CN101915927B - Infrared measurement based system and method thereof for determining relative state of inner satellite - Google Patents
Infrared measurement based system and method thereof for determining relative state of inner satellite Download PDFInfo
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- CN101915927B CN101915927B CN2010101462796A CN201010146279A CN101915927B CN 101915927 B CN101915927 B CN 101915927B CN 2010101462796 A CN2010101462796 A CN 2010101462796A CN 201010146279 A CN201010146279 A CN 201010146279A CN 101915927 B CN101915927 B CN 101915927B
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Abstract
The invention discloses an infrared measurement based system and a method thereof for determining the relative state of an inner satellite, belonging to the technical field of spacecraft system technologies and measuring instruments. The state determining system comprises an inner satellite, an outer satellite cavity, an infrared positioning system and an inner satellite locking and releasing mechanism, wherein the inner satellite and the outer satellite cavity are subjected to surface processing, have different emission properties and can present images with different gray scales in the infrared positioning system under the condition of no illumination so as to achieve the function of acquiring the three-dimensional motion state of the inner satellite and finish a key measuring task of an inner formation under the condition of not generating disturbing force.
Description
Technical field
The present invention relates to Space Vehicle System and gravitation field of measuring technique, relate in particular to a kind of interior satellite relative status and confirm system and method thereof based on IR survey.
Background technology
(proof mss PM) carries out the geodesic orbital flight in edge, is a kind of method of science tasks such as Satellite gravity field measurement, space gravitation detection to adopt the checking quality.Interior satellite in the interior formation system; Free flight in the cavity of satellite outside; Outer satellite cavity has shielded non-gravitation such as the suffered atmospherical drag of interior satellite, sun optical pressure and has disturbed, thereby interior satellite will the pure gravitation orbital flight in the action of gravity lower edge, plays the effect of checking quality.Interior formation system is when rail is worked, and the measurement of the internal satellite relative position of the outer passing of satelline, relative velocity through attitude and the position control system of self, realizes the retentive control with interior satellite relative position, guarantee in the flight course inside and outside satellite do not collide.Thereby the measurement of the internal satellite phase of outer satellite alignment is one of key of formation internal affairs in realizing.
Spacecraft generally is not less than a millimeter magnitude with the precision of the relative position measurement of checking quality, can not produce excessive perturbed force to the checking quality simultaneously.The most frequently used metering system has electrostatic means, optical mode.Be published among " the Nonlinearidentification in the DISCOS position sensor (drag compensation alliance sensor nonlinear Identification) " on the AIAA Conf.onMechanics&Control of Flight in 1974 (American Institute of Aeronautics and Astronautics's flight mechanics and control meeting) a kind of electrostatic measurement mode is provided; This electrostatic measurement mode is formed capacitor with checking quality and cavity electrode that wall pastes; The relative motion meeting of checking quality and spacecraft changes gap or relative area, thus the electric signal that obtains changing.Limited by sensitivity, enough little with the chamber wall and the gap between the checking quality of electrode slice, still, gap smaller can make and act on the qualitative perturbed force increase of checking, increases the difficulty of relative position control simultaneously.And electrostatic methods can produce the static reacting force to the checking quality inevitably when measuring.
Checking quality relative position measurement also can adopt optical means; Scheme with homology multiple beam scanning survey checking quality position has been proposed in " The drag-free satellite (the drag-free flight satellite) " of Lange B on the AIAAJournal that is published in 1964 the 9th phases; D.B.Bebra be published in 2003 the 7th phase Advances in Space Research (Advances in Space Research) go up the position of adopting pencil beam photodetection checking quality in " Drag-free control for fundamental physics missions (being applied to the drag-free flight control of fundamental physics research) "; The DeHoffR L of Stanford University proposes to adopt the qualitative phosphor coating of ultraviolet ray excited checking in 1975 PhD dissertation " Minimum thrusters control of a spinning drag-free satellite; including the design of a largecavity optical sensor (spin non-resistance satellite low thrust control---the big cavity optical sensor design of the opinion of holding concurrently) "; Thereby and receive the position that the infrared ray emit is measured the checking quality with the fence diode, precision reaches the mm level.Compare with electrostatic methods, measuring method can increase the gap of checking quality and spacecraft cavity, and this inhibition to perturbed force is helpful, helps spacecraft and the control of verifying the quality relative position simultaneously.But illumination meeting initiatively causes the optical pressure perturbed force to the checking quality, needs the power of careful control projection light, and keeps the homogeneity and the symmetry of illumination.
In the interior formation system, interior satellite and cavity relative distance are bigger, should not adopt electrostatic means.Because the needs of science task, the precision of interior satellite relative position measurement will reach the millimeter level at least, simultaneously, it is as far as possible little to measure the perturbed force of being introduced.For example, to gravity field measuring task accurately, need less than 1 * 10
-10M/s
2, this interference that makes any active measurement means introduce all can not be ignored.
Summary of the invention
The object of the present invention is to provide a kind of interior satellite relative status measuring system; Do not producing under the situation of measuring perturbed force; An acquisition millimeter level measuring accuracy, measurement of formation system gravity field or gravitation are surveyed the needs of science task in satisfying, and the present invention also provides the measuring method of said measuring system.
The technical scheme of the present invention's employing is following to achieve these goals:
Satellite relative status measuring system in of the present invention, include interior satellite, hold in the outer satellite cavity of satellite, satellite locking and releasing mechanism, infrared location system and be used for the data-interface processing unit of output data in also comprising; Satellite is a spheroid in described, and described outer satellite cavity is the spherical structure of hollow sealing, described in surface and the said outer satellite cavity inner wall of satellite have distinct transmit rate, and the imaging circumstances of the said infrared location system of formation jointly; Described infrared location system comprises at least two relative positions that are installed in infrared eye, IMAQ and the pre-process circuit unit on the said outer satellite cavity inner wall and are used to resolve said interior satellite, the state resolving circuit processing unit of relative velocity; And link successively, said state resolving circuit processing unit links to each other with described data-interface processing unit; Satellite locking and releasing mechanism are installed in an end of described outer satellite cavity in described; And before the measurement state begins; Lock described interior satellite, described interior satellite locking is controlled the operation that begins that described infrared location system obtains output data with releasing mechanism.
Optimize, described in the emissivity of satellite be not more than 0.1, absorptivity is not less than 0.3; Said outer satellite cavity inner wall emissivity is between 0.4～0.7.
Optimize, described outer satellite cavity inner wall adopts the alumilite process PROCESS FOR TREATMENT to reach emissivity between 0.4～0.7.
Optimize, the thermal perturbation in the said outer satellite cavity is in 0.5K.
Optimize, the material of described interior satellite is a plation.
Optimize, the radius of said interior satellite is 20～30mm, and said outer satellite cavity cavity radius is 200～300mm.
The present invention also provides and utilizes described system to carry out the state measurement method, comprises following steps:
The first step, interior satellite relative status measuring system is connected to spaceborne computer; By interior satellite locking described in the spaceborne computer control survey system and the state of releasing mechanism, the on-off state of control infrared location system, and receive the data that the data-interface processing unit is exported;
Second step: when sun synchronization track in morning and evening that the interior formation flight device entry altitude that is loaded with said measuring system is 300～350km, the infrared location system in the said measuring system gets into waiting status according to the instruction start of said spaceborne computer;
The 3rd step: described locking of described spaceborne computer instruction unpack and releasing mechanism, discharge described interior satellite, described interior satellite and described outer satellite cavity are broken away from, simultaneously, transmission discharges successfully instruction to described infrared location system;
The 4th step: described infrared location system receives after described release successfully instructs; Begin to obtain said interior satellite and calculate relative velocity, then described relative position, relative velocity are exported to described spaceborne computer through described data-interface processing unit with respect to the relative position of outer satellite cavity coordinate system and by described state resolving circuit processing unit;
The 5th step: repeated for the 4th step, relative position, the relative velocity of satellite in said carried out continuous coverage and output.
Beneficial effect of the present invention is following:
Satellite relative status measuring system and measuring method thereof have the following advantages in of the present invention: passive measurement is carried out according to the infrared signature of interior satellite in (1), does not introduce the measurement perturbed force, and the non-gravitation of internal satellite of forming into columns in helping disturbs the requirement that suppresses; (2) allow to leave between interior satellite and the cavity big gap, the control of forming into columns in helping; (3) it is clear and definite tightly to lock the release stage, and satellite does not receive physics or chemical damage in guaranteeing.
Description of drawings
Fig. 1 confirms the system architecture synoptic diagram for the interior satellite relative status based on IR survey of the present invention.
Embodiment
Interior satellite relative status based on IR survey of the present invention confirms that system and method thereof realize the target intersection measurement through the LONG WAVE INFRARED imaging, carry out confirming of relative position and speed.Internally satellite surface and inner chamber body inside surface carry out different surface treatment method, thereby need not under the condition of light source irradiation, can produce different infrared signatures because of the difference of slin emissivity, the identification and the measurement of satellite in realizing.Referring to accompanying drawing 1, behind the sun synchronization track in morning and evening that interior formation flight device entry altitude is 300～350km, infrared location system 3 receives the instruction start of spaceborne computer; Simultaneously; Interior satellite locking and releasing mechanism 4 are logical also according to satellite 1 in the instruction release of spaceborne computer, the outer satellite cavity 2 of satellite 1 disengaging in making, and infrared location system 3 receives from the release of interior satellite locking and releasing mechanism and successfully instructs the back through the infrared eye images acquired; And through Flame Image Process with after analyzing; Satellite is with respect to the orientation of this probe in obtaining, and through the intersection measurement of two above infrared probes, satellite is with respect to the relative position of cavity in confirming.Through the processing of sequence image, the relative velocity of satellite in further obtaining.Resolving at interior satellite relative status resolving circuit processing unit of relative position, relative velocity accomplished, and through the output of data-interface processing unit, is transferred to spaceborne computer via spaceborne bus 5.
For make infrared eye write down clearly in the satellite relative position in the satellite cavity outside; Promptly interior satellite of the infrared image prospect of detector record and background i.e. the imaging gray scale of outer satellite cavity need certain ratio, and both proportionate relationships have following relation with absorptivity, the emissivity of interior satellite and outer satellite cavity inner wall:
Relational expression (1) obtains through following derivation:
The emissivity of the imaging gray scale of general object and emissivity, reflectivity and the peripheral object thereof of object itself has relation, promptly
Imaging gray scale=K * (reflectivity of the emissivity * object of the emissivity of object+peripheral object itself itself)
Wherein K is a constant.
Then have specific to system of the present invention:
Prospect imaging gray scale=K * (interior satellites transmits rate+outer chamber inwall emissivity * interior satellite reflection rate) (2)
Background imaging gray scale=K * (outer satellite cavity inner wall emissivity+interior satellites transmits rate * outer satellite cavity inner wall reflectivity) (3)
For relational expression (2), because interior satellite reflection rate+interior satellite absorptivity=1, so have:
Prospect imaging gray scale=K * (interior satellites transmits rate+outer chamber inwall emissivity * (satellite absorptivity in the 1-)) (4)
For formula (3),, and ignore the influence of the infrared radiation that satellite is launched in the reflection because interior satellite table area, can think that the gray scale of infrared imaging background depends primarily on the infrared radiation of wall emission in the outer chamber much smaller than the surface area of outer satellite cavity inner wall.Thereby have:
Background imaging gray scale=K * outer satellite cavity inner wall emissivity (5)
Can obtain formula (1) by formula (4), formula (5).
Interior satellite relative status based on IR survey of the present invention confirms that interior satellite and the outer satellite cavity inner wall in the system passes through surface treatment respectively, makes that the emissivity of interior satellite is not more than 0.1, absorptivity is not less than 0.3; Said outer satellite cavity inner wall emissivity is between 0.4～0.7, and when the emissivity of interior satellite is 0.1, absorptivity is 0.3, and the emissivity of outer satellite cavity inner wall is 0.7 o'clock, with above data substitution formula (1), then has:
The imaging gray scales that is prospect and background is 1/1.2, suitably adjusts the dynamic range and the temperature resolution of infrared eye, can get a distinct image, and satisfies location requirement.The dynamic range of detector can confirm that the nominal blackbody temperature of interior satellite and outer satellite is following with the relation of measuring temperature with reference to the nominal blackbody temperature of interior satellite and outer satellite cavity inner wall:
Te＝Tε
1/4 (6)
Wherein, Te is nominal blackbody temperature, and T is the kelvin rating under the measurement environment, and ε is a slin emissivity, and the passing through to shift onto as follows of formula (6) obtains:
Known black matrix energy emission formula does
E＝δT
4 (7)
Wherein, E is the blackbody radiation energy value, and δ is the Stefan-Boltzmann constant, and T is a kelvin rating.For general object, establishing its slin emissivity is ε, and then its emittance does
E1＝εδT
4 (8)
Can reach identical emittance with a blackbody radiation source, establishing its required blackbody temperature is Te, is called nominal blackbody temperature, satisfies
εδT
4＝δTe
4 (9)
So have
Te＝(εT
4)
1/4＝Tε
1/4
According to formula (1), can know under normal temperature environment, i.e. T=300K, when the emissivity of interior satellite is 0.1, absorptivity is 0.3, and the emissivity of outer satellite cavity inner wall is 0.7 o'clock, and the nominal blackbody temperature of interior satellite is 300K * 0.1
1/4=168.7K, the nominal blackbody temperature of outer satellite cavity is 300K * 0.7
1/4=274.4K, both nominal blackbody temperature differences are 105.7K, like this; When the emissivity of interior satellite is 0.1; Absorptivity is 0.3, and the emissivity of outer satellite cavity inner wall is 0.7 o'clock, near normal temperature, suitably adjusts the dynamic range and the temperature resolution of infrared eye; Can get a distinct image, satisfy location requirement.
Satellite relative status measuring method in of the present invention is divided into preparatory stage and duplicate measurements stage.In the preparatory stage, at first interior satellite is under lock-out state, with the sun synchronization track in morning and evening of interior formation flight device entry altitude 300～350km; Infrared eye under the infrared location system and IMAQ and pre-process circuit unit, relative status resolving circuit processing unit are started shooting according to the instruction of spaceborne computer then, get into waiting status; At last, locking receives to release order with releasing mechanism and begins to discharge, and interior satellite and cavity break away from; After discharging successfully; The notice infrared location system is started working, and gets into the duplicate measurements stage, and infrared location system begins image taking and collection; Relative position, the relative velocity of satellite are exported through external data interface in Flame Image Process and the acquisition of intersection location.Said process constantly repeats, and realizes that the relative position of internal satellite, relative velocity carry out continuous coverage and output.
Claims (8)
1. interior satellite relative status measuring system is characterized in that: comprise interior satellite, hold in satellite outer satellite cavity, interior satellite locking and releasing mechanism, infrared location system and be used for the data-interface processing unit of output data; Satellite is a spheroid in described, and described outer satellite cavity is the spherical structure of hollow sealing, described in surface and the said outer satellite cavity inner wall of satellite have distinct transmit rate, and the imaging circumstances of the said infrared location system of formation jointly; Described infrared location system comprises at least two relative positions that are installed in infrared eye, IMAQ and the pre-process circuit unit on the said outer satellite cavity inner wall and are used to resolve said interior satellite, the state resolving circuit processing unit of relative velocity; And link successively, said state resolving circuit processing unit links to each other with described data-interface processing unit; Satellite locking and releasing mechanism are installed in an end of described outer satellite cavity in described; And before the measurement state begins; Lock described interior satellite, described interior satellite locking is controlled the operation that begins that described infrared location system obtains output data with releasing mechanism.
2. satellite relative status measuring system in according to claim 1 is characterized in that: the emissivity of satellite is not more than 0.1 in described, absorptivity is not less than 0.3; Said outer satellite cavity inner wall emissivity is between 0.4～0.7.
3. satellite relative status measuring system in according to claim 2 is characterized in that: described outer satellite cavity inner wall adopts the alumilite process PROCESS FOR TREATMENT to reach emissivity between 0.4～0.7.
4. satellite relative status measuring system in according to claim 1 is characterized in that: the thermal perturbation in the said outer satellite cavity is in 0.5K.
5. satellite relative status measuring system in according to claim 1 is characterized in that: the material of satellite is a plation in described.
6. satellite relative status measuring system in according to claim 1 is characterized in that: the radius of satellite is 20～30mm in said, and said outer satellite cavity cavity radius is 200～300mm.
7. one kind is utilized the described interior satellite relative status measuring system of claim 1 to carry out the method that interior satellitosis is measured, and comprises following steps:
The first step, interior satellite relative status measuring system is connected to spaceborne computer; By interior satellite locking described in the spaceborne computer control survey system and the state of releasing mechanism, the on-off state of control infrared location system, and receive the data that the data-interface processing unit is exported;
Second step: when sun synchronization track in morning and evening that the interior formation flight device entry altitude that is loaded with said measuring system is 300～350km, the infrared location system in the said measuring system gets into waiting status according to the instruction start of said spaceborne computer;
The 3rd step: described locking of described spaceborne computer instruction unpack and releasing mechanism, discharge described interior satellite, described interior satellite and described outer satellite cavity are broken away from, simultaneously, transmission discharges successfully instruction to described infrared location system;
The 4th step: described infrared location system receives after described release successfully instructs; Begin to obtain said interior satellite and calculate relative velocity, then described relative position, relative velocity are exported to described spaceborne computer through described data-interface processing unit with respect to the relative position of outer satellite cavity coordinate system and by described state resolving circuit processing unit;
The 5th step: repeated for the 4th step, relative position, the relative velocity of satellite in said carried out continuous coverage and output.
8. the method that satellitosis was measured in satellite relative status measuring system was carried out in according to claim 7 is characterized in that: obtain in said the 4th step said in satellite obtain through described two infrared eye intersection measurements with respect to the relative position of outer satellite cavity coordinate system.
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| CN102636818B (en) * | 2012-04-27 | 2015-11-18 | 清华大学 | Star follows the tracks of compound formation earth gravity field measuring system and method thereof |
| CN104061861B (en) * | 2014-07-08 | 2017-03-22 | 清华大学 | Inner satellite relative state measuring system and method based on array images |
| CN104898174B (en) * | 2015-06-10 | 2017-05-31 | 清华大学 | The preparation method of pure Attractive Orbit verification quality |
| CN106482963A (en) * | 2016-09-28 | 2017-03-08 | 北京汽车股份有限公司 | The measuring method of dummy's pelvic movement and system in impact test |
| CN108645407B (en) * | 2018-04-23 | 2022-06-07 | 中国科学院光电研究院 | Composite drag-free mode implementation device and method for high-precision autonomous navigation |
| CN115976587B (en) * | 2023-02-21 | 2023-08-22 | 中国地质大学（北京） | Production process and system for electrolytic coloring surface oxide layer low reflectivity |
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