Satellite on-orbit vibration state system and method based on KMEANS algorithm

Abstract

The application provides a satellite in-orbit vibration state system and method based on a KMEANS algorithm, comprising an FPGA data processing module, a laser driving module, a laser emitting module, a COMS acquisition module, a CMOS driving module and a power module. Through the system, high-precision real-time acquisition of the satellite in-orbit vibration state can be realized. The system uses the KMEANS algorithm for cluster analysis to distinguish the target, so as to accurately judge the vibration state of the satellite. Compared with the traditional method, the system has faster monitoring speed and higher precision, and can effectively improve the measurement accuracy and effectiveness of the vibration state.

Description

Technical Field

[0001] This invention relates to the field of satellite on-orbit vibration status technology, specifically to a satellite on-orbit vibration status system and method based on the KMEANS algorithm. Background Technology

[0002] Currently, real-time monitoring and analysis of satellite vibration signals can provide crucial information about the satellite's on-orbit operational status, enabling display and alarm functions. The technology of using laser illumination to determine the vibration state of a target has attracted considerable attention. This technology provides reliable data on the satellite's on-orbit vibration state by identifying changes in the laser spot's position over time. Satellite on-orbit vibration status methods and systems are widely used in various stages of satellite manufacturing, launch, and operation, helping engineers to understand the satellite's on-orbit vibration status in a timely manner, identify vibration anomalies, and predict and avoid potential failures. Simultaneously, this system can provide important technical support for satellite optimization design and performance improvement. In summary, image processing-based laser ranging technology has enormous potential in the field of satellite on-orbit vibration status technology, offering more possibilities and conveniences for satellite mission execution and scientific research. However, currently, there is no optimal method to achieve this ranging process.

[0003] Patent application CN116625480A (application number: CN202211731313.5) discloses a non-contact mechanical vibration measurement system, relating to the field of non-contact vibration measurement technology. This method utilizes rolling shutter image acquisition to calculate the vibration parameters of the object under test, but it is not real-time acquisition and is costly. For some complex vibration modes or high vibration frequencies, it may not provide sufficiently accurate results. In contrast, the proposed method can acquire the on-orbit vibration state of satellites in real time, uses the KMEANS algorithm for cluster analysis to extract vibration state features, improves the accuracy and precision of the measurement, and can flexibly adapt to different satellite vibration state monitoring needs, possessing a certain degree of versatility.

[0004] Patent application CN114199366A (application number: CN202010984954.6) discloses a vibration state monitoring system. This method collects vibration data of the monitored equipment by installing vibration monitoring sensors. However, it may not provide accurate analysis results for complex vibration conditions, especially in variable working environments where false alarms or missed alarms may occur. Large-scale detection requires the deployment of a large number of sensors, increasing the system cost and maintenance difficulty. For specific types of faults, additional data processing may be required for judgment, limiting the system's versatility and failing to improve the overall system accuracy. In contrast, the proposed algorithm can accurately obtain the target position in real time, improving the detection accuracy of vibration state and offering greater flexibility.

[0005] Patent document CN109612664B (application number: CN201910017079.1) discloses a method for identifying the on-orbit vibration state of a satellite's flexible appendage using gyroscope data. After obtaining the angular velocity, the relative displacement is calculated by filtering. However, this method is costly, highly dependent on the gyroscope's state, and limited by the accuracy and sensitivity of the gyroscope. In contrast, the proposed method can obtain the vibration state in real time and is independent, allowing it to work independently without being affected by the external environment or satellite platform. It can achieve a higher degree of automation and reduce manual intervention and errors.

[0006] Patent application CN116256059A (application number: CN202310542255.X) discloses a vibration state detection method, apparatus, storage medium, and device. This method acquires the operating parameters of a DC system and the corresponding vibration signals, obtains characteristic quantities, stores them in a database, determines a characteristic threshold for vibration based on the database, and compares the target vibration characteristic quantities with the threshold to determine the vibration state monitoring result. This method is highly dependent on the setting of vibration characteristic quantities and thresholds because the characteristics of the vibration signal may be affected by environmental conditions, sensor performance, and other factors, making it difficult to determine a universally suitable threshold. If the relationship between the vibration characteristic quantities and the threshold is unstable or the characteristics of the vibration signal change, it may lead to misjudgment or missed detection results. In contrast, the proposed method extracts vibration state characteristics through data processing algorithms and can automatically adapt to different vibration modes and environmental conditions, thereby improving the accuracy of vibration state monitoring and achieving high computational efficiency.

[0007] Patent application CN113538580A (application number: CN202110799504.4) discloses a vibration measurement method and system based on vision processing. This method involves acquiring a vibration image sequence, selecting a monitoring area, extracting brightness information, filtering and calculating the phase difference, and then weighting the data to generate a vibration signal. This method is highly complex and computationally resource-intensive, requires manual operation, and needs to process each detection area, resulting in a large computational load and dependence on image features. In contrast, the proposed method is implemented using an FPGA, is faster, does not require manual area selection, has higher real-time performance, adapts to different vibration modes and environmental conditions, is simpler and more efficient, and saves more resources. Summary of the Invention

[0008] To address the shortcomings of existing technologies, the purpose of this invention is to provide a satellite on-orbit vibration status system and method based on the KMEANS algorithm.

[0009] The satellite on-orbit vibration status system based on the KMEANS algorithm provided by the present invention includes: an FPGA data processing module, a laser driving module, a laser emitting module, a CMOS acquisition module, a CMOS driving module, and a power supply module;

[0010] The FPGA data processing module is connected to the laser driving module, the laser driving module is connected to the laser emitting module, the CMOS acquisition module is connected to the CMOS driving module, the CMOS driving module is connected to the FPGA data processing module, and the power supply module is connected to both the FPGA data processing module and the CMOS driving module. The FPGA data processing module is used to output the modulation signal and process the signal acquired by the CMOS acquisition module to obtain the on-orbit vibration state. The laser driving module is used to receive the modulation signal output by the FPGA data processing module and drive the laser emitting module; The laser emitting module is used to emit laser light to the target object; The CMOS acquisition module is used to acquire laser spot signals on the target object; The CMOS driver module is used to drive the CMOS acquisition module; The power module is used to supply power to the FPGA data processing module and the CMOS driver module.

[0011] Preferably, the laser emitting module includes a laser diode and a laser driving circuit; The laser diode is used to generate laser light; The laser driving circuit is connected to the FPGA data processing module and the laser diode, and is used to receive the modulation signal and excite the laser diode.

[0012] Preferably, the power module is also connected to the laser drive module and the laser emission module for supplying power to them.

[0013] Preferably, the FPGA data processing module is further configured to: The analog signal acquired by the CMOS acquisition module is converted from analog to digital to obtain a digital image frame; The digital image frames are filtered and binarized. Perform connected component segmentation, average grayscale calculation, KMEANS clustering, and grayscale centroid calculation to extract the spot location.

[0014] Preferably, the system further includes a host computer; The FPGA data processing module transmits the on-orbit vibration status to the host computer via a bus for display or further analysis.

[0015] The satellite on-orbit vibration state method based on the KMEANS algorithm provided by the present invention includes: Step 1: Obtain the modulation signal output by the FPGA data processing module; Step 2: Based on the modulation signal, control the laser emitting module to emit laser light toward the target; Step 3: Based on the laser spot on the target, acquire analog signals through the CMOS acquisition module; Step 4: Convert the analog signal into a digital signal; Step 5: The digital signal is processed by the FPGA data processing module to obtain the spot position signal; Step 6: Obtain the on-orbit vibration state based on the light spot position signal.

[0016] Preferably, step 5 includes: Step 5.1: Perform image filtering processing on the digital signal; Step 5.2: Perform fixed threshold binarization on the filtered image; Step 5.3: Perform connected component segmentation on the binarized image; Step 5.4: Calculate the average gray value of each connected component; Step 5.5: Use the KMEANS algorithm to perform cluster analysis on the average gray value to distinguish between noise areas and spot areas; Step 5.6: Extract the region where the light spot is located based on the clustering results; Step 5.7: Calculate the position of the light spot based on the gray-scale centroid method.

[0017] Preferably, step 5.5 includes: Step 5.5.1: Use the average gray value of each connected component as sample data; Step 5.5.2: Set the number of clusters to 2, corresponding to the noise region and the spot region respectively; Step 5.5.3: Update the cluster centers through iterative calculation until convergence; Step 5.5.4: Based on the distance between the sample and the cluster center, divide each connected component into noise class or spot class.

[0018] Preferably, step 6 includes: Step 6.1: Obtain the spot position signal in each frame of N consecutive frames of images; Step 6.2: Based on the spot position signal of each of the N frames, calculate the sequence of changes in spot position over time; Step 6.3: Output the change sequence as the satellite's on-orbit vibration state.

[0019] Preferably, before the CMOS acquisition module acquires data, the method further includes: setting a filter in the optical path to filter out ambient stray light.

[0020] Compared with the prior art, the present invention has the following beneficial effects: This invention provides a satellite on-orbit vibration status system based on the KMEANS algorithm, comprising: an FPGA data processing module, a laser driving module, a laser emitting module, a CMOS acquisition module, a CMOS driving module, and a power supply module. This system enables high-precision real-time acquisition of the satellite's on-orbit vibration status. The system uses the KMEANS algorithm for cluster analysis to distinguish targets, thereby accurately determining the satellite's vibration status. Compared to traditional methods, this system offers faster monitoring speed and higher accuracy, effectively improving the accuracy and effectiveness of vibration status measurement. Attached Figure Description

[0021] Other features, objects, and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings: Figure 1 This is a schematic diagram of the module composition of a satellite on-orbit vibration state measurement system according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the satellite on-orbit vibration state method and system of the present invention; Figure 3 This is a schematic diagram illustrating the setup process of a satellite on-orbit vibration status system acquisition according to an embodiment of the present invention; Figure 4 This is a flowchart of a satellite on-orbit vibration state method according to the present invention; Figure 5 This is a schematic diagram illustrating the principle of a satellite on-orbit vibration state method according to the present invention; Figure 6 This is an integrated schematic diagram of a satellite on-orbit vibration status system according to the present invention. Detailed Implementation

[0022] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

[0023] Example This invention provides a satellite on-orbit vibration status system based on the KMEANS algorithm, comprising: an FPGA data processing module, a laser driving module, a laser emitting module, a CMOS acquisition module, a CMOS driving module, and a power supply module; the FPGA data processing module is connected to the laser driving module, the laser driving module is connected to the laser emitting module, the CMOS acquisition module is connected to the CMOS driving module, the CMOS driving module is connected to the FPGA data processing module, and the power supply module is connected to both the FPGA data processing module and the CMOS driving module; The FPGA data processing module implements specific data processing functions, which are used to output modulated signals and obtain the on-orbit vibration state after image processing. The laser driving module is used to receive signals from the FPGA and drive the laser diode. The laser emitting module is used to generate a laser beam and focus it onto the target object.

[0024] The light-emitting detection module is used to output optical digital signals; The CMOS acquisition module is used to receive signals received by the CMOS. The CMOS driver module is used to drive the CMOS. The power module is used to generate the voltage required by each module and provide power. The laser emitting module includes a laser diode and a laser driving circuit; the laser diode is connected to the laser driving circuit, and the laser driving circuit is connected to the FPGA data processing module. The laser diode is used to generate laser light for detection; The laser driving circuit is used to receive signals from the FPGA to excite the laser diode.

[0025] This invention also provides a satellite on-orbit vibration state method based on the KMEANS algorithm, which performs laser ranging on a target based on the satellite on-orbit vibration state system. The method includes: Acquire the modulation signal output by the FPGA data processing module; Based on the modulation signal, the laser emitting module is controlled to emit the laser towards the target; Based on the laser spot on the target, the analog signal acquired by the CMOS is obtained, and the digital signal is obtained from the analog signal; The FPGA data processing module processes the digital signal to obtain the spot position signal; The on-orbit vibration state is obtained based on the aforementioned spot position signal.

[0026] The analog signal includes N frames of data, and the acquisition of the target location information output by the FPGA data processing module includes: Obtain the spot position signal of each of the N frames using an image processing algorithm; Based on the spot position signal obtained in each of the N frames, the on-orbit vibration state output by the FPGA data processing module is obtained.

[0027] The positions of the light spots obtained by the image processing algorithm in each of the N frames include: After filtering the obtained image, connected component processing is performed, and K-means clustering is used to classify the average gray value of the connected components to obtain the region where the light spot is located. Based on the gray-scale centroid method, the region where the light spot is located is processed to obtain the position of the light spot. The formula is as follows:

[0028] in, The set of pixels in the spot area. For pixels grayscale value, The location of the center of mass of the light spot; The grayscale value is calculated as follows:

[0029] in, For the first The average gray value of each connected component This represents the number of pixels within the connected component. For pixels grayscale value, For the first A set of pixels in a connected domain.

[0030] The step of controlling the laser emitting module to emit laser light toward the target based on the modulation signal includes: Based on the modulation signal, the laser emitting module is controlled to output the ranging laser; Based on the ranging laser, the laser is controlled to be emitted toward the target.

[0031] The method of obtaining the on-orbit vibration state based on the analog signal acquired by the CMOS and the converted digital signal includes: The acquired analog signals are converted into digital signals through digital signal processing to obtain each frame of data for FPGA data processing; based on each frame of data, target position information is obtained; based on the target position information, the on-orbit vibration state is obtained.

[0032] Figure 1A schematic diagram of the module composition of the satellite on-orbit vibration state measurement system of the present invention is shown.

[0033] like Figure 1 As shown, a method and system for satellite on-orbit vibration state based on the KMEANS algorithm includes an FPGA data processing module, a laser driving module, a laser emitting module, a CMOS acquisition module, a CMOS driving module, and a power supply module. The power supply module supplies power to the CMOS, laser diode, and FPGA. The FPGA provides a laser driving signal to the laser driving module, which in turn provides an emission signal to the laser emitting module to emit the laser. After passing through the optical system, the CMOS acquires the laser spot on the target and transmits the analog signal to the FPGA. After analog-to-digital conversion, the data is processed to obtain the satellite's on-orbit vibration state.

[0034] Figure 2 A schematic diagram of the satellite on-orbit vibration status method and system of the present invention is shown; like Figure 2 As shown, the entire system sends the data acquired by the CMOS to the FPGA, and the FPGA transmits the final vibration state to the host computer via the bus.

[0035] Figure 3 A schematic diagram of the setup process for acquiring satellite on-orbit vibration status system according to an embodiment of the present invention is shown; before acquisition, a filter is added to filter out stray light from the environment to a certain extent.

[0036] Figure 4 A flowchart of the method for assessing the on-orbit vibration status of a satellite according to the present invention is shown; Figure 5 A schematic diagram illustrating the principle of the method for determining the on-orbit vibration status of a satellite according to the present invention is shown.

[0037] like Figure 4 and 5 As shown, the entire satellite on-orbit vibration state method begins with the output of a drive signal from the FPGA to drive the laser and CMOS. The CMOS acquires the laser spot on the target surface. After converting the acquired analog signal into a digital signal, the resulting image is filtered, binarized with a fixed threshold, and then segmented into connected components. The average gray value of each connected component is taken, and the result is used as the input for clustering. The average gray value is used for cluster analysis. Since the gray values ​​of the noise region and the spot region are significantly different, they can be distinguished using this method. The average gray value of the noise region and the spot region is used as the threshold for image segmentation. Then, the centroid of the spot is obtained by the gray centroid method, and the change of the laser position on the object surface over time is obtained, thus obtaining the on-orbit vibration state.

[0038] Figure 6An integrated schematic diagram of a satellite on-orbit vibration status system according to the present invention is shown.

[0039] The present invention has at least the following beneficial effects: The satellite on-orbit vibration state method and system disclosed in this invention, based on the KMEANS algorithm, has the function of obtaining on-orbit vibration state with high precision in real time; the integrated fabrication of the satellite on-orbit vibration state system, through FPGA control signals and data processing, not only reduces the size of the entire satellite on-orbit vibration state system, but also improves the speed and accuracy of vibration state monitoring, making vibration state measurement more accurate and effective; it can continuously regulate the vibration state of the satellite on-orbit in real time, so that the detection effect reaches the best.

[0040] Those skilled in the art will understand that, in addition to implementing the system, apparatus, and their modules provided by this invention in purely computer-readable program code, the same program can be implemented in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers by logically programming the method steps. Therefore, the system, apparatus, and their modules provided by this invention can be considered a hardware component, and the modules included therein for implementing various programs can also be considered structures within the hardware component; alternatively, modules for implementing various functions can be considered both software programs implementing the method and structures within the hardware component.

[0041] Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. A satellite on-orbit vibration status system based on the KMEANS algorithm, characterized in that, include: FPGA data processing module, laser driver module, laser emission module, CMOS acquisition module, CMOS driver module, and power supply module; The FPGA data processing module is connected to the laser driving module, the laser driving module is connected to the laser emitting module, the CMOS acquisition module is connected to the CMOS driving module, the CMOS driving module is connected to the FPGA data processing module, and the power supply module is connected to both the FPGA data processing module and the CMOS driving module. The FPGA data processing module is used to output the modulation signal and process the signal acquired by the CMOS acquisition module to obtain the on-orbit vibration state. The laser driving module is used to receive the modulation signal output by the FPGA data processing module and drive the laser emitting module; The laser emitting module is used to emit laser light to the target object; The CMOS acquisition module is used to acquire laser spot signals on the target object; The CMOS driver module is used to drive the CMOS acquisition module; The power module is used to supply power to the FPGA data processing module and the CMOS driver module.

2. The satellite on-orbit vibration status system based on the KMEANS algorithm according to claim 1, characterized in that, The laser emitting module includes a laser diode and a laser driving circuit; The laser diode is used to generate laser light; The laser driving circuit is connected to the FPGA data processing module and the laser diode, and is used to receive the modulation signal and excite the laser diode.

3. The satellite on-orbit vibration status system based on the KMEANS algorithm according to claim 1, characterized in that, The power module is also connected to the laser drive module and the laser emission module, and is used to supply power to them.

4. The satellite on-orbit vibration status system based on the KMEANS algorithm according to claim 1, characterized in that, The FPGA data processing module is also used for: The analog signal acquired by the CMOS acquisition module is converted from analog to digital to obtain a digital image frame; The digital image frames are filtered and binarized. Perform connected component segmentation, average grayscale calculation, KMEANS clustering, and grayscale centroid calculation to extract the spot location.

5. The satellite on-orbit vibration status system based on the KMEANS algorithm according to claim 1, characterized in that, The system also includes a host computer; The FPGA data processing module transmits the on-orbit vibration status to the host computer via a bus for display or further analysis.

6. A method for satellite on-orbit vibration status based on the KMEANS algorithm, characterized in that, The satellite on-orbit vibration status system based on the KMEANS algorithm according to any one of claims 1 to 5 includes: Step 1: Obtain the modulation signal output by the FPGA data processing module; Step 2: Based on the modulation signal, control the laser emitting module to emit laser light toward the target; Step 3: Based on the laser spot on the target, acquire analog signals through the CMOS acquisition module; Step 4: Convert the analog signal into a digital signal; Step 5: The digital signal is processed by the FPGA data processing module to obtain the spot position signal; Step 6: Obtain the on-orbit vibration state based on the light spot position signal.

7. The satellite on-orbit vibration state method based on the KMEANS algorithm according to claim 6, characterized in that, Step 5 includes: Step 5.1: Perform image filtering processing on the digital signal; Step 5.2: Perform fixed threshold binarization on the filtered image; Step 5.3: Perform connected component segmentation on the binarized image; Step 5.4: Calculate the average gray value of each connected component; Step 5.5: Use the KMEANS algorithm to perform cluster analysis on the average gray value to distinguish between noise areas and spot areas; Step 5.6: Extract the region where the light spot is located based on the clustering results; Step 5.7: Calculate the position of the light spot based on the gray-scale centroid method.

8. The satellite on-orbit vibration state method based on the KMEANS algorithm according to claim 7, characterized in that, Step 5.5 includes: Step 5.5.1: Use the average gray value of each connected component as sample data; Step 5.5.2: Set the number of clusters to 2, corresponding to the noise region and the spot region respectively; Step 5.5.3: Update the cluster centers through iterative calculation until convergence; Step 5.5.4: Based on the distance between the sample and the cluster center, divide each connected component into noise class or spot class.

9. The satellite on-orbit vibration state method based on the KMEANS algorithm according to claim 6, characterized in that, Step 6 includes: Step 6.1: Obtain the spot position signal in each frame of N consecutive frames of images; Step 6.2: Based on the spot position signal of each of the N frames, calculate the sequence of changes in spot position over time; Step 6.3: Output the change sequence as the satellite's on-orbit vibration state.

10. The satellite on-orbit vibration state method based on the KMEANS algorithm according to claim 6, characterized in that, Before the CMOS acquisition module acquires data, a filter is also included in the optical path to filter out ambient stray light.

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