CN105737848B - System-level star sensor star viewing system and star viewing method - Google Patents
System-level star sensor star viewing system and star viewing method Download PDFInfo
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Abstract
The invention relates to a star sensor system-level star observation test technology, and provides a star sensor system-level outfield star observation test method for verifying the data correctness of a star sensor in real starry sky and the attitude determination precision of the star sensor driven by the rotation speed of the earth, which can test the correctness of the output data of the star sensor. Compared with the prior art, the method has the main advantages that the star sensor and the inertia measurement combination are installed on the rotary table together, the tool ensures that the three-axis directions of the inertia measurement combination and the star sensor are consistent, the Kalman filtering method is initially utilized in the test according to the data of the inertia measurement combination, the three axes of the star sensor are aligned with the geographic coordinate system under the condition of a static base, the star sensor installation matrix of a certain test time is determined and known on the basis of alignment, the correctness of the output data of the star sensor can be further judged, and the measurement precision of the star sensor under the driving of the earth rotating speed can be calculated by comparing coaxial gyro data.
Description
Technical Field
The invention relates to a star sensor system-level star observation and static base initial alignment test technology, in particular to a spacecraft ground physical simulation test method.
Background
The system-level outfield star observation test is an important test for verifying the performance of a star sensor and the function of an aircraft attitude determination module, and the existing star observation tests generally comprise two types: the first is that the star sensor independently views the star, and the method can simply and conveniently measure the polarity of the star sensor and the relative accuracy of the star sensor at the earth rotating speed. The second is that the star sensor and the aircraft control system view the star together, the method can conveniently examine the polarity of the star sensor and the control system together, but the three-axis direction of the star sensor is only approximately aligned with the geographic coordinate system at the initial test, and the absolute attitude determination precision of the star sensor is not easy to examine.
Based on the defects of the two field star viewing methods, the invention provides a novel field star viewing method, namely, a star sensor and an inertia measurement combination are simultaneously installed and tested on a rotary table, so that the three shafts of the star sensor and the inertia measurement combination are respectively parallel to each other for facilitating data processing, and initial alignment is carried out before an experiment under the condition of a static base, so that the system-level absolute measurement of the star sensor and the verification of the absolute precision under the drive of the earth rotating speed are realized.
Disclosure of Invention
The problem to be solved by the invention is that the absolute measurement precision of the star sensor cannot be measured in the prior art; in order to solve the problems, the invention provides a system-level star sensor star viewing system and a star viewing method.
The system-level star sensor star viewing system provided by the invention comprises: the star sensor and inertia measurement combination is arranged on the test turntable; under the condition of a static base, determining a three-axis and three-axis transformation matrix of a geographic coordinate system of the star sensor, and representing q as q by using a quaternionsl。
Further, still include: the theodolite comprises a first theodolite, a second theodolite, a third theodolite and a fourth theodolite; the first theodolite and the second theodolite are respectively in auto-collimation with the star sensor; the first theodolite and the second theodolite are mutually aimed; the third theodolite and the fourth theodolite are respectively and automatically collimated with the inertial measurement combination; and the third theodolite and the fourth theodolite are mutually aimed.
Further, the inertia measurement assembly includes a gyroscope to measure angular velocity and an accelerometer to measure acceleration.
The invention also provides a star viewing method of the system-level star sensor star viewing system, which comprises the following steps:
firstly, determining a conversion matrix of three axes of the inertial measurement combination and three axes of a geographic coordinate system under the condition of a static base;
secondly, determining a conversion matrix of the three axes of the inertia measurement combination and the three axes of the star sensor under the condition of a static base;
step three, determining a transformation matrix of the three axes of the star sensor and the three axes of the geographic coordinate system according to the step one and the step two;
fourthly, calculating to obtain an output quaternion of the star sensor under the geographic coordinate system according to a conversion matrix of the three axes of the star sensor and the three axes of the geographic coordinate system at a certain moment; and comparing with the actual output of the star sensor to obtain the measurement precision of the star sensor.
Further, under the condition that the gravity acceleration and the latitude of the test point are known, the conversion matrix of three axes of the inertial measurement combination and three axes of the geographic coordinate system is determined through a Kalman filtering algorithm by utilizing gyroscope data and accelerometer data in the inertial measurement combination.
Further, the first theodolite and the second theodolite are mutually aimed; the third theodolite and the fourth theodolite are respectively and automatically collimated with the inertial measurement combination; the first theodolite and the second theodolite are respectively in auto-collimation with the star sensor; the first theodolite and the second theodolite are mutually aimed; the third theodolite and the fourth theodolite are respectively and automatically collimated with the inertial measurement combination; the third theodolite and the fourth theodolite are mutually aimed; and the first theodolite and the third theodolite are mutually aimed to obtain a conversion matrix of the three axes of the inertial measurement combination and the three axes of the star sensor.
Further, still include: obtaining the correctness of the attitude determination algorithm on the satellite, comprising the following steps:
step five, calculating a conversion quaternion q of the star sensor on the earth relative to a stationary orbitbs；
Sixthly, calculating the orbit quaternion q of the star sensoroi；
Step seven, calculating the quaternion of the attitude on the satellite
qliOutputting quaternion of the star sensor under a geographic coordinate system; q. q.sslIs the quaternion representation of the transformation matrix of the three axes of the star sensor and the three axes of the geographic coordinate system
And meanwhile, the on-satellite attitude determination algorithm is correct.
Further, in the present invention,
where Ω, i, u are the stationary orbit parameters.
Further, when the three axes of the star sensor and the three axes of the geographic coordinate system convert the matrix into a unit matrix, the conversion quaternion of the star sensor on the earth relative to the stationary orbit is as follows:
The advantages of the invention include:
1) the measuring precision of the star sensor and the correctness of the on-satellite algorithm are accurately verified;
2) the absolute accuracy of the star sensor under the condition of the earth rotation speed can be obtained;
3) the star sensor data can be compared with the gyro data, and abnormal data caused by vibration interference in a star observation environment can be eliminated.
Drawings
FIG. 1 is a system level star sensor star system view; FIG. 2 is a schematic diagram of a star sensor mounting matrix determined by a theodolite stationing; FIG. 3 is a diagram of relative positions of three axes of the star sensor and a track coordinate system; FIG. 4 is a schematic diagram of the transformation between the three-axis coordinate system and the orbit coordinate system of the star sensor.
Detailed Description
The invention is further illustrated below with reference to the figures and examples.
The invention also provides a star viewing method of the system-level star sensor star viewing system, which comprises the following steps:
firstly, determining a conversion matrix of three axes of the inertial measurement combination and three axes of a geographic coordinate system under the condition of a static base;
the method for accurately calculating the transformation matrix between the inertial measurement unit and the geographic coordinate system by using kalman filtering based on the data of the gyroscope and the acceleration is well known to those skilled in the art and will not be described in detail herein.
In the embodiment, for convenience of data processing, the precise turntable is adjusted for multiple times by combining the conversion matrix between the inertial measurement combination and the geographic coordinate system for multiple times, so that the conversion matrix between the inertial measurement combination and the geographic coordinate system is similar to a unit matrix, and the nonzero element is within the allowable range of the test error.
Secondly, determining a conversion matrix of the three axes of the inertia measurement combination and the three axes of the star sensor under the condition of a static base;
three axes of the star sensor are respectively Xs、Ys、ZsRespectively pointing to south, sky and west, and an orbital coordinate system OO-XOYOZOThe relative positions are shown in figure 3.
The consistency of the star sensor and the inertia measurement combination measuring system can be ensured from hardware through finish machining, the star sensor is a high-precision attitude determination instrument, slight deviation of an installation matrix can have great influence on a test result, the installation matrix can be obtained through a transit station distribution method, the star sensor 03 and the inertia measurement combination 04 are installed on a test platform 06 by combining with a reference figure 1 and a reference figure 2, and the test platform 06 and the star sensor 03 are connected with a space GNC computer 02; the space power supply supplies power to the 01 star sensor 03, the inertia measurement assembly 04 and the space GNC computer 02, and the space GNC computer 02 is further connected with the test computer 05. After the star sensor 03 and the inertia measurement assembly 04 are installed on the test platform 06, a first theodolite T1 and a second theodolite cross sight T2 are erected; a third theodolite T3, a fourth theodolite T4; the first theodolite and the second theodolite are respectively in auto-collimation with the star sensor 03; the first theodolite and the second theodolite are mutually aimed; the third theodolite and the fourth theodolite are respectively and automatically collimated with the inertial measurement combination; the third theodolite and the fourth theodolite are mutually aimed; and the first theodolite and the third theodolite are mutually aimed to obtain a conversion matrix of the three axes of the inertial measurement combination and the three axes of the star sensor.
The method for determining the mounting matrix of the star sensor and further determining the transformation matrix of the three axes of the inertia measurement combination and the star sensor through the transit station is well known to those skilled in the art and will not be described in detail herein.
Step three, determining a transformation matrix of the three axes of the star sensor and the three axes of the geographic coordinate system according to the step one and the step two;
fourthly, calculating to obtain an output quaternion of the star sensor under the geographic coordinate system according to a conversion matrix of the three axes of the star sensor and the three axes of the geographic coordinate system at a certain moment; and comparing with the actual output of the star sensor to obtain the measurement precision of the star sensor.
The star sensor outputs attitude quaternion under a J2000 inertial system, under the condition of a static base, the three-axis and geographic coordinate system conversion matrix of the star sensor is accurately determined through a bridge of an inertial measurement combination, the theoretical output of the star sensor under the geographic coordinate system at a certain moment can be obtained through calculation of a known formula according to the known calculation formula, and the theoretical output is compared with the actual output quaternion of the star sensor, so that the system-level measurement accuracy of the star sensor can be calculated.
The measurement accuracy of the star sensor can be calculated through the steps from the first step to the fourth step. When the star sensor is placed on the earth, the actual operation orbit of the star sensor is considered to be the same as the earth static orbit only in consideration of the aspect of attitude determination, orbit data of the star at the initial moment is observed, and the attitude angle on the star obtained after conversion of the orbit quaternion and the star sensor quaternion is 0 degree theoretically, so that the attitude determination algorithm on the star is verified. The step of verifying the correctness of the attitude determination algorithm on the satellite comprises the following steps:
step five, calculating a conversion quaternion q of the star sensor on the earth relative to a stationary orbitbs(ii) a When the three-axis of the star sensor and the three-axis conversion matrix of the geographic coordinate system are unit arrays, the conversion quaternion of the star sensor on the earth relative to a static orbit is as follows:
Sixthly, calculating the orbit quaternion q of the star sensoroi，
step seven, calculating the quaternion of the attitude on the satellite
qliOutputting quaternion of the star sensor under a geographic coordinate system; q. q.sslIs the quaternion representation of the transformation matrix of the three axes of the star sensor and the three axes of the geographic coordinate system
And meanwhile, the on-satellite attitude determination algorithm is correct.
In one embodiment of the present invention, the star sensor mounting quaternion noted above the star as shown in fig. 3 and 4 can be obtained through the following rotation sequence: the star sensor rotates around the axis Zs for 90+ Lat degrees in a negative way, Lat refers to the latitude of a star observation place, 31.1731 degrees is taken, and then the star sensor rotates around the axis Ys for 90 degrees in a positive way, so that the installation quaternion of the star sensor is obtained as follows:
obtaining an orbit quaternion at the initial satellite observation time from six static orbits, wherein if the initial satellite observation time is 20 o' clock 0 min 0 s in 4/20/2013, the ascent intersection point Ω is 132.40307 °, the orbit inclination angle i is 0 °, the latitude argument u is 120 °, and the initial orbit quaternion can be obtained:
qoi＝[-0.5906 0 0 0.8069]Tthe initial quaternion of the star sensor is as follows:
although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the present invention, and those skilled in the art can make variations and modifications of the present invention without departing from the spirit and scope of the present invention by using the methods and technical contents disclosed above.
Claims (3)
1. A star viewing method of a system-level star sensor star viewing system is characterized in that the system-level star sensor star viewing system comprises the following steps: the star sensor and inertia measurement combination is arranged on the test turntable; under the condition of a static base, determining a three-axis and three-axis transformation matrix of a geographic coordinate system of the star sensor, and representing q as q by using a quaternionsl(ii) a Further comprising: the theodolite comprises a first theodolite, a second theodolite, a third theodolite and a fourth theodolite; the first theodolite and the second theodolite are respectively in auto-collimation with the star sensor; the first theodolite and the second theodolite are mutually aimed; the third theodolite and the fourth theodolite are respectively and automatically collimated with the inertial measurement combination; the third theodolite and the fourth theodolite are mutually aimed; the inertia measurement combination comprises a gyroscope for measuring angular velocity and an accelerometer for measuring acceleration; the star viewing method comprises the following steps:
firstly, determining a conversion matrix of three axes of the inertial measurement combination and three axes of a geographic coordinate system under the condition of a static base; under the condition that the gravity acceleration and the latitude of the test point are known, determining a conversion matrix of three axes of the inertial measurement combination and three axes of a geographic coordinate system by using gyroscope data and accelerometer data in the inertial measurement combination through a Kalman filtering algorithm;
secondly, determining a conversion matrix of the three axes of the inertia measurement combination and the three axes of the star sensor under the condition of a static base; the first theodolite and the second theodolite are mutually aimed; the third theodolite and the fourth theodolite are respectively and automatically collimated with the inertial measurement combination; the first theodolite and the second theodolite are respectively in auto-collimation with the star sensor; the first theodolite and the second theodolite are mutually aimed; the third theodolite and the fourth theodolite are respectively and automatically collimated with the inertial measurement combination; the third theodolite and the fourth theodolite are mutually aimed; the first theodolite and the third theodolite are mutually aimed to obtain a conversion matrix of the three axes of the inertial measurement combination and the three axes of the star sensor;
step three, determining a transformation matrix of the three axes of the star sensor and the three axes of the geographic coordinate system according to the step one and the step two;
fourthly, calculating to obtain an output quaternion of the star sensor under the geographic coordinate system according to a conversion matrix of the three axes of the star sensor and the three axes of the geographic coordinate system at a certain moment; comparing with the actual output of the star sensor to obtain the measurement precision of the star sensor;
the star viewing method further comprises the following steps: verifying the correctness of the attitude determination algorithm on the satellite, comprising the following steps:
step five, calculating a conversion quaternion q of the star sensor on the earth relative to a stationary orbitbs；
Sixthly, calculating the orbit quaternion q of the star sensoroi；
Step seven, calculating the quaternion of the attitude on the satellite
qliOutputting quaternion of the star sensor under a geographic coordinate system; q. q.sslIs the quaternion representation of the transformation matrix of the three axes of the star sensor and the three axes of the geographic coordinate system
And meanwhile, the on-satellite attitude determination algorithm is correct.
2. The system-level star sensor star viewing system of claim 1, wherein said system-level star sensor star viewing system comprises a star sensor,
where Ω, i, u are the stationary orbit parameters.
3. The system-level star sensor star viewing system observation method according to claim 2, wherein when the three axes of the star sensor and the three axes of the geographic coordinate system are transformed into a unit matrix, the transformed quaternion of the star sensor on the earth relative to the stationary orbit is:
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| CN108387245B (en) * | 2017-12-27 | 2020-09-22 | 北京航天时代光电科技有限公司 | Installation polarity measurement method for rate gyroscope and meter adding device for carrying |
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| CN113607188B (en) * | 2021-08-02 | 2022-07-05 | 北京航空航天大学 | Theodolite cross-hair imaging-based multi-view-field star sensor calibration system and method |
| CN114001756B (en) * | 2021-11-03 | 2023-09-19 | 中国科学院光电技术研究所 | Small-field-of-view star sensor outfield ground star finding method |
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