CN103438886A - Determination method for attitudes of spinning stabilized meteorological satellite based on coarse-fine attitude relation model - Google Patents
Determination method for attitudes of spinning stabilized meteorological satellite based on coarse-fine attitude relation model Download PDFInfo
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Abstract
The invention relates to a determination method for attitudes of a spinning stabilized meteorological satellite based on a coarse-fine attitude relation model. The method is characterized by comprising the following steps that 1: the coarse attitude of the satellite is calculated; 2: a random error in the coarse attitude of the satellite is eliminated; and 3: the coarse attitude is modified by utilizing the coarse-fine attitude relation model. The method has the benefits that 1, the precision is high, and a calculated fine attitude result is basically consistent with the practical fine attitude of the satellite; 2, the applicability is high, and the fine attitude of the satellite can be calculated by the method to achieve accurate positioning of an observation cloud picture when the fine attitude cannot be obtained within 24h after attitude orbit control of the satellite or in an area observation mode; and 3, a processing procedure is distinct, the operand is not great, and implementation is facilitated.
Description
Technical field
The invention belongs to weather satellite observed image positioning field, be specifically related to a kind of spin stabilization weather satellite attitude based on thick smart attitude relational model and determine method.
Background technology
Accurately attitude determines it is that the weather satellite observed image can pinpoint basis, is also the basis that the weather satellite observed image can be applied.At present, China's spin stabilization weather satellite depends on pie chart and looks like to derive the accurate attitude parameter of satellite and carry out the framing to following 24 hours.This method accurate positioning is widely applied in business.But this method can't be derived the accurate attitude of satellite, the accurate location that can not realize satellite cloud picture when the pie chart data accumulation of not receiving figure or collecting is not enough.When satellite carries out region-wide figure observation or carried out after the rail control, in 48 hours, now there is no pie chart picture or disk image document very little at satellite, the accurate attitude of satellite is difficult to determine.
Utilize the satellite telemetry value can calculate the attitude of satellite, find that in practical business the attitude of satellite and the actual attitude of satellite that this remote measurement value is via satellite calculated have certain error, can produce the image lattice skew while utilizing this attitude to framing, therefore we call thick attitude to this attitude of the satellite that the satellite telemetry value calculates of utilizing, and are called smart attitude by the anti-attitude of satellite of releasing of image.Because spin stabilization weather satellite remote measurement value is unbroken, at any time telemometer is calculated the thick attitude of satellite via satellite.
In order to improve the computational accuracy of the thick attitude of satellite, Li Yuheng etc. are a lot of, and the expert has done deep research in this respect.Point out in correlative study that attitude determines that result is often inconsistent owing to being subject to how much observation condition restrictions and measuring error different with computing method.In order to eliminate this error, often all pass through the wide Changing Pattern of infrared earth sensor earth observation string on the research star, determine that spin axis and orbital method are to angle and the wide relation of earth measurement string, derive telemetry difference value calculating spin axle and the orbital method computing formula to angle, due to this method, can to eliminate the measurement data system poor, precision is improved, and can well meet the Satellite TT demand at present.But the attitude that this method is calculated still can not be directly used in framing, framing need to be determined the exact position of each pixel.The practical business operation shows, there is certain relation between thick attitude and smart attitude, if can set up the relational model of a kind of thick attitude and smart attitude, can in the time cannot calculating smart attitude, according to thick attitude, accurately estimate satellite essence attitude, thus the location of realizing observed image.
Summary of the invention
The purpose of this invention is to provide a kind of spin stabilization weather satellite attitude based on thick smart attitude relational model and determine method, set up the relational model of the thick attitude of satellite and smart attitude, when satellite does not have smart attitude, utilize relational model to derive the accurate attitude of satellite, realize that cloud atlas accurately locates.
The objective of the invention is to be achieved through the following technical solutions:
A kind of spin stabilization weather satellite attitude based on thick smart attitude relational model is determined method, comprises the following steps:
Step 1: calculate the thick attitude of satellite:
Decoding remote measurement bag, extract the information such as horizon instrument observation in satellite telemetering data, realize the thick Attitude Calculation algorithm of satellite, and export thick attitude result, wherein, the decoding remote measurement is to realize that remote measurement obtains, telemetry format decoding and quality inspection function, the method that its adopts is to judge the quality of every frame remote measurement according to the frame head synchronous code of telemetry frame and every frame end part with proof test value, for the process quality inspection, satisfactory telemetry frame, according to telemetry format, definition is decoded, then extract a plurality of T values in remote measurement, calculate corresponding physical quantity according to conversion formula,
The method that thick attitude solves employing is to utilize the sun in satellite telemetry-earth metrical information to solve the attitude of satellite, calculate the satellite rotating speed by the T value, the angle of satellite spin axle and solar direction, the angle between satellite spin axle and the earth's core and dihedral, then solve attitude parameter;
Step 2: eliminate the stochastic error in the thick attitude of satellite:
The thick attitude of the satellite calculated according to the remote measurement value can be subject to the impact of various factors to have stochastic error, the average complex filter of employing based on the slip intermediate value revised the thick attitude of satellite, by the weighted mean complex filter based on the slip intermediate value, the thick attitude data of abnormal satellite is differentiated, adopted the attitude moving window of a m length in algorithm
, utilize m continuous attitude value to determine the validity of the thick attitude data of satellite, if wave filter is judged this satellite, thick attitude data is effective, output; Otherwise, judge that the thick attitude data of this satellite is abnormal data, with weighted mean, revise;
Step 3: utilize thick attitude and the thick attitude of smart attitude relational model correction:
Thick attitude forecast attitude of satellite part is mainly the relation of the thick attitude of research and smart attitude, and calculates and forecast the attitude of satellite by thick attitude; Usually the accurate attitude of satellite comprises the mismatch parameter of satellite spin vector scanning radiometer, and the thick attitude of satellite is the attitude of satellite platform, does not contain the mismatch parameter of satellite scanning radiometer.Utilize smart attitude and the slightly comparison of attitude in historical data, the computing system error, used polynomial least square curve method matching Changing Pattern, and so far, spin stabilization weather satellite essence Attitude Calculation completes.
Beneficial effect of the present invention is:
1, precision is high, and the smart attitude result of calculating and the actual smart attitude of satellite are basically identical;
2, applicability is strong, at satellite, has carried out after the rail control in 24 hours or under the area observation pattern, in the time of can't obtaining smart attitude, can calculate satellite essence attitude by this method and realize observing cloud atlas accurately to locate;
3, processing procedure is clear, and operand is little, is convenient to implement.
The accompanying drawing explanation
Below with reference to the accompanying drawings the present invention is described in further detail.
Fig. 1 is the process flow diagram that the described spin stabilization weather satellite attitude based on thick smart attitude relational model of the embodiment of the present invention is determined method.
Embodiment
As shown in Figure 1, the described a kind of spin stabilization weather satellite attitude based on thick smart attitude relational model of the embodiment of the present invention is determined method, comprises the following steps:
Step 1: calculate the thick attitude of satellite:
Step 1.1): the satellite telemetering data obtained be take to frame and carry out quality inspection as unit, judge the quality of every frame satellite telemetering data according to frame head synchronous code and postamble proof test value, frame head and postamble be undesirable to be considered as off qualityly, will be rejected;
Step 1.2): for quality inspection, the satisfactory satellite telemetering data frame through step 1.1, according to the formal definition of satellite telemetering data, decoded, each radio frequency channel value is deposited in and specifies array I;
Step 1.3): from array I, extract T
1to T
11the former code value of scale-of-two, then convert to and calculate the needed physical quantity P of the thick attitude of satellite
1to P
11;
Step 1.4): use P
1to P
11the solar vector S of the unit of deriving, the nadir vector E of earth center position unit, the axial unit vector Z of satellite spin, spin axis and sun angle theta simultaneously that according to sun sensor, record
s, the earth sensor spin axis and the nadir vector angle θ that record
e, under the line in inertial coordinates system, by following attitude equation:
Can calculate the sun-spin axis plane and the interplanar included angle X of the earth's core-spin axis
se;
Step 1.5): according to known position of sun (α
s, δ
s), by following formula:
Can try to achieve the thick attitude right ascension of satellite α
ewith declination δ
e, wherein:
=
=
Step 1.6): according to known position of sun (α
s, δ
s), inclination of satellite orbit i, true perigee angle f and right ascension of ascending node Ω, S and E can be expressed as respectively:
S=
E=
Therefore, the position of satellite is:
Step 2: eliminate the stochastic error in the thick attitude of satellite:
Described step 2 is differentiated the thick attitude data of abnormal satellite by the weighted mean complex filter based on the slip intermediate value, adopts the attitude moving window of a m length in algorithm
, utilize m continuous attitude value to determine the validity of the thick attitude data of satellite, if wave filter is judged this satellite, thick attitude data is effective, output; Otherwise, judge that the thick attitude data of this satellite is abnormal data, with weighted mean, to revise, it further comprises:
Step 2.1): suppose the thick attitude data sequence of initial satellite
intermediate value be Z, by the thick attitude intermediate value of satellite absolute deviation tectonic sequence
=
, hypothetical sequence
intermediate value be D, wherein, the thick attitude intermediate value of satellite absolute deviation Q=1.4826 * D, Q can replace standard deviation;
Step 2.2): if the thick attitude intermediate value of satellite absolute deviation sequence
the value of the middle k of existence all is greater than
,
, basis
value sequence
split into
with
two sequences, wherein,
,
;
Step 2.3): the sequence obtained by step 2.2
in value be normal value, this type of value need not be revised; Sequence
in value be exceptional value, need to be revised the thick attitude data sequence of satellite
final revised result is
, and meet following condition:
If
,
;
If
, formula 1 is arranged, as follows:
Step 2.4): at first accumulate the thick attitude sequence of initial satellite in algorithm, the x, y and z axes of the thick attitude of satellite are accumulated respectively to sequence
,
with
, when sequence runs up to length and is m, according to formula 1, once revise;
Step 2.5): fixed sequence program length is m, slippery sequence when having new thick attitude value to calculate
,
with
, new calculated value is put into to tail of the queue, and removes data of original head of the queue, and then carry out filter correction according to m value in 1 pair of sequence of formula.
The characteristic of the described weighted mean complex filter based on the slip intermediate value can and be revised these three parameters of weights C and be adjusted with window width m, thresholding L.Wherein: m affects total consistance of wave filter; Threshold parameter L directly determines the wave filter degree of initiatively keeping forging ahead, and the L value increases, and will be judged to be singular data and the possibility that replaces by intermediate value reduces, and when L=0, wave filter is determined all the time; Revise weights C and directly determine wave filter correction amplitude, the C value increases, and wave filter correction amplitude is larger, when C=0, uses the abnormal attitude of average correction.
Step 3: utilize thick attitude and the thick attitude of smart attitude relational model correction:
Thick attitude and smart attitude that described step 3 will have been removed stochastic error compare, and the computing system error is used the Changing Pattern of two kinds of attitudes of polynomial least square curve method matching, and it further comprises:
Step 3.1): smart attitude and the relation table of the x, y and z axes of thick attitude are shown to three groups of discrete data points
,
with
, respectively by three relation functions
,
with
with three groups of data fittings of give;
Step 3.2): to attitude data
,
with
, at all number of times, be no more than
the function class that forms of polynomial expression
in, ask respectively
,
with
, make error
,
with
the quadratic sum minimum,
Wherein,
,
,
(i=0,1 ..., m);
Make error
,
with
minimum,
,
,
it is required polynomial expression.Owing between X, Y and Z three, having relation
, the X after matching, Y and Z value generally are difficult to meet this relation.So with in only need to select in X, Y and Z two to calculate, remain one and pass through
this relation is asked calculation.Actual with in general selection X, Y calculate, and then calculate Z by X, Y.
The present invention is not limited to above-mentioned preferred forms; anyone can draw other various forms of products under enlightenment of the present invention; no matter but do any variation on its shape or structure; every have identical with a application or akin technical scheme, within all dropping on protection scope of the present invention.
Claims (6)
1. the spin stabilization weather satellite attitude based on thick smart attitude relational model is determined method, it is characterized in that, comprises the following steps:
Step 1: calculate the thick attitude of satellite;
Step 2: eliminate the stochastic error in the thick attitude of satellite; And
Step 3: utilize thick attitude and the thick attitude of smart attitude relational model correction.
2. the spin stabilization weather satellite attitude based on thick smart attitude relational model according to claim 1 is determined method, it is characterized in that, described step 1 further comprises:
Step 1.1): the satellite telemetering data obtained be take to frame and carry out quality inspection as unit, judge the quality of every frame satellite telemetering data according to frame head synchronous code and postamble proof test value, be considered as off qualityly for undesirable satellite telemetering data value, it is given up;
Step 1.2): for quality inspection, the satisfactory satellite telemetering data frame through step 1.1, according to the formal definition of satellite telemetering data, decoded, each radio frequency channel value is deposited in and specifies array I;
Step 1.3): from array I, extract T
1to T
11the former code value of scale-of-two, then convert to and calculate the needed physical quantity P of the thick attitude of satellite
1to P
11;
Step 1.4): according to ripe Attitude Calculation theory, use P
1to P
11the solar vector S of the unit of deriving, the nadir vector E of earth center position unit, the axial unit vector Z of satellite spin, spin axis and sun angle theta simultaneously that according to sun sensor, record
s, the earth sensor spin axis and the nadir vector angle θ that record
e, under the line in inertial coordinates system, by following attitude equation:
Can calculate the sun-spin axis plane and the interplanar included angle X of the earth's core-spin axis
se;
Step 1.5): according to known position of sun (α
s, δ
s), by following formula:
Can try to achieve the thick attitude right ascension of satellite α
ewith declination δ
e, wherein:
Step 1.6): according to known position of sun (α
s, δ
s), inclination of satellite orbit i, true perigee angle f and right ascension of ascending node Ω, S and E can be expressed as respectively:
S=
E=
Therefore, the position of satellite is:
Spin stabilization weather satellite attitude based on thick smart attitude relational model according to claim 2 is determined method, it is characterized in that: in described step 2, by the weighted mean complex filter based on the slip intermediate value, the thick attitude data of abnormal satellite is differentiated, adopted the attitude moving window of a m length in algorithm
, utilize m continuous attitude value to determine the validity of the thick attitude data of satellite, if wave filter is judged this satellite, thick attitude data is effective, output; Otherwise, judge that the thick attitude data of this satellite is abnormal data, with weighted mean, revise.
3. the spin stabilization weather satellite attitude based on thick smart attitude relational model according to claim 2 is determined method, it is characterized in that, described step 2 comprises:
Step 2.1): suppose the thick attitude data sequence of initial satellite
intermediate value be Z, by the thick attitude intermediate value of satellite absolute deviation tectonic sequence
=
, hypothetical sequence
intermediate value be D, wherein, the thick attitude intermediate value of satellite absolute deviation Q=1.4826 * D, Q can replace standard deviation;
Step 2.2): if the thick attitude intermediate value of satellite absolute deviation sequence
the value of the middle k of existence all is greater than
,
, basis
value sequence
split into
with
two sequences, wherein,
,
;
Step 2.3): the sequence obtained by step 2.2
in value be normal value, this type of value need not be revised; Sequence
in value be exceptional value, need to be revised the thick attitude data sequence of satellite
final revised result is
, and meet following condition:
If
,
;
If
, formula 1 is arranged, as follows:
Step 2.4): at first accumulate the thick attitude sequence of initial satellite in algorithm, the x, y and z axes of the thick attitude of satellite are accumulated respectively to sequence
,
with
, when sequence runs up to length and is m, according to formula 1, once revise;
Step 2.5): fixed sequence program length is m, slippery sequence when having new thick attitude value to calculate
,
with
, new calculated value is put into to tail of the queue, and removes data of original head of the queue, and then carry out filter correction according to m value in 1 pair of sequence of formula.
4. the spin stabilization weather satellite attitude based on thick smart attitude relational model according to claim 4 is determined method, it is characterized in that: window width m, the thresholding L for characteristic of the described weighted mean complex filter based on the slip intermediate value and these three parameters of correction weights C are adjusted, and wherein: m affects total consistance of wave filter; Threshold parameter L directly determines the wave filter degree of initiatively keeping forging ahead, and the L value increases, and will be judged to be singular data and the possibility that replaces by intermediate value reduces, and when L=0, wave filter is determined all the time; Revise weights C and directly determine wave filter correction amplitude, the C value increases, and wave filter correction amplitude is larger, when C=0, uses the abnormal attitude of average correction.
5. the spin stabilization weather satellite attitude based on thick smart attitude relational model according to claim 5 is determined method, it is characterized in that, in described step 3, thick attitude and the smart attitude of having removed stochastic error are compared, the computing system error, used the Changing Pattern of two kinds of attitudes of polynomial least square curve method matching.
6. determine method according to the described spin stabilization weather satellite attitude based on thick smart attitude relational model of claim 5 or 6, it is characterized in that, described step 3 comprises:
Step 3.1): smart attitude and the relation table of the x, y and z axes of thick attitude are shown to three groups of discrete data points
,
with
, respectively by three relation functions
,
with
with three groups of data fittings of give;
Step 3.2): to attitude data
,
with
, at all number of times, be no more than
the function class that forms of polynomial expression
in, ask respectively
,
with
, make error
,
with
the quadratic sum minimum,
Wherein,
,
,
(i=0,1 ..., m);
Make error
,
with
minimum,
,
,
it is required polynomial expression.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106628258A (en) * | 2016-10-10 | 2017-05-10 | 北京控制工程研究所 | Satellite spin attitude determination method based on sun vector information |
| CN107357758A (en) * | 2017-06-29 | 2017-11-17 | 中国人民解放军63796部队 | The multinomial least square regression Memorability of location information seeks fast method |
| CN110203424A (en) * | 2019-05-05 | 2019-09-06 | 中国人民解放军63921部队 | Utilize the method and apparatus of measurement data estimation spacecraft spin motion |
| CN110297826A (en) * | 2019-05-31 | 2019-10-01 | 南京理工大学 | Method based on json dynamic analysis satellite telemetering data |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106628258A (en) * | 2016-10-10 | 2017-05-10 | 北京控制工程研究所 | Satellite spin attitude determination method based on sun vector information |
| CN106628258B (en) * | 2016-10-10 | 2019-05-24 | 北京控制工程研究所 | A kind of satellite spin attitude determination method based on solar vector information |
| CN107357758A (en) * | 2017-06-29 | 2017-11-17 | 中国人民解放军63796部队 | The multinomial least square regression Memorability of location information seeks fast method |
| CN107357758B (en) * | 2017-06-29 | 2021-04-13 | 中国人民解放军63796部队 | Polynomial least square regression memorability speed calculation method for positioning information |
| CN110203424A (en) * | 2019-05-05 | 2019-09-06 | 中国人民解放军63921部队 | Utilize the method and apparatus of measurement data estimation spacecraft spin motion |
| CN110297826A (en) * | 2019-05-31 | 2019-10-01 | 南京理工大学 | Method based on json dynamic analysis satellite telemetering data |
| CN110297826B (en) * | 2019-05-31 | 2020-12-11 | 南京理工大学 | Method for dynamically analyzing satellite telemetry data based on json |
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