公开(公告)号：US20080317283A1

公开(公告)日：2008-12-25

申请号：US11967772

申请日：2007-12-31

申请人： Guangjun Zhang ,  Jie Jiang ,  Qiaoyun Fan

发明人： Guangjun Zhang ,  Jie Jiang ,  Qiaoyun Fan

IPC分类号： G01C9/06 ,  G01C11/04

CPC分类号： G01J1/42 ,  G01C21/02 ,  G01J1/04 ,  G01J1/0437 ,  G01J2001/4266 ,  G01S3/784 ,  G01S3/7862

摘要： The disclosure relates to a signal processing method for multi aperture sun sensor comprising the following steps: reading the information of sunspots in a row from a centroid coordinate memory, judging the absence of sunspots in that row, identifying the row and column index of the sunspots in the complete row, selecting the corresponding calibration parameter based on the row and column index, calculating attitude with the attitude calculation module the corresponding to identified sunspots, averaging the accumulated attitude of all sunspots and outputting the final attitude. At the same time, a signal processing device for multi aperture sun sensor is also presented. It is comprised of a sunspot absence judgment and an identification module and an attitude calculation module. The disclosure implements the integration of sun sensors without additional image processor or attitude processor, reduces field programmable gate array resource and improves the reliability of sun sensors.

摘要翻译： 本发明涉及一种用于多孔径太阳传感器的信号处理方法，包括以下步骤：从质心坐标存储器读取一行中的太阳黑子的信息，判断该行中没有太阳黑子，识别太阳黑子的行和列索引 在完整的行中，根据行和列索引选择相应的校准参数，使用姿态计算模块计算对应于确定的太阳黑子的姿态，对所有太阳黑子的累积姿态进行平均并输出最终姿态。 同时，还提出了一种用于多光圈太阳传感器的信号处理装置。 它由无太阳黑子判断和识别模块和姿态计算模块组成。 该公开实现了太阳传感器的集成，而没有附加的图像处理器或姿态处理器，减少了现场可编程门阵列资源并且提高了太阳传感器的可靠性。

公开(公告)号：US20090012734A1

公开(公告)日：2009-01-08

申请号：US12036888

申请日：2008-02-25

申请人： Guangjun Zhang ,  Xinguo Wei ,  Qiaoyun Fan ,  Jie Jiang

发明人： Guangjun Zhang ,  Xinguo Wei ,  Qiaoyun Fan ,  Jie Jiang

IPC分类号： G01C25/00

CPC分类号： G01S3/7867 ,  B64G1/361 ,  B64G1/363

摘要： A method for calibration of a digital celestial sensor is disclosed. The method comprises the following steps: firstly, an integrated mathematic model for imaging of a celestial sensor is established according to external and internal parameters of the calibration system of the celestial sensor. Secondly, by rotating two axes of a rotator by different angles, calibration points data are acquired and sent to a processing computer through an interface circuit. Finally, a two-step calibration program is implemented to calculate the calibration parameters by substituting calibration points' data to the integrated mathematic model. The disclosure also relates to an application device of the calibration method, wherein the device comprises: a celestial simulator to provide simulated sunlight or starlight, a two-axis rotator to acquire different the calibration points' data, a processing computer to record the calibration points' data and calculate the calibration parameters. The calibration method and device apply to many kinds of digital celestial sensors. By integrating external and internal parameters modeling, the disclosure improves the calibration precision. Meanwhile, the whole calibration process is simplified because precise installation and adjustment is not required.

摘要翻译： 公开了一种用于校准数字天体传感器的方法。 该方法包括以下步骤：首先根据天体传感器校准系统的外部参数和内部参数建立天体传感器成像的综合数学模型。 其次，通过以不同的角度旋转旋转器的两个轴，获取校准点数据并通过接口电路发送到处理计算机。 最后，通过将校准点的数据代入综合数学模型，实施了两步校准程序来计算校准参数。 本公开还涉及校准方法的应用装置，其中该装置包括：提供模拟太阳光或星光的天体模拟器，用于获取不同校准点数据的两轴旋转器，记录校准点的处理计算机 '数据并计算校准参数。 校准方法和装置适用于多种数字天体传感器。 通过整合外部和内部参数建模，本公开提高了校准精度。 同时，由于不需要精确的安装和调整，因此简化了整个校准过程。

公开(公告)号：US08068673B2

公开(公告)日：2011-11-29

申请号：US11687338

申请日：2007-03-16

申请人： Guangjun Zhang ,  Jie Jiang ,  Qiaoyun Fan ,  Xuetao Hao

发明人： Guangjun Zhang ,  Jie Jiang ,  Qiaoyun Fan ,  Xuetao Hao

IPC分类号： G06K9/66

CPC分类号： G06T7/66

摘要： The disclosure relates to a rapid and high precision centroiding method for spots image comprising the following steps. First, the method requires convoluting the gray value of a pixel with a Gaussian filter and judging whether the result thereof exceeds a predetermined threshold. If the value exceeds the predetermined threshold, the method requires marking the current pixel with a flag to identify which spot it belongs to, and then accumulating the product of the gray value and a coordinate value of the same spot; and at the same time, accumulating the gray value of the same spot; and saving the results of the accumulation respectively. If the gray value of the pixel does not exceed the predetermined threshold, the method requires marking the current pixel as a background flag. After all pixels of the image has been disposed of completely, the method includes calculating a quotient of the accumulations of the product of the gray value and the coordinate value and the accumulations of the gray value, and outputting the quotients. At the same time, a centroiding system for spots image is also presented.

摘要翻译： 本公开涉及一种用于斑点图像的快速和高精度重心方法，包括以下步骤。 首先，该方法需要用高斯滤波器对像素的灰度值进行卷积，并判断其结果是否超过预定阈值。 如果该值超过预定阈值，则该方法需要用标志标记当前像素，以标识其属于哪一个点，然后累积灰度值与同一点的坐标值的乘积; 同时累积同一斑点的灰度值; 并分别节省积累的结果。 如果像素的灰度值不超过预定阈值，则该方法需要将当前像素标记为背景标志。 在完全处理图像的所有像素之后，该方法包括计算灰度值与坐标值的乘积的积分和灰度值的积累的商，并输出商。 同时，还提出了斑点图像的重心系统。

公开(公告)号：US07822572B2

公开(公告)日：2010-10-26

申请号：US12036888

申请日：2008-02-25

申请人： Guangjun Zhang ,  Xinguo Wei ,  Qiaoyun Fan ,  Jie Jiang

发明人： Guangjun Zhang ,  Xinguo Wei ,  Qiaoyun Fan ,  Jie Jiang

IPC分类号： G01C25/00

CPC分类号： G01S3/7867 ,  B64G1/361 ,  B64G1/363

摘要： A method for calibration of a digital celestial sensor is disclosed. First, an integrated mathematic model for imaging of a celestial sensor is established according to external and internal parameters of the calibration system of the celestial sensor. Second, by rotating two axes of a rotator by different angles, calibration points data are acquired and sent to a processing computer through an interface circuit. Finally, a two-step calibration program is implemented to calculate the calibration parameters by substituting calibration points' data to the integrated mathematic model. An application device of the calibration method is also provided. The device may include a celestial simulator to provide simulated sunlight or starlight, a two-axis rotator to acquire different calibration points' data, and a processing computer to record the calibration points' data and calculate the calibration parameters.

摘要翻译： 公开了一种用于校准数字天体传感器的方法。 首先，根据天体传感器校准系统的外部参数和内部参数建立了天体传感器成像的综合数学模型。 第二，通过旋转不同角度旋转两个轴，获取校准点数据，并通过接口电路发送到处理计算机。 最后，通过将校准点的数据代入综合数学模型，实施了两步校准程序来计算校准参数。 还提供了校准方法的应用装置。 该装置可以包括用于提供模拟太阳光或星光的天体模拟器，用于获取不同校准点数据的双轴旋转器，以及记录校准点数据并计算校准参数的处理计算机。

公开(公告)号：US07615728B2

公开(公告)日：2009-11-10

申请号：US11967772

申请日：2007-12-31

申请人： Guangjun Zhang ,  Jie Jiang ,  Qiaoyun Fan

发明人： Guangjun Zhang ,  Jie Jiang ,  Qiaoyun Fan

IPC分类号： G01C21/02 ,  G01J1/20

CPC分类号： G01J1/42 ,  G01C21/02 ,  G01J1/04 ,  G01J1/0437 ,  G01J2001/4266 ,  G01S3/784 ,  G01S3/7862

摘要： The disclosure relates to a signal processing method for multi aperture sun sensor comprising the following steps: reading the information of sunspots in a row from a centroid coordinate memory, judging the absence of sunspots in that row, identifying the row and column index of the sunspots in the complete row, selecting the corresponding calibration parameter based on the row and column index, calculating attitude with the attitude calculation module the corresponding to identified sunspots, averaging the accumulated attitude of all sunspots and outputting the final attitude. At the same time, a signal processing device for multi aperture sun sensor is also presented. It is comprised of a sunspot absence judgment and an identification module and an attitude calculation module. The disclosure implements the integration of sun sensors without additional image processor or attitude processor, reduces field programmable gate array resource and improves the reliability of sun sensors.

摘要翻译： 本发明涉及一种用于多孔径太阳传感器的信号处理方法，包括以下步骤：从质心坐标存储器读取一行中的太阳黑子的信息，判断该行中没有太阳黑子，识别太阳黑子的行和列索引 在完整的行中，根据行和列索引选择相应的校准参数，使用姿态计算模块计算对应于确定的太阳黑子的姿态，对所有太阳黑子的累积姿态进行平均并输出最终姿态。 同时，还提出了一种用于多光圈太阳传感器的信号处理装置。 它由无太阳黑子判断和识别模块和姿态计算模块组成。 该公开实现了太阳传感器的集成，而没有附加的图像处理器或姿态处理器，减少了现场可编程门阵列资源并且提高了太阳传感器的可靠性。

公开(公告)号：US07552026B2

公开(公告)日：2009-06-23

申请号：US11687333

申请日：2007-03-16

申请人： Guangjun Zhang ,  Jie Jiang ,  Qiaoyun Fan

发明人： Guangjun Zhang ,  Jie Jiang ,  Qiaoyun Fan

IPC分类号： G06F3/00

CPC分类号： B64G1/363

摘要： The disclosure relates to an APS based integrated sun sensor comprising: a diaphragm unit, a detection unit, a processing electronics unit and an interface unit. The diaphragm unit is operatively connected with the detection unit for forming a sunspots image. The detection unit is configured for outputting a gray value of each pixel. The processing electronics unit is operatively connected with the detector unit and the interface unit respectively, for evaluating an attitude angle on the basis of the gray value and coordinate of each pixel. The interface unit is operatively connected with a host computer, for transferring the attitude angle to the host computer. This disclosure has such merits as high accuracy, wide FOV (Field of View), low power consumption, low weight, small size and high update rate.

摘要翻译： 本公开涉及一种基于APS的集成太阳传感器，包括：光阑单元，检测单元，处理电子单元和接口单元。 隔膜单元与检测单元可操作地连接，用于形成太阳黑子图像。 检测单元被配置为输出每个像素的灰度值。 处理电子单元分别与检测器单元和接口单元可操作地连接，用于基于每个像素的灰度值和坐标来评估姿态角。 接口单元与主计算机可操作地连接，用于将姿态角传送到主计算机。 本公开具有高精度，宽FOV（视场），低功耗，低重量，小尺寸和高更新率等优点。

公开(公告)号：US20090012731A1

公开(公告)日：2009-01-08

申请号：US12019539

申请日：2008-01-24

申请人： Guangjun Zhang ,  Xinguo Wei ,  Qiaoyun Fan ,  Jie Jiang

发明人： Guangjun Zhang ,  Xinguo Wei ,  Qiaoyun Fan ,  Jie Jiang

IPC分类号： G01C25/00

CPC分类号： G01J1/08 ,  G01C21/02 ,  G01C25/00 ,  G01J2001/4266

摘要： A method for calibration of a digital sun sensor is disclosed. The method comprises following steps. First, an integrated mathematic model for imaging of a sun sensor is established according to the external and internal parameters of the calibration system of the sun sensor. Next, the two axis of the rotator are rotated by different angles. Then, calibration points' data are acquired and sent to a processing computer through an interface circuit. Finally, a two-step calibration program is implemented to calculate the calibration parameters by substituting the calibration points' data to the integrated mathematic model. The disclosure also relates to an application device of the calibration method. The device comprises: a sun simulator to provide the incident sunlight, a two-axis rotator to acquire different the calibration points' data, and a processing computer to record the calibration points' data and calculate the calibration parameters. The calibration method and device apply to many kinds of digital sun sensors. By integrated external and internal parameters modeling, the disclosure improves calibration precision. Meanwhile, the whole calibration process is simplified because precise installation and adjustment is not required.

摘要翻译： 公开了一种用于数字太阳传感器校准的方法。 该方法包括以下步骤。 首先，根据太阳传感器的校准系统的外部参数和内部参数建立太阳传感器成像的综合数学模型。 接下来，旋转体的两轴旋转不同的角度。 然后，通过接口电路获取校准点数据并发送到处理计算机。 最后，通过将校准点的数据代入综合数学模型，实施两步校准程序来计算校准参数。 本公开还涉及校准方法的应用装置。 该装置包括：用于提供入射太阳光的太阳模拟器，用于获取不同校准点数据的双轴旋转器，以及记录校准点数据并计算校准参数的处理计算机。 校准方法和装置适用于多种数字式太阳传感器。 通过集成的外部和内部参数建模，本公开提高了校准精度。 同时，由于不需要精确的安装和调整，因此简化了整个校准过程。

公开(公告)号：US20080131002A1

公开(公告)日：2008-06-05

申请号：US11687338

申请日：2007-03-16

申请人： Guangjun Zhang ,  Jie Jiang ,  Qiaoyun Fan ,  Xuetao Hao

发明人： Guangjun Zhang ,  Jie Jiang ,  Qiaoyun Fan ,  Xuetao Hao

IPC分类号： G06K9/46 ,  G06K9/36 ,  G06K9/66

CPC分类号： G06T7/66

摘要： The disclosure relates to a rapid and high precision centroiding method for spots image comprising the following steps. First, the method requires convoluting the gray value of a pixel with a Gaussian filter and judging whether the result thereof exceeds a predetermined threshold. If the value exceeds the predetermined threshold, the method requires marking the current pixel with a flag to identify which spot it belongs to, and then accumulating the product of the gray value and a coordinate value of the same spot; and at the same time, accumulating the gray value of the same spot; and saving the results of the accumulation respectively. If the gray value of the pixel does not exceed the predetermined threshold, the method requires marking the current pixel as a background flag. After all pixels of the image has been disposed of completely, the method includes calculating a quotient of the accumulations of the product of the gray value and the coordinate value and the accumulations of the gray value, and outputting the quotients. At the same time, a centroiding system for spots image is also presented.

摘要翻译： 本公开涉及一种用于斑点图像的快速和高精度重心方法，包括以下步骤。 首先，该方法需要用高斯滤波器对像素的灰度值进行卷积，并判断其结果是否超过预定阈值。 如果该值超过预定阈值，则该方法需要用标志标记当前像素，以标识其属于哪一个点，然后累积灰度值与同一点的坐标值的乘积; 同时累积同一斑点的灰度值; 并分别节省积累的结果。 如果像素的灰度值不超过预定阈值，则该方法需要将当前像素标记为背景标志。 在完全处理图像的所有像素之后，该方法包括计算灰度值与坐标值的乘积的积分和灰度值的积累的商，并输出商。 同时，还提出了斑点图像的重心系统。

公开(公告)号：US20080029652A1

公开(公告)日：2008-02-07

申请号：US11687333

申请日：2007-03-16

申请人： Guangjun Zhang ,  Jie Jiang ,  Qiaoyun Fan

发明人： Guangjun Zhang ,  Jie Jiang ,  Qiaoyun Fan

IPC分类号： B64G1/36

CPC分类号： B64G1/363

摘要： The disclosure relates to an APS based integrated sun sensor comprising: a diaphragm unit, a detection unit, a processing electronics unit and an interface unit. The diaphragm unit is operatively connected with the detection unit for forming a sunspots image. The detection unit is configured for outputting a gray value of each pixel. The processing electronics unit is operatively connected with the detector unit and the interface unit respectively, for evaluating an attitude angle on the basis of the gray value and coordinate of each pixel. The interface unit is operatively connected with a host computer, for transferring the attitude angle to the host computer. This disclosure has such merits as high accuracy, wide FOV (Field of View), low power consumption, low weight, small size and high update rate.

摘要翻译： 本公开涉及一种基于APS的集成太阳传感器，包括：光阑单元，检测单元，处理电子单元和接口单元。 隔膜单元与检测单元可操作地连接，用于形成太阳黑子图像。 检测单元被配置为输出每个像素的灰度值。 处理电子单元分别与检测器单元和接口单元可操作地连接，用于基于每个像素的灰度值和坐标来评估姿态角。 接口单元与主计算机可操作地连接，用于将姿态角传送到主计算机。 本公开具有高精度，宽FOV（视场），低功耗，低重量，小尺寸和高更新率等优点。