Classifications

• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
  • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
  • G01C21/02—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by astronomical means
  • G01C21/025—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by astronomical means with the use of startrackers
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
  • G01C17/00—Compasses; Devices for ascertaining true or magnetic north for navigation or surveying purposes
  • G01C17/34—Sun- or astro-compasses
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
  • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
  • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
  • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
  • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
  • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
  • G01C21/1656—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments with passive imaging devices, e.g. cameras
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
  • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
  • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
  • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
  • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
  • G01C21/18—Stabilised platforms, e.g. by gyroscope

Definitions

• the invention relates to a day and night stellar sensor.
• the invention also relates to a method for measuring the attitude of a vehicle, in particular at low altitude, from the stellar sensor measurements.
• Stellar sensors are devices making it possible to deduce, from the taking of star images, the attitude of a vehicle (for example a spacecraft of the satellite type).
• the image of stars is more difficult during the day, because of a background noise in the images, resulting in particular from the light emitted by the sun and scattered by the particles of the stratosphere or the atmosphere.
• FR1 159021 of the applicant, describes a diurnal stellar sensor, to provide a measure of attitude day and night.
• attitude of a vehicle can also be determined using an inertial unit and / or gyrometers.
• the invention relates to a day and night stellar sensor, comprising at least one camera adapted for taking pictures of stars from the sky, a control unit, characterized in that it further comprises a polarizer, the unit of control being configured to obtain an estimate of a polarization direction of the polarized light from the sky received by the camera, and to control the orientation of the polarizer so that said polarizer filters the polarized light from the sky towards the camera and having said polarization direction.
• the stellar sensor further comprises a light filter, allowing only the light to pass through the infrared band;
• the light filter passes only light having a wavelength between 1 .5 ⁇ and 2 ⁇ or between 0.9 ⁇ and 1 .4 ⁇ ;
• the stellar sensor comprises a device for measuring an angle between a viewing direction of the stellar sensor and the sun, the control unit being configured to estimate the direction of polarization polarized light from the sky received by the camera from said angle;
• control unit comprises a memory storing ephemeris and / or a solar direction model for calculating an angle between a direction of view of the sensor and the sun, from which the control unit calculates the direction of polarization of polarized light from the sky received by the camera;
• the stellar sensor comprises a first optical head, comprising a first camera and a first polarizer, and a second optical head, comprising a second camera and a second polarizer, the first optical head and the second optical head being arranged in a diametrically opposite manner, azimuth.
• the invention also relates to a device for measuring attitude of a vehicle, comprising an inertial unit and / or a gyrometer, for providing an estimate of the attitude of the vehicle, characterized in that the device further comprises a stellar sensor diurnal and nocturnal as described above, a memory storing a catalog of known stars, the device being configured to reset the estimate of the attitude of the vehicle provided by the inertial unit and / or the gyrometer from the images taken by the stellar sensor and catalog of known stars.
• This registration may for example be carried out by gyro-stellar hybridization, using a Kalman type filter.
• the invention also relates to a vehicle (for example a marine, land or space vehicle, comprising propulsion means), characterized in that it comprises this attitude measuring device.
• a vehicle for example a marine, land or space vehicle, comprising propulsion means
• the invention also relates to a method for taking images of stars in the daytime and at night, using a day and night stellar sensor comprising a camera and a polarizer, characterized in that it comprises the steps of controlling the polarizer orientation so that said polarizer filters the light polarized sky heading towards the camera and having said direction of polarization, take pictures of stars from the sky with the camera.
• the invention also relates to a method for measuring the attitude of a vehicle, comprising the steps of taking images of stars from the sky according to the method as described above, and only in a wavelength band. between 0.9 ⁇ and 2 ⁇ , and compare the images of stars with a catalog of known stars, to reset an estimate of the attitude of the vehicle when it has an altitude between 0 and 25km.
• the invention has many advantages.
• the stellar sensor can significantly increase the signal-to-noise ratio in taking images of stars.
• the stellar sensor makes it possible to offer exploitable images in difficult shooting conditions, such as the day and / or at low altitude (between 0 and 25km).
• the stellar sensor measurements may especially be used for attitude measurement purposes, in particular for resetting attitude measuring devices.
• the registration can in particular be performed during the day and at low altitude, via the stellar sensor, without resorting to recalibration by satellite navigation systems.
• FIG. 1 is a representation of an embodiment of a stellar sensor, as well as an attitude measuring device comprising said stellar sensor;
• - Figure 2 is a representation of the polarization field of the sky according to the position of the sun relative to a terrestrial observer;
• FIG. 3 is a representation of an embodiment of a stellar sensor with multiple optical heads
• FIG. 4 is a representation of an embodiment of a method of taking images of stars
• FIG. 5 is a representation of an embodiment of a method of measuring the attitude of a vehicle.
• FIG. 1 shows an embodiment of a stellar sensor 1 according to the invention.
• This 1 stellar sensor is suitable for taking images of stars 3 day or night.
• the stellar sensor 1 comprises at least one camera 2 adapted for taking pictures of stars from the sky.
• the type of camera 2 is chosen in particular according to the wavelength of the light that is to be measured.
• an InGaAs-type camera can be used.
• the camera 2 may also be in accordance with the teaching of the patent FR1 159021 of the applicant.
• the stellar sensor 1 comprises a lens 35 and an optical filter 7.
• the stellar sensor 1 comprises a control unit 4.
• the control unit 4 comprises for example a processor and a memory 1 1.
• the stellar sensor 1 further comprises a polarizer 5.
• a polarizer is a tool that selects a preferred polarization direction in an incident light wave. Therefore, the polarizer filters the light waves that do not have said preferred polarization direction.
• the solar light diffused by the atmosphere is partly polarized linearly.
• the degree of polarization as well as the polarization angle i.e. the direction of polarization in space
• the light coming from the stars is very little polarized.
• the control unit 4 is configured to obtain an estimate of a direction of polarization of the polarized light from the sky received by the camera 2.
• control unit 4 receives an estimate of the angle between the sighting direction of the star sensor 1 and the direction of the sun.
• the control unit 4 calculates from this angle an estimate of the polarization direction of the polarized light from the sky received by the camera 2.
• the angle between a viewing direction of the star sensor 1 and the sun may in particular be provided by a measurement device of the star sensor 1 or by a measurement device on board the vehicle carrying said star sensor 1.
• control unit 4 receives an estimate of the angle between the aiming direction of the stellar sensor 1 with the direction of the Sun of an inertial unit 20 and / or a gyrometer 21 present in the stellar sensor 1. , or communicating with said stellar sensor 1.
• control unit 4 comprises a memory 1 1 storing ephemeris and / or a solar direction model, which make it possible to provide an estimate of the angle between the aiming direction of the stellar sensor 1 with the direction of the sun.
• the Solar steering pattern depends on the date, time and position of the vehicle.
• the senor In the case where the solar direction is not measured but calculated, the sensor requires to have knowledge (even very imprecise) of the date, the time (a few minutes of errors are acceptable) and the terrestrial position (a few tens of kilometers or a hundred are acceptable).
• the calculation of the direction of polarization from the angle between the direction of sight of the star sensor 1 and the direction of the sun can be done with various models of the sky.
• the model only considers the molecular scattering of Rayleigh.
• the direction of polarization of the sky light is then expressed deterministically as a function of the angle between the aiming direction of the star sensor 1 and the direction of the sun. Indeed, as illustrated in Figure 2, this direction is ortho-radial with respect to the direction of sight and the sun.
• DOP degree of polarization
• ⁇ is the angle between the aiming direction of the stellar sensor 1 and the solar direction.
• Figure 2 shows the direction of polarization of the sky seen by a terrestrial observer 30 at different times of the day (6H, 9H and 12H). The position of the sun 31 is illustrated.
• the control unit 4 is configured to control the orientation of the polarizer 5 so that said polarizer 5 filters the polarized light of the sky heading towards the camera 2 and having said polarization direction.
• an active control of the direction of the polarizer 5 is achieved by the control unit 4 as a function of the estimate of the direction of polarization of the sky. This makes it possible to reduce the background noise of the sky.
• control unit 4 controls the direction of the polarizer 5 so that it has a direction orthogonal to the polarization direction of the polarized light from the sky received by the camera 2.
• the polarizer 5 is a rotating polarizer, which receives commands from a motor 33 controlled by the control unit 4.
• control unit 4 and the motor 33 it is possible to use the control unit 4 and the motor 33 to rotate all or part of the elements of the star sensor 1 via a screw of the polarizer 5.
• the star sensor can take images regardless of the elevation and azimuth of the sun vis-à-vis the vehicle boarding the stellar sensor.
• a configuration with at least two diametrically opposed optical heads in azimuth is implemented.
• the stellar sensor 1 has a first optical head T1, notably comprising a first camera 2i and a first polarizer 5i. If necessary, the first optical head T1 comprises other elements as described with reference to FIG. 1 (filter, objective, etc.).
• the stellar sensor 1 comprises a second optical head T2, comprising a second camera 2i and a second polarizer 5i.
• a single control unit 4 can be used to control both polarisers 52, via two actuators specific to each optical head T1, T2.
• a control unit 4 specific to each optical head T1, T2 is used.
• elevation angle ⁇ of the optical heads (angle between the axis of sight of the heads and a horizontal axis) is generally identical, and chosen to minimize the background noise of the sky.
• the elevation angle ⁇ should generally be chosen between 20 ° and 70 ° in order to minimize sky background noise, and preferably around 40 °. Elevations above 70 ° are generally forbidden because they cause a dazzling of the two optical heads at the zenith.
• the method comprises a step E0 of obtaining an estimate of a direction of polarization of the polarized light from the sky received by the camera 2.
• This step is implemented by the control unit 4 which calculates from the angle between the direction of view of the camera 2 and the sun, an estimate of a direction of polarization of the polarized light from the sky received by the camera, for example on the basis of a Rayleigh model of the sky.
• the method comprises a step E1 of controlling the orientation of the polarizer 5 so that said polarizer 5 filters the polarized light from the sky towards the camera 2 and having said polarization direction.
• control unit 4 estimates the direction of polarization of the polarized light from the sky, and directs, via the actuator 33, the polarizer 5 so that it filters the light having said direction. In general, the control unit 4 orients the polarizer 5 orthogonally to said direction.
• Control by the control unit 4 is generally in open loop.
• the control unit 4 adapts the orientation of the polarizer 5 to estimate the direction of polarized light from the sky.
• a dynamic adaptation if necessary in real time, is realized.
• the measurements made by the star sensor 1 may in particular be used for the purpose of measuring the attitude of a vehicle.
• vehicles include, for example: drone, aircraft, balloon, satellite, land vehicle, marine, etc.
• a device 12 for measuring the attitude of a vehicle includes the day and night stellar sensor 1. It also includes an inertial unit 20, configured to provide an estimate of the attitude of the vehicle.
• the device 12 comprises a gyroscope 21.
• a computer 40 can in particular perform a hybridization, for example via a Kalman filter, measurements of the inertial unit 20 and the gyrometer 21, in order to obtain an estimate of the attitude of the vehicle. This type of hybridization is known in the art.
• the device 12 further comprises at least one memory 18 storing a catalog 22 of known stars (that is to say, whose characteristics are known, such as position and magnitude).
• the memory 18 and the memory 11 may correspond, if necessary, to a single memory.
• An embodiment of an attitude measuring method (see FIG. 5) comprises the steps of estimating the polarization direction of the polarized light from the sky received by the camera 2, and taking images of stars 3 from the sky, according to the steps E0, E1 and E2 described above.
• a further step E4 comprises comparing the images of the stars 3 with the catalog 22 of known stars. This comparison is for example carried out by the computer 40. This comparison provides an attitude value, which is used to reset the calculated attitude from the measurements provided by the inertial unit and / or the gyrometer. This registration is typically performed in the computer 40, which integrates into its filter the data produced by the stellar measurements.
• the measurement bias caused by the measurement drift of the inertial unit and / or the gyrometer are reduced or even eliminated by this registration.
• the attitude of the vehicle is calculated in particular at low altitude, that is to say when it has an altitude of between 0 and 25km.
• the stars are classified according to their spectral class and brightness class (classes I to VI, class III corresponding to the Giants and class V to the Dwarfs).
• the diagram in Figure 6 illustrates the proportion of the most visible star types (among the 4000 most visible stars) according to the spectral bands observed.
• the band J (1 to 1.5 ⁇ ) and the band H (1.5 to 2 ⁇ ) belong to the near infrared.
• the Applicant has calculated, from satellite measurements, an empirical law giving the number of stars of magnitude less than m (m v for the visible range, nrij for the band J, and m H for the band H), for these different spectral bands. Visible Band J Band H Band
• the number of stars in the bands J and H is about 1 1 and 29 times larger than in the visible band.
• the stellar sensor 1 further comprises at least one optical light filter 7, allowing only light to pass through the infrared band.
• the light filter 7 allows only the light having a wavelength of between 0.9 ⁇ and 2 ⁇ (near infrared) to pass.
• the light filter 7 allows only the light having a wavelength of between 1.5 ⁇ and 2 ⁇ and / or between 0.9 ⁇ and 1 .4 ⁇ to pass.
• the "hole” voluntarily left between 1 .4 ⁇ and 1 .5 ⁇ corresponds to the absorption band of water, which makes the atmosphere opaque in this band.
• An example of a camera that can work in the near infrared bands is a camera 2 based on InGaAs.
• a camera 2 which includes an InGaAs type detector (0.9-1.7 ⁇ ), with a matrix of 640x512 pixels of 25 ⁇ , is suitable for altitudes of the order of 10km. If you want to go down to sea level, a matrix of at least 1 million pixels of 25 ⁇ meets the need.
• the table below compares the solution in the visible (including a silicon-based camera) with the near-infrared solution (including an InGaAs-based camera).
• the invention has many applications in star imaging, in particular for measurement and attitude registration purposes, for day and night periods, even at low altitude.
• N B depends on the density of stars present in the sky in the spectral band under consideration (examples: visible, N v ⁇ 5, band J, Nj - 57, band H, N h ⁇ 150);
• IB is the fraction of sky background collected in the spectral band
• L (h) is given by the molecular diffusion, and depends on the altitude h, the elevation and the angle in the sun. However, this value does not depend on the spectral band (the spectral effect being integrated in the variable IB);
• S b is a signal-to-noise constant.
• An order of magnitude of this value to optimize the probability of detection is 25 to 30.
• N x .Ny is the total number of pixels of the detector (number of pixels per line N x multiplied by number of pixels per column N y ).
• - L p is the size of a side of a pixel
• - rp is the well depth per unit area (unit: e- / m 2 );
• the number of stars increases with the number of pixels, decreases with the square root of the field.
• the number of stars increases with the square root of the size of the objective (one-dimensional).
• the number of detectable stars doubles every 4.2km.
• the stellar sensor according to the invention makes it possible to substantially improve the number of stars seen by said star sensor with respect to the prior art, since it allows a greater attenuation of the sky background signal with respect to the signal. emitted by the stars: we increase the star signal more than we reduce the sky background signal.

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• Engineering & Computer Science (AREA)
• Radar, Positioning & Navigation (AREA)
• Remote Sensing (AREA)
• Physics & Mathematics (AREA)
• General Physics & Mathematics (AREA)
• Automation & Control Theory (AREA)
• Astronomy & Astrophysics (AREA)
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• 2015
  • 2015-01-21 FR FR1550488A patent/FR3031807B1/fr active Active
• 2016
  • 2016-01-20 WO PCT/EP2016/051146 patent/WO2016116511A1/fr not_active Ceased
  • 2016-01-20 EP EP16701137.8A patent/EP3247977A1/de not_active Withdrawn
  • 2016-01-20 US US15/542,691 patent/US10302433B2/en active Active

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