CN102541067A - Restraint method for rotating sequences of attitudes in calculation of satellite drift angle - Google Patents

Abstract

The invention relates to satellite attitude control and discloses a restraint method for rotating sequences of attitudes in calculation of a satellite drift angle. The restraint method comprises the following steps of: firstly, defining a satellite pitching angle theta in the sequence of 2, a rolling angle phi in the sequence of 1, a yaw angle psi in the sequence of 3 and a drift angle beta; secondly, showing an expression formula of a satellite attitude when the satellite attitude is defined according to the 312 rotating sequence; and thirdly, showing an expression formula of the satellite attitude when a measurement attitude and a target attitude are defined according to the 123 rotating sequence. According to the invention, the problems that new unnecessary errors brought by neglecting calculation errors of the drift angle in other rotating sequences and the engineering quality is reduced in the prior art are solved, and the advantages, such as simple control over the drift angle, no attitude errors and the like are realized.

Description

Attitude was changeed the constrained procedure of preface during the satellite drift angle was calculated

Technical field

The present invention relates to attitude of satellite control, be specifically related to the constrained procedure that the attitude of satellite is changeed preface.

Background technology

The present invention relates to the specific (special) requirements that remote sensing satellite pushes away the attitude of satellite definition transfer preface of sweeping the compensation of camera need drift angle.Space camera mainly uses TDI (TDI) device as focal plane device, improves the camera imaging signal to noise ratio (S/N ratio) through multistage time-delay integral way, thereby improves picture quality; But the orientation of TDI device must be consistent with image drift velocity direction; This is the prerequisite of camera blur-free imaging, however in imaging process since earth rotation, satellite in factors such as rail motion and attitude of satellite errors; Make atural object in the image drift speed that forms on the image planes on horizontal and vertical; ECDC is shaped as the image drift velocity, so satellite need be adjusted at yaw direction in real time, this adjusted value is drift angle.

Drift angle Calculation Method or process existing argumentation in many data at present; Drift angle is calculated and compensation has also obtained use in many engineerings; But also do not see the special instruction that attitude is changeed the preface constraint in the drift angle calculating; Chief reason is to have ignored other in the engineering to change the drift angle error of calculation that exists in the preface, does not realize optimum control scheme.Bring new unnecessary error in this, reduced construction quality.Do not have at present to find explanation or report, do not collect both at home and abroad similarly data as yet yet with similar techniques of the present invention.

Summary of the invention

Ignore the drift angle error of calculation that exists in other commentaries on classics preface in order to solve prior art, brought new unnecessary error, reduced problems such as construction quality, the object of the present invention is to provide the constrained procedure of attitude commentaries on classics preface in a kind of satellite drift angle calculating.Utilize the present invention, not only solved the problems referred to above, can effectively eliminate attitude error, and control is simple.

In order to reach the foregoing invention purpose, the technical scheme that the present invention is adopted for its technical matters of solution provides the constrained procedure of attitude commentaries on classics preface in a kind of satellite drift angle calculating, comprises the steps:

One, the satellite angle of pitch is defined as θ, order is 2; Roll angle is defined as

, and order is 1; Crab angle is defined as ψ, and order is 3; Drift angle is defined as β;

Two, the attitude of satellite is changeed the preface definition by 312, then the attitude of satellite is expressed as following formula, and orbital coordinate system is defined as A _Track

Three, measure attitude and targeted attitude are all changeed the preface definition by 123, then the attitude of satellite is expressed as following formula.

Attitude was changeed the constrained procedure of preface during a kind of satellite drift angle of the present invention was calculated; Owing to take above-mentioned technical scheme; Provide the attitude of satellite to change the formula that preface defines by 123 or 213; Therefore solve prior art and ignored other and change the drift angle error of calculation that exists in preface and bring new unnecessary error, reduced the problem of construction quality, obtained the beneficial effect of realizing that drift angle control is simple and not having attitude error.

Embodiment

Drift angle Calculation Method or process existing argumentation in many data at present; Drift angle is calculated and compensation has also obtained use in many engineerings; But also do not see the special instruction that attitude is changeed the preface constraint in the drift angle calculating; Chief reason is to have ignored other in the engineering to change the drift angle error of calculation that exists in the preface, does not realize optimum control scheme.Bring new unnecessary error in this, reduced construction quality.

The objective of the invention is to overcome the above problems, according to this purpose, the constrained procedure of attitude commentaries on classics preface comprised following step during satellite drift angle of the present invention was calculated:

Step 1, the attitude of satellite is defined as A in orbital coordinate system _Track, the satellite angle of pitch is defined as θ, and roll angle is defined as

Crab angle is defined as ψ, and drift angle is defined as β.

Step 2, the attitude of satellite is changeed the prefaces definition by 312, then the attitude of satellite is expressed as formula 1.

The attitude of satellite after the drift angle compensation such as formula 2 expressions.

θ ₂,

ψ ₂Be respectively the angle of pitch, roll angle and crab angle after drift angle compensates; Though the sensing over the ground of compensation back satellite does not change; But variation has all taken place in the angle of pitch, roll angle and crab angle value; Three-axis attitude need resolve again, if the angle of pitch, roll angle by constant processing, then targeted attitude exists changes the error that preface is brought.

Step 3, measure attitude and targeted attitude are all changeed prefaces definition, adjusted crab angle ψ by 123 ₂=β+ψ, this moment, the angle of pitch, roll angle numerical value were constant, did not need to resolve again, and Project Realization is comparatively convenient, sees formula 3.

。

Claims (1)

1. attitude was changeed the constrained procedure of preface during a satellite drift angle was calculated, and it is characterized in that this method comprises the steps:

One, the satellite angle of pitch is defined as θ, order is 2; Roll angle is defined as

, and order is 1; Crab angle is defined as ψ, and order is 3; Drift angle is defined as β;

Two, the attitude of satellite is changeed the preface definition by 312, then the attitude of satellite is expressed as following formula, and orbital coordinate system is defined as A _Track

Three, measure attitude and targeted attitude are all changeed the preface definition by 123, then the attitude of satellite is expressed as following formula;

。