双目视觉敏感器的高可靠数据流设计

首先介绍了两机结构的航天器双目视觉敏感器(BVS),分析了其通信数据流.针对其内部串口、外部总线通信特性以及BVS特殊运行流程,对数据流进行了整合、优化,确保敏感器的高数据更新率可行性.同时针对复杂通信数据冲突问题,对BVS两个计算机嵌入式软件的流程进行了可靠性改进.实验结果证明,该方法能够确保BVS的长期稳定运行,实现了两套普通单目相机敏感器硬件不变的情况下,仅通过一个串口连接,搭建双目相机.该方法已用于在轨实验中,并可应用于后续所有航天器在轨双目图像实验任务中.

Design of High Reliability Data Flow for Binocular Vision Sensor

The construction of binocular vision sensor(BVS) with two CPU is introduced at first, and the data flow of which is analyzed. The characteristics of data communication through the inner port and the outer bus were focused on to in-tegrate and optimize the data flow in BVS in order to ensure the feasibility of high data update rate. Considering the problem of data conflict within the process of complex communication, the flowcharts of embedded software in both two CPUs of BVS were also improved for high reliability. The result of experiment shows that the method could ensure the long term stable op-eration of BVS, and realize the combination of BVS by two single camera sensors with a port. The method has been used on-orbit and could be used in every space exploration test task of BVS in future.