and connected to the fixed sleeves by bolts. The four sliding inner rods are fixedly connected to the four corners of the optical camera mounting plate (2). The fixed lens position fine-tuning mechanism includes a set of lens support components. The lens support components have the same structure as the support components.

3. The variable-magnification optical simulator for testing spaceborne visual navigation systems according to claim 1, characterized in that: The moving lens position fine-tuning mechanism (9) includes a first fixed seat (17), which is disposed on the first sliding block (14). A first bracket (18) is disposed on the first fixed seat (17), and a first mounting platform (19) is disposed on the first bracket (18). The moving lens mounting plate (8) is vertically mounted on the side of the first mounting platform (19), that is, the mounting direction of the moving lens mounting plate (8) is perpendicular to the moving lens lead screw guide (6).

4. A variable-magnification optical simulator for testing spaceborne visual navigation systems according to claim 3, characterized in that: A first motor is provided on the outside of the movable lens guide rail base (13). The output end of the first motor is connected to the movable lens lead screw guide rail (6). A first limiting rod is also provided on the movable lens guide rail base (13). The first sliding block (14) is slidably connected to the first limiting rod.

5. A variable-magnification optical simulator for testing spaceborne visual navigation systems according to claim 1, characterized in that: The display screen position fine-tuning mechanism (11) includes a second fixed seat (20), which is disposed on the second sliding block (16). A second bracket (21) is disposed on the second fixed seat (20), and a second mounting platform (22) is disposed on the second bracket (21). The display screen (10) is mounted on the front of the second mounting platform (22), and the display screen (10) faces the optical camera (3).

6. A variable-magnification optical simulator for testing spaceborne visual navigation systems according to claim 5, characterized in that: A second motor is provided on the outside of the display screen guide rail base (15). The output end of the second motor is connected to the display screen lead screw guide rail (12). A second limiting rod is also provided on the display screen guide rail base (15). The second sliding block (16) is slidably connected to the second limiting rod.

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