CN104061861A - Inner satellite relative state measuring system and method based on array images - Google Patents
Inner satellite relative state measuring system and method based on array images Download PDFInfo
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Abstract
The invention provides an inner satellite relative state measuring system and method based on array images. The inner satellite relative state measuring system comprises an inner satellite, an outer satellite cavity for containing the inner satellite, an inner satellite locking and releasing mechanism and an array image positioning system. The array image positioning system comprises a light emitting array, a receiving array, a driving and sampling circuit and a state resolving unit, wherein the light emitting array is composed of N lasers, the receiving array is composed of N receivers, the driving and sampling circuit receives a control instruction from an on-board computer, drives the lasers on the light emitting array to work according to the control instruction and samples signals collected by the receivers on the receiving array, and the state resolving unit resolves the relative state of the inner satellite. When the relative state of the inner satellite is measured, interference in the track of the inner satellite is low, the range can cover the whole area of an inner satellite cavity, the measurement accuracy is on the millimeter level, and the requirements for relative state measurement of the inner satellite by space scientific tasks like gravity field measurement can be met.
Description
Technical field
The invention belongs to Space Vehicle System and field of optical measuring technologies, be specifically related to a kind of interior satellite relative status measuring system and method thereof based on array image.
Background technology
Interior formation system is a kind of satellite system that realizes terrestrial gravitation field measurement task by constructing the pure Attractive Orbit of interior satellite.Interior formation system is mainly comprised of outer satellite and interior satellite, and interior satellite is as the reference point of pure Attractive Orbit, free flight in satellite cavity outside.Due to the shielding action that outer satellite cavity disturbs the main non-gravitation such as atmospherical drag, sun optical pressure, interior satellite flight track is the pure Attractive Orbit of gravitate only.The orbital data of interior satellite is obtained and can be measured and be realized by outer Satellite Orbit Determination and inside and outside satellite relative status.
Interior satellite relative status measurement result can be used for plurality of application scenes, is exemplified below:
(1) measurement of interior satellite relative status is the key technical problem that the scientific exploration tasks such as gravitational wave detection are needed solution badly: in gravitational wave detection task LISA, checking quality is positioned at spacecraft inside cavity, be similar to the interior satellite in interior formation system, the reference point of measuring as high precision position.
(2) interior satellite relative status measurement result also can be applicable to the high-precision control systems such as non-resistance control, for the tasks such as scientific experiment provide the spacecraft platform with high stability.
In measuring accuracy, meet under the prerequisite of mission requirements, interior satellite relative status is measured and is also required the non-gravitation being caused by measurement to disturb as far as possible little.The measuring method proposing at present can be divided into capacitor type and optical type two classes.(1) capacitor type relative status measuring method: obtain station-keeping data by the capacitance variations of measuring between outer satellite cavity and interior satellite, measuring accuracy can reach nm magnitude.But capacitive type measurement method is only applicable to the less situation of outer satellite cavity size, at GP-B lumen body space, only has 30 μ m, and the cavity gap of LISA is about 4mm.Less cavity gap not only can increase remaining non-gravitation disturbs, and also the track of external satellite is controlled and brought challenges, and is difficult to meet the requirement of the tasks such as interior formation system.(2) optical type is measured applicable to the larger situation of outer satellite cavity size, comprises that two kinds of interferometry and luminous intensity measurements realize means.Although interferometry can reach the superhigh precision of pm magnitude, limit of range, in the scope of optical wavelength, is only hundreds of nanometer.Luminous intensity measurement obtains station-keeping data by surveying the light intensity of interior satellite at diverse location place, under the measuring accuracy that guarantees nm magnitude, can reach mm range.Yet mm range is still difficult to meet the mission requirements such as interior formation system etc., also cannot realize the state capture under interior satellite initial release or abnormal case.Wherein, the mm in above-mentioned represents millimeter; Nm represents nanometer; Pm represents micromicron; μ m represents micron.
Summary of the invention
The defect existing for prior art, the invention provides a kind of interior satellite relative status measuring system and method thereof based on array image, in measuring during satellite relative status, internally the interference of satellite orbit is extremely low, range can cover the region-wide of interior satellite cavity, measuring accuracy, in millimeter magnitude, can meet the demand that the internal satellite relative status of the space science tasks such as gravity field measurement is measured.
The technical solution used in the present invention is as follows:
The invention provides a kind of interior satellite relative status measuring system based on array image, comprising: interior satellite, the outer satellite cavity that holds interior satellite, interior satellite locking and releasing mechanism and array Image Location System;
Described interior satellite is spheroid, the cube structure that described outer satellite cavity is hollow;
Described interior satellite locking is arranged on a wall of described outer satellite cavity with releasing mechanism, before measuring state starts, for locking interior satellite, after measuring state starts, for discharging interior satellite, makes the free flight in satellite cavity outside of interior satellite;
Described array Image Location System comprises that light emitting array, receiving array, driving and sample circuit and state resolve unit; Described light emitting array consists of N laser instrument, and described receiving array consists of N receiver, and the light that each laser instrument sends is received by a unique described receiver; Described driving and sample circuit are used for receiving the steering order of spaceborne computer, and drive the laser works on light emitting array according to this steering order, and the signal that on receiving array, each receiver collects is sampled; Described state resolves unit for according to driving the sampled signal of exporting with sample circuit, calculates the relative status of interior satellite; Described state resolves Unit Design data output interface, and described data output interface is for outputing to spaceborne computer by the interior satellite relative status calculating.
Preferably, described receiver is photodetector.
Preferably, described light emitting array consists of N small semiconductor laser, comprise the first luminous subarray and the second luminous subarray, the first inwall that described the first luminous subarray and described the second luminous subarray are arranged on respectively outer satellite cavity is with on the second inwall vertical with described the first inwall; N is natural number;
Described receiving array consists of N low profile photovoltaic detector, comprise that the first reception subarray and second receives subarray, described first receives subarray and described second receives the 3rd inwall that subarray is arranged on respectively outer satellite cavity with on the 4th inwall vertical with described the 3rd inwall;
And the number of lasers in described the first luminous subarray is identical with the described first photodetector quantity receiving in subarray, described the first inwall is the parallel inwall being oppositely arranged with described the 3rd inwall; The laser that each laser instrument on the first inwall sends is all parallel to array normal direction, on unique photodetector of vertical incidence on the 3rd inwall;
Number of lasers in described the second luminous subarray is identical with the described second photodetector quantity receiving in subarray, and described the second inwall is the parallel inwall being oppositely arranged with described the 4th inwall; The laser that each laser instrument on the second inwall sends is all parallel to array normal direction, on unique photodetector of vertical incidence on the 4th inwall.
Preferably, in described the first luminous subarray, the minimum spacing between adjacent laser instrument is L1;
Minimum spacing in described the second luminous subarray between adjacent laser instrument is L2;
Minimum spacing in described the first reception subarray between adjacent photodetectors is L3;
Minimum spacing in described the second reception subarray between adjacent photodetectors is L4;
If the laser spot diameter being incident on photodetector is r;
Meet following relational expression:
r＜L1≤10mm；
r＜L2≤10mm；
r＜L3≤10mm；
r＜L4≤10mm。
Preferably, described light emitting array and described receiving array are different from described interior satellite locking and the installation wall of releasing mechanism at described outer satellite cavity at the installation wall of described outer satellite cavity.
Preferably, on described light emitting array, the mode of operation of each laser instrument is scan pattern, that is: data in the sampling period, each laser instrument is luminous in turn, at next laser instrument, start when luminous, a upper laser instrument is no longer luminous, and each constantly has a laser instrument luminous at the most.
The present invention also provides a kind of interior satellite relative status measuring method based on array image, comprises the following steps:
S1, is connected to spaceborne computer by the interior satellite relative status measuring system of claim 1-6 any one;
S2, when being loaded with the spacecraft of described interior satellite relative status measuring system and entering task phase, the locking of the inside satellite of spaceborne computer is sent steering order with releasing mechanism, in controlling satellite locking discharge with releasing mechanism in satellite, make the free flight in satellite cavity outside of interior satellite;
S3, after discharging successfully, described spaceborne computer sends and starts to measure instruction to array Image Location System;
Start to measure after instruction receiving, described driving and sample circuit, to light emitting array and receiving array tranmitting data register synchronic command, make light emitting array and receiving array have identical sequential;
Then, for each data sampling cycle, all carry out following operation, thus the relative status of satellite in continuous coverage and output:
S31, each laser instrument on described driving and sample circuit driving light emitting array is with scan pattern work, and the signal simultaneously unique corresponding photodetector of the laser instrument with current luminance being collected is sampled; Data, in the update cycle, obtain the sampled signal of each photodetector output signal, and this sampled signal is transferred to state resolves unit;
S32, described state resolves unit according to driving the sampled signal of exporting with sample circuit, calculates the relative status of interior satellite, and by data output interface, the relative status of interior satellite is sent to spaceborne computer.
Preferably, the relative status of described interior satellite comprises relative position and relative velocity.
Preferably, the relative position of described interior satellite obtains by the following method:
S311, sets up three-dimensional system of coordinate x-y-z; Wherein, the geometric center of outer satellite cavity is true origin; When entering task phase, x axle overlaps with spacecraft velocity reversal, and z axle points to the earth's core, and y axle is along the negative normal direction of orbital plane; Locking is arranged on the cavity wall perpendicular to-x axle with releasing mechanism; The first luminous subarray is arranged on the cavity wall perpendicular to-z axle; The second luminous subarray is arranged on the cavity wall perpendicular to-y axle; First receives subarray is arranged on the cavity wall perpendicular to+z axle; Second receives subarray is arranged on the cavity wall perpendicular to+y axle;
S312, the second luminous subarray and second receives subarray and forms the first two-dimensional positioning system;
For the first two-dimensional positioning system: when interior satellite is outside in satellite cavity during free flight, in the second luminous subarray, exist the laser that part laser instrument sends by interior satellite, not blocked completely and be incident on completely on photodetector corresponding in the second reception subarray, corresponding photodetector is converted into electric signal by the light signal receiving, the input data as driving with sample circuit;
In the second luminous subarray, exist laser that part laser instrument sends to be blocked completely by interior satellite and cannot be incident on photodetector corresponding in the second reception subarray, corresponding photodetector cannot receive light signal and cannot output electrical signals; In the second luminous subarray, exist the laser that part laser instrument sends by interior satellite portion, blocked and be partly incident on photodetector corresponding in the second reception subarray, corresponding photodetector only detects the part luminous energy of beam of laser, corresponding the weakening of its electric signal output;
Drive with sample circuit electric signal output threshold value S is set
t, whether the electric signal of the photodetector output that judgement sampling obtains is less than S
tif, be less than, the electric signal of photodetector output is converted into " 0 "; Otherwise, the electric signal of photodetector output is converted into " 1 "; And the digital data transmission after transforming is resolved to unit to state;
Wherein, electric signal output threshold value S
tby formula (1), calculate:
S
t＝η
tS
max(1)
Wherein, S
maxwhile representing not blocked, the electric signal size that single photodetector receives; η
tfor threshold value coefficient, at 0～1 interior value, S
trepresent electric signal output threshold value;
S313, described state resolves the photoelectric probe position that unit is " 0 " according to sampled result, and the internal satellite of geometrical center method of through type (2) is estimated at the relative position of x-z face:
Wherein, (x
s, z
s) represent that interior satellite that the first two-dimensional positioning system location obtains is at the relative position of x-z face,
represent that sampled result is the photodetector of " 0 " position coordinates in x-z face, n
1represent that sampled result is the photodetector number of " 0 ";
S314, receives by the first luminous subarray and first the second two-dimensional positioning system that subarray forms, in determining satellite the relative position of x-y face (x '
s, y
s);
S315, comprehensive in satellite the relative position of x-y face (x '
s, y
s) and at the relative position (x of x-z face
s, z
s), obtain the interior satellite three-dimensional location coordinates in satellite cavity outside.
Preferably, obtaining interior satellite outside after the three-dimensional location coordinates in satellite cavity, by Kalman filtering algorithm, calculate the relative velocity of interior satellite.
Interior satellite relative status measuring system and method thereof based on array image provided by the invention, has the following advantages:
(1), by low power laser projection and scanning work mode, in measuring, during satellite relative status, internally the interference of satellitosis is extremely low, can meet the requirement of the non-gravitation interference of the internal satellites of tasks of science such as gravity field measurements, gravitation detection inhibition; (2) by array layout, make to measure range and can cover the region-wide of interior satellite cavity.
Accompanying drawing explanation
Fig. 1 is the structural representation of the interior satellite relative status measuring system based on array image provided by the invention;
Fig. 2 is the perspective view at x-y face perpendicular to the two-dimensional positioning system of y axle;
Fig. 3 is the perspective view at x-z face perpendicular to the two-dimensional positioning system of y axle;
Fig. 4 is a kind of offset layout schematic diagram.
Embodiment
Below in conjunction with accompanying drawing, the present invention is described in detail:
As shown in Figure 1, the invention provides a kind of interior satellite relative status measuring system based on array image, comprising: interior satellite 1, hold the locking of the outer satellite cavity 2 of interior satellite, interior satellite and releasing mechanism 3 and array Image Location System; Wherein, interior satellite is spheroid, the cube structure that outer satellite cavity is hollow; The locking of interior satellite is arranged on a wall of outer satellite cavity with releasing mechanism, before measuring state starts, for locking interior satellite, after measuring state starts, for discharging interior satellite, makes the free flight in satellite cavity outside of interior satellite;
Array Image Location System comprises that light emitting array 4, receiving array 5, driving and sample circuit and state resolve unit; Light emitting array consists of N laser instrument, and receiving array consists of N receiver, and in practical application, receiver can adopt photodetector.The light that each laser instrument sends is received by a unique receiver; Drive the steering order that is used for receiving spaceborne computer with sample circuit, and drive the laser works on light emitting array according to this steering order, and the signal that on receiving array, each receiver collects is sampled; Wherein, on light emitting array, the mode of operation of each laser instrument is scan pattern, that is: data in the sampling period, each laser instrument is luminous in turn, at next laser instrument, start when luminous, a upper laser instrument is no longer luminous, and each constantly has a laser instrument luminous at the most.
State resolves unit for according to driving the sampled signal of exporting with sample circuit, calculates the relative status of interior satellite; State resolves Unit Design data output interface, and data output interface is for outputing to spaceborne computer by the interior satellite relative status calculating.Light emitting array and receiving array outside the installation wall of satellite cavity are different from the locking of interior satellite and the releasing mechanism installation wall of satellite cavity outside.
In the present invention, the concrete arrangement mode of light emitting array and receiving array is adjusted according to actual needs flexibly, as a kind of specific implementation, as shown in Figure 1, light emitting array consists of N small semiconductor laser, comprise the first luminous subarray and the second luminous subarray, the first inwall that the first luminous subarray and the second luminous subarray are arranged on respectively outer satellite cavity is with on the second inwall vertical with the first inwall;
Receiving array consists of N low profile photovoltaic detector, comprises that the first reception subarray and second receives subarray, and first receives subarray and second receives the 3rd inwall that subarray is arranged on respectively outer satellite cavity with on the 4th inwall vertical with the 3rd inwall;
And the number of lasers in the first luminous subarray is identical with the first photodetector quantity receiving in subarray, the first inwall is the parallel inwall being oppositely arranged with the 3rd inwall; The laser that each laser instrument on the first inwall sends is all parallel to array normal direction, on unique photodetector of vertical incidence on the 3rd inwall;
Number of lasers in the second luminous subarray is identical with the second photodetector quantity receiving in subarray, and the second inwall is the parallel inwall being oppositely arranged with the 4th inwall; The laser that each laser instrument on the second inwall sends is all parallel to array normal direction, on unique photodetector of vertical incidence on the 4th inwall.
In addition, in the present invention, for guaranteeing the measuring accuracy of millimeter magnitude, the laser instrument/detector minimum spacing on array is limited in 10mm; And minimum spacing is greater than the laser spot diameter being incident on photodetector, thereby guarantee that each photodetector receives only the light beam that a laser instrument sends.
That is: in the first luminous subarray, the minimum spacing between adjacent laser instrument is L1;
Minimum spacing in the second luminous subarray between adjacent laser instrument is L2;
Minimum spacing in the first reception subarray between adjacent photodetectors is L3;
Minimum spacing in the second reception subarray between adjacent photodetectors is L4;
If the laser spot diameter being incident on photodetector is r;
Meet following relational expression:
r＜L1≤10mm；
r＜L2≤10mm；
r＜L3≤10mm；
r＜L4≤10mm。
The present invention also provides a kind of interior satellite relative status measuring method based on array image, comprises the following steps:
S1, is connected to spaceborne computer by above-mentioned interior satellite relative status measuring system; By spaceborne computer, can control interior satellite locking and the state of releasing mechanism, the on-off state of array Image Location System etc.
S2, when being loaded with the spacecraft of interior satellite relative status measuring system and entering task phase, the locking of the inside satellite of spaceborne computer is sent steering order with releasing mechanism, in controlling satellite locking discharge with releasing mechanism in satellite, make the free flight in satellite cavity outside of interior satellite;
S3, after discharging successfully, spaceborne computer sends and starts to measure instruction to array Image Location System;
Start to measure after instruction receiving, drive with sample circuit to light emitting array and receiving array tranmitting data register synchronic command, make light emitting array and receiving array there is identical sequential;
Then, for each data sampling cycle, all carry out following operation, thus the relative status of satellite in continuous coverage and output:
S31, each laser instrument on driving and sample circuit driving light emitting array is with scan pattern work, and the signal simultaneously unique corresponding photodetector of the laser instrument with current luminance being collected is sampled; Data, in the update cycle, obtain the sampled signal of each photodetector output signal, and this sampled signal is transferred to state resolves unit;
S32, state resolves unit according to driving the sampled signal of exporting with sample circuit, calculates the relative status of interior satellite, and by data output interface, the relative status of interior satellite is sent to spaceborne computer.
The relative status of interior satellite comprises relative position and relative velocity, and the relative position of interior satellite obtains by the following method:
S311, with reference to figure 1, sets up three-dimensional system of coordinate x-y-z; Wherein, the right hand rectangular coordinate system in Fig. 1 defines as follows: the geometric center of outer satellite cavity is true origin; Coordinate axis is parallel to respectively three structure limits of outer satellite cavity.For the gravity field measurement satellites of carrying this measuring system, when entering task phase, the attitude of satellite reaches steady state (SS), and x axle is overlapped with spacecraft velocity reversal, and z axle points to the earth's core, and y axle is along the negative normal direction of orbital plane; Locking is arranged on the cavity wall perpendicular to-x axle with releasing mechanism; The first luminous subarray is arranged on the cavity wall perpendicular to-z axle; The second luminous subarray is arranged on the cavity wall perpendicular to-y axle; First receives subarray is arranged on the cavity wall perpendicular to+z axle; Second receives subarray is arranged on the cavity wall perpendicular to+y axle;
S312, the second luminous subarray and second receives subarray and forms the first two-dimensional positioning system;
With the first two-dimensional positioning system, the two-dimensional positioning system being perpendicular to y axle is example, positioning principle and the method for satellite in illustrating:
As shown in Figure 2, be the perspective view of the two-dimensional positioning system perpendicular to y axle at x-y face; As shown in Figure 3, be the perspective view of the two-dimensional positioning system perpendicular to y axle at x-z face; Wherein, 6 is photodetector.When interior satellite is outside in satellite cavity during free flight, in the second luminous subarray, exist the laser that part laser instrument sends by interior satellite, not blocked completely and be incident on completely on photodetector corresponding in the second reception subarray, corresponding photodetector is converted into electric signal by the light signal receiving, the input data as driving with sample circuit;
In the second luminous subarray, exist the laser that part laser instrument sends by interior satellite, to be blocked completely and cannot be incident on photodetector corresponding in the second reception subarray, corresponding photodetector cannot receive light signal and cannot output electrical signals, P as shown in Figure 3
12, P
21, P
22, P
23and P
32.; In the second luminous subarray, exist the laser that part laser instrument sends by interior satellite portion, blocked and be partly incident on photodetector corresponding in the second reception subarray, corresponding photodetector only detects the part luminous energy of beam of laser, corresponding the weakening of its electric signal output, P as shown in Figure 3
11, P
13, P
31and P
33.；
Drive with sample circuit electric signal output threshold value S is set
t, whether the electric signal of the photodetector output that judgement sampling obtains is less than S
tif, be less than, the electric signal of photodetector output is converted into " 0 "; Otherwise, the electric signal of photodetector output is converted into " 1 "; And the digital data transmission after transforming is resolved to unit to state; By said method, drive with sample circuit the analog electrical signal of all photodetectors is converted into " 0 " and " 1 " two kinds of digital signals.
Wherein, electric signal output threshold value S
tby formula (1), calculate:
S
t＝η
tS
max(1)
Wherein, S
maxwhile representing not blocked, the electric signal size that single photodetector receives; η
tfor threshold value coefficient, at 0～1 interior value, S
trepresent electric signal output threshold value;
Figure 3 shows that example, if laser intensity is uniformly distributed on photodetector, and η
t=0.5, P
11, P
13and P
31sampled result be " 1 ", and P
33sampled result be " 0 ".
S313, state resolves the photoelectric probe position that unit is " 0 " according to sampled result, and the internal satellite of geometrical center method of through type (2) is estimated at the relative position of x-z face:
Wherein, (x
s, z
s) represent that interior satellite that the first two-dimensional positioning system location obtains is at the relative position of x-z face,
represent that sampled result is the photodetector of " 0 " position coordinates in x-z face, n
1represent that sampled result is the photodetector number of " 0 ";
S314, receives by the first luminous subarray and first the second two-dimensional positioning system that subarray forms, the same principle based on the first two-dimensional positioning system location, the second two-dimensional positioning system determine in satellite the relative position of x-y face (x '
s, y
s);
S315, comprehensive in satellite the relative position of x-y face (x '
s, y
s) and at the relative position (x of x-z face
s, z
s), obtain the interior satellite three-dimensional location coordinates in satellite cavity outside.Obtaining interior satellite outside after the three-dimensional location coordinates in satellite cavity, by Kalman filtering algorithm, calculate the relative velocity of interior satellite.
As the above analysis, array Image Location System of the present invention has a redundance in the measurement of x direction, can utilize this redundant data to improve the measuring accuracy of x direction.A kind of scheme that improves x orientation measurement precision is that the two-dimensional positioning system perpendicular to y axle and z axle is designed to different array arrangement modes.As shown in Figure 4, be a kind of offset layout schematic diagram.Under this kind of layout, the minimum spacing of two arrays is identical, and there is deviation at layout center, the planimetric coordinates of each laser instrument/detector on these two arrays can not overlapped, and then be equivalent to laser instrument/detector of having encrypted x direction.
Interior satellite relative status measuring system based on array image provided by the invention in the specific implementation, also can the electric signal of photodetector be converted into by data collecting card to the digital signal with certain resolution characteristic, to utilize the strength information of electric signal to improve measurement performance.
Introduce two kinds of application concrete test examples of the present invention below:
Test example 1
Under identical topology mode, different layout spacing, the Relative position determination precision of interior satellite is carried out mathematical simulation, simulated conditions is as follows: interior satellite diameter is made as 18mm, the photosurface of photodetector is the circle of diameter 2mm, the laser beam diameter being radiated on photodetector is 2mm, threshold value coefficient is made as 0.5, adopts the measured value that obtains interior satellite position suc as formula the geometrical center method shown in (2).As shown in table 1, under identical topology mode, different layout spacing, the result of mathematical simulation of the Relative position determination precision of interior satellite.
Under table 1 identical topology, different layout spacing, the Relative position determination precision of interior satellite
From table 1, when layout minimum spacing is less than 10mm, the average measurement precision of relative position is better than 2.14mm, and maximum error of measuring, lower than 5.66mm, meets the index request of mm level measuring accuracy.
Test example 2
Under offset layout mode, several typical minimum spacing situation, internally the Relative position determination precision of satellite is carried out mathematical simulation.Simulation parameter is identical with test example 1, half that layout center offset is minimum spacing.As shown in table 2, under offset layout mode, several typical minimum spacing situation, the result of mathematical simulation of the Relative position determination precision of interior satellite.From table 2, under offset layout, the measuring error of x axle is about half of other diaxon measuring error, and positional accuracy measurement also increases.
Under table 2 offset layout, different layout spacing, the Relative position determination precision of interior satellite
Because the laser instrument on light emitting array adopts scanning work mode, so each constantly only has beam of laser to be radiated on interior satellite.When measuring, the optical pressure disturbance acceleration that the internal satellite of single beam laser produces can be estimated by through type (3).
In formula (3), a
optrepresent the disturbance acceleration that optical pressure produces, P is laser optical power, and m is interior satellite quality, and c is the light velocity,
for the surface reflectance of interior satellite, it is the radial orientation angle of interior satellite
function, Ω is laser entrance face.For diameter 18mm, the interior satellite made by plation, its quality is about 0.06kg, when laser optical power is 1mW, by formula (3), can be calculated a
opt< 1.1 * 10
-10m/s
2.
Interior satellite relative status measuring system of the present invention can be used as follows, to realize relative position in duty cycle in-orbit and continuous coverage and the output of relative velocity:
The method is divided into be measured preparatory stage and continuous coverage stage.When being loaded with the spacecraft of interior satellite relative status measuring system of the present invention, entering planned orbit, complete after inspect by instrument and check and correction, relative status measuring system enters the preparatory stage, the inside satellite locking of spaceborne computer is sent steering order with releasing mechanism, makes it complete interior satellite and discharges.Measuring latter stage preparatory stage, the free flight in satellite cavity outside of interior satellite.Relative status measuring system is opened the continuous coverage stage afterwards.After receiving the measurement sign on of spaceborne computer transmission, driving to light emitting array and receiving array tranmitting data register synchronic command, makes the two have identical sequential with sample circuit.Complete after clock synchronous, driving with sample circuit drives the laser instrument on light emitting array to work a period of time successively, according to synchronous sequential, to just exporting and sample at the electric signal of the luminous corresponding photodetector of laser instrument, form " 0-1 " formula digital signal.Data, in the sampling period, all laser instruments are all worked once, and " 0-1 " formula digital signal corresponding to each laser instrument integrated, and the state of sending to resolves unit, by above-mentioned state, determines that algorithm obtains relative position and the relative velocity of interior satellite.Said process constantly repeats, continuous coverage and the output of satellite relative status in realizing.
In sum, interior satellite relative status measuring system and the method thereof based on array image provided by the invention, has the following advantages:
(1), by low power laser projection and scanning work mode, in measuring, during satellite relative status, internally the interference of satellitosis is extremely low, can meet the requirement of the non-gravitation interference of the internal satellites of tasks of science such as gravity field measurements, gravitation detection inhibition; (2) by array layout, make to measure range and can cover the region-wide of interior satellite cavity.
The above is only the preferred embodiment of the present invention; it should be pointed out that for those skilled in the art, under the premise without departing from the principles of the invention; can also make some improvements and modifications, these improvements and modifications also should be looked protection scope of the present invention.
Claims (10)
1. the interior satellite relative status measuring system based on array image, is characterized in that, comprising: interior satellite, the outer satellite cavity that holds interior satellite, interior satellite locking and releasing mechanism and array Image Location System;
Described interior satellite is spheroid, the cube structure that described outer satellite cavity is hollow;
Described interior satellite locking is arranged on a wall of described outer satellite cavity with releasing mechanism, before measuring state starts, for locking interior satellite, after measuring state starts, for discharging interior satellite, makes the free flight in satellite cavity outside of interior satellite;
Described array Image Location System comprises that light emitting array, receiving array, driving and sample circuit and state resolve unit; Described light emitting array consists of N laser instrument, and described receiving array consists of N receiver, and the light that each laser instrument sends is received by a unique described receiver; Described driving and sample circuit are used for receiving the steering order of spaceborne computer, and drive the laser works on light emitting array according to this steering order, and the signal that on receiving array, each receiver collects is sampled; Described state resolves unit for according to driving the sampled signal of exporting with sample circuit, calculates the relative status of interior satellite; Described state resolves Unit Design data output interface, and described data output interface is for outputing to spaceborne computer by the interior satellite relative status calculating.
2. the interior satellite relative status measuring system based on array image according to claim 1, is characterized in that, described receiver is photodetector.
3. the interior satellite relative status measuring system based on array image according to claim 2, it is characterized in that, described light emitting array consists of N small semiconductor laser, comprise the first luminous subarray and the second luminous subarray, the first inwall that described the first luminous subarray and described the second luminous subarray are arranged on respectively outer satellite cavity is with on the second inwall vertical with described the first inwall; N is natural number;
Described receiving array consists of N low profile photovoltaic detector, comprise that the first reception subarray and second receives subarray, described first receives subarray and described second receives the 3rd inwall that subarray is arranged on respectively outer satellite cavity with on the 4th inwall vertical with described the 3rd inwall;
And the number of lasers in described the first luminous subarray is identical with the described first photodetector quantity receiving in subarray, described the first inwall is the parallel inwall being oppositely arranged with described the 3rd inwall; The laser that each laser instrument on the first inwall sends is all parallel to array normal direction, on unique photodetector of vertical incidence on the 3rd inwall;
Number of lasers in described the second luminous subarray is identical with the described second photodetector quantity receiving in subarray, and described the second inwall is the parallel inwall being oppositely arranged with described the 4th inwall; The laser that each laser instrument on the second inwall sends is all parallel to array normal direction, on unique photodetector of vertical incidence on the 4th inwall.
4. the interior satellite relative status measuring system based on array image according to claim 3, is characterized in that, the minimum spacing in described the first luminous subarray between adjacent laser instrument is L1;
Minimum spacing in described the second luminous subarray between adjacent laser instrument is L2;
Minimum spacing in described the first reception subarray between adjacent photodetectors is L3;
Minimum spacing in described the second reception subarray between adjacent photodetectors is L4;
If the laser spot diameter being incident on photodetector is r;
Meet following relational expression:
r＜L1≤10mm；
r＜L2≤10mm；
r＜L3≤10mm；
r＜L4≤10mm。
5. the interior satellite relative status measuring system based on array image according to claim 3, it is characterized in that, described light emitting array and described receiving array are different from described interior satellite locking and the installation wall of releasing mechanism at described outer satellite cavity at the installation wall of described outer satellite cavity.
6. the interior satellite relative status measuring system based on array image according to claim 2, it is characterized in that, on described light emitting array, the mode of operation of each laser instrument is scan pattern, that is: data in the sampling period, each laser instrument is luminous in turn, at next laser instrument, start when luminous, a upper laser instrument is no longer luminous, and each constantly has a laser instrument luminous at the most.
7. the interior satellite relative status measuring method based on array image, is characterized in that, comprises the following steps:
S1, is connected to spaceborne computer by the interior satellite relative status measuring system of claim 1-6 any one;
S2, when being loaded with the spacecraft of described interior satellite relative status measuring system and entering task phase, the locking of the inside satellite of spaceborne computer is sent steering order with releasing mechanism, in controlling satellite locking discharge with releasing mechanism in satellite, make the free flight in satellite cavity outside of interior satellite;
S3, after discharging successfully, described spaceborne computer sends and starts to measure instruction to array Image Location System;
Start to measure after instruction receiving, described driving and sample circuit, to light emitting array and receiving array tranmitting data register synchronic command, make light emitting array and receiving array have identical sequential;
Then, for each data sampling cycle, all carry out following operation, thus the relative status of satellite in continuous coverage and output:
S31, each laser instrument on described driving and sample circuit driving light emitting array is with scan pattern work, and the signal simultaneously unique corresponding photodetector of the laser instrument with current luminance being collected is sampled; Data, in the update cycle, obtain the sampled signal of each photodetector output signal, and this sampled signal is transferred to state resolves unit;
S32, described state resolves unit according to driving the sampled signal of exporting with sample circuit, calculates the relative status of interior satellite, and by data output interface, the relative status of interior satellite is sent to spaceborne computer.
8. the interior satellite relative status measuring method based on array image according to claim 7, is characterized in that, the relative status of described interior satellite comprises relative position and relative velocity.
9. the interior satellite relative status measuring method based on array image according to claim 8, is characterized in that, the relative position of described interior satellite obtains by the following method:
S311, sets up three-dimensional system of coordinate x-y-z; Wherein, the geometric center of outer satellite cavity is true origin; When entering task phase, x axle overlaps with spacecraft velocity reversal, and z axle points to the earth's core, and y axle is along the negative normal direction of orbital plane; Locking is arranged on the cavity wall perpendicular to-x axle with releasing mechanism; The first luminous subarray is arranged on the cavity wall perpendicular to-z axle; The second luminous subarray is arranged on the cavity wall perpendicular to-y axle; First receives subarray is arranged on the cavity wall perpendicular to+z axle; Second receives subarray is arranged on the cavity wall perpendicular to+y axle;
S312, the second luminous subarray and second receives subarray and forms the first two-dimensional positioning system;
For the first two-dimensional positioning system: when interior satellite is outside in satellite cavity during free flight, in the second luminous subarray, exist the laser that part laser instrument sends by interior satellite, not blocked completely and be incident on completely on photodetector corresponding in the second reception subarray, corresponding photodetector is converted into electric signal by the light signal receiving, the input data as driving with sample circuit;
In the second luminous subarray, exist laser that part laser instrument sends to be blocked completely by interior satellite and cannot be incident on photodetector corresponding in the second reception subarray, corresponding photodetector cannot receive light signal and cannot output electrical signals; In the second luminous subarray, exist the laser that part laser instrument sends by interior satellite portion, blocked and be partly incident on photodetector corresponding in the second reception subarray, corresponding photodetector only detects the part luminous energy of beam of laser, corresponding the weakening of its electric signal output;
Drive with sample circuit electric signal output threshold value S is set
t, whether the electric signal of the photodetector output that judgement sampling obtains is less than S
tif, be less than, the electric signal of photodetector output is converted into " 0 "; Otherwise, the electric signal of photodetector output is converted into " 1 "; And the digital data transmission after transforming is resolved to unit to state;
Wherein, electric signal output threshold value S
tby formula (1), calculate:
S
t＝η
tS
max(1)
Wherein, S
maxwhile representing not blocked, the electric signal size that single photodetector receives; η
tfor threshold value coefficient, at 0～1 interior value, S
trepresent electric signal output threshold value;
S313, described state resolves the photoelectric probe position that unit is " 0 " according to sampled result, and the internal satellite of geometrical center method of through type (2) is estimated at the relative position of x-z face:
Wherein, (x
s, z
s) represent that interior satellite that the first two-dimensional positioning system location obtains is at the relative position of x-z face,
represent that sampled result is the photodetector of " 0 " position coordinates in x-z face, n
1represent that sampled result is the photodetector number of " 0 ";
S314, receives by the first luminous subarray and first the second two-dimensional positioning system that subarray forms, in determining satellite the relative position of x-y face (x '
s, y
s);
S315, comprehensive in satellite the relative position of x-y face (x '
s, y
s) and at the relative position (x of x-z face
s, z
s), obtain the interior satellite three-dimensional location coordinates in satellite cavity outside.
10. the interior satellite relative status measuring method based on array image according to claim 9, is characterized in that, obtaining interior satellite outside after the three-dimensional location coordinates in satellite cavity, calculates the relative velocity of interior satellite by Kalman filtering algorithm.
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