CN104097791A - Magnetic sensor and star sensor-based full attitude capture method and device thereof - Google Patents
Magnetic sensor and star sensor-based full attitude capture method and device thereof Download PDFInfo
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Abstract
The invention provides a magnetic sensor and star sensor-based full attitude capture method which comprises the steps: (1) obtaining an angular velocity of satellite attitudes through a gyro; (2) judging whether the angular velocity is within the range of a first threshold value, if not, carrying out rate damping through a magnetic torquer, so that the angular velocity is adjusted to be within the range of the first threshold value; (3) obtaining a sun vector by a magnetic sensor; (4) judging whether the inclined angle between the normal of a satellite sailboard and the sun vector is within the range of a second threshold value, if not, enabling the satellite to rotate by a momentum wheel, so that the inclined angle is adjusted to be within the range of the second threshold value; (5) measuring the earth magnetic field intensity vector by the magnetic sensor to obtain an attitude angle of the satellite relative to the earth; (6) judging whether the attitude angle is within the range of a third threshold value, if not, enabling the satellite to rotate by the momentum wheel, so that the attitude angle is adjusted to be within the range of the third threshold value; (7) obtaining an attitude quaternion of the satellite by a star sensor to determine attitude information of the satellite.
Description
Technical field
The present invention relates to space flight attitude control technology field, specifically, is a kind of global attitude acquisition method and device thereof based on magnetic sensor and star sensor.
Background technology
Satellite occurs extremely because certain unknown cause makes its attitude in operational process, and out of control for fear of satellite, satellite is enabled global attitude acquisition pattern, to ensure the safety of satellite.In the attitude acquisition stage, adopt a full visual field actv. sensor to be necessary to completing of attitude acquisition task.Can obtain in addition accurate attitude information, it is also necessary that high-precision sensor is provided.Global attitude acquisition method great majority are to adopt sun sensor to measure attitude information at present, but it can be subject to the restriction in angle of field (referring to the scope angle that sensor can be observed) and shadow zone, ground, therefore, in the time that global attitude acquisition pattern need to realize in shadow zone, ground or exceed the angle of field of sun sensor, sensor information is just invalid, so can not complete attitude acquisition task, if satellite attitude is rolled, can constitute a threat to the safety of satellite.
In view of this, need badly a kind of global attitude acquisition method and device thereof based on magnetic sensor and star sensor is provided, to realize the global attitude acquisition of high precision, high-reliability.
Summary of the invention
The object of the invention is to, a kind of global attitude acquisition method based on magnetic sensor and star sensor is provided, it can be in the time that satellite attitude be out of control, needs surface instruction or satellite Autonomous to enable global attitude acquisition pattern, and makes satellite return to normal attitude.Described method adopts the attitude information of magnetic sensor and star sensor survey satellite in addition, with the merits and faults of the above-mentioned two kinds of sensors of complementation, thus the precision of lifting survey satellite attitude, to ensure the reliability of satellite system.
For achieving the above object, the invention provides a kind of global attitude acquisition method based on magnetic sensor and star sensor, comprise the following steps: (1) obtains a cireular frequency of satellite attitude by a gyro; (2) judge that described cireular frequency whether within first threshold scope, if described cireular frequency is not within described first threshold scope, carries out rate damping by a magnetic torquer, so that within described cireular frequency is adjusted to described first threshold scope; (3) measure earth magnetic field intensity vector by a magnetic sensor and obtain a solar vector to resolve; (4) whether the angle that judges satellite sailboard normal and described solar vector is in a Second Threshold scope, if described angle is not within described Second Threshold scope, by a momentum wheel, satellite is rotated, so that within described angle is adjusted to described Second Threshold scope; (5) measure earth magnetic field intensity vector to obtain an attitude angle of the relative earth of satellite by described magnetic sensor; (6) judge that described attitude angle whether within one the 3rd threshold range, if described attitude angle is not within described the 3rd threshold range, rotates satellite by described momentum wheel, so that within described attitude angle is adjusted to described the 3rd threshold range; (7) obtain satellite attitude quaternion by a star sensor, to determine the attitude information of satellite.
As optional technical scheme, between step (6) and step (7), further comprise: (61) judge whether a star sensor exports a satellite attitude quaternion within a schedule time; (62) if within the described schedule time no-output, by the control of momentum wheel, satellite is rotated, and return to execution step (61).
As optional technical scheme, in step (62), described momentum wheel comprises the axis of rolling and pitch axis, and the described axis of rolling is for rotate one first corner when no-output within the described schedule time, and described pitch axis rotates one second corner during for no-output within the described schedule time.
As optional technical scheme, in step (5), measure three components of magnetic-field vector of the earth at satellite body system of axes by described magnetic sensor, and pass through an algorithm to calculate the attitude angle of the relative earth of satellite according to described three components.
As optional technical scheme, in step (7) afterwards, further comprise: according to described attitude information and solar vector, control satellite sailboard Direct to the sun.
Another object of the present invention is to, a kind of global attitude acquisition device based on magnetic sensor and star sensor is provided, comprising: a cireular frequency acquisition module, for obtain a cireular frequency of satellite attitude by a gyro; One cireular frequency judge module, is connected with described cireular frequency acquisition module, for judging that described cireular frequency is whether within first threshold scope; One cireular frequency adjusting module, is connected with described cireular frequency judge module, at described cireular frequency not within described first threshold scope, carry out rate damping by a magnetic torquer, so that within described cireular frequency is adjusted to described first threshold scope; One solar vector acquisition module, is connected with described cireular frequency adjusting module, obtains a solar vector for measuring earth magnetic field intensity vector by a magnetic sensor to resolve; One angle judge module, is connected with described solar vector acquisition module, for the angle that judges satellite sailboard normal and described solar vector whether in a Second Threshold scope; One angle adjusting module, is connected with described angle judge module, if for described angle not within described Second Threshold scope, by a momentum wheel, satellite is rotated, so that within described angle is adjusted to described Second Threshold scope; One attitude angle acquisition module, is connected with described cireular frequency adjusting module, for measuring earth magnetic field intensity vector to obtain an attitude angle of the relative earth of satellite by described magnetic sensor; One attitude angle judge module, is connected with described attitude angle acquisition module, for judging that described attitude angle is whether within one the 3rd threshold range; One attitude angle adjusting module, is connected with described attitude angle judge module, if for described attitude angle not within described the 3rd threshold range, by described momentum wheel, satellite is rotated, so that within described attitude angle is adjusted to described the 3rd threshold range; One satellite attitude acquisition module, is connected with described attitude angle adjusting module, for obtaining satellite attitude quaternion by a star sensor, to determine the attitude information of satellite.
As optional technical scheme, described device further comprises: a satellite attitude judge module, be connected with a satellite attitude adjusting module with an attitude angle adjusting module respectively, for judging whether a star sensor exports a satellite attitude quaternion within a schedule time; Described satellite attitude adjusting module, is connected with satellite attitude acquisition module, if for no-output within the described schedule time, by the control of described momentum wheel, satellite is rotated.
As optional technical scheme, described momentum wheel comprises the axis of rolling and pitch axis, and the described axis of rolling is for rotate one first corner when no-output within the described schedule time, and described pitch axis rotates one second corner during for no-output within the described schedule time.
As optional technical scheme, described attitude angle acquisition module further comprises: a magnetic-field intensity measuring unit, for measure three components of magnetic-field vector of the earth at satellite body system of axes by described magnetic sensor; One attitude angle calculating unit, is connected with described magnetic-field intensity measuring unit, for according to described three components by algorithm to calculate the attitude angle of the satellite relative earth.
As optional technical scheme, described device further comprises: a control module, be connected with described satellite attitude acquisition module, and for according to described attitude information and solar vector, control satellite sailboard Direct to the sun.
The invention has the advantages that, in the time that satellite generation attitude is abnormal, pass through to carry out global attitude acquisition method, to ensure the safety of satellite.It is an invalid difficult problem that the method has solved the satellite information that sensor gathers in the time that any position generation attitude is abnormal.By introducing high-precision sensor, improve the precision to satellite attitude measurement in attitude acquisition process.The method, for global attitude acquisition pattern provides a kind of brand-new thinking, strengthens the safe reliability of satellite, has good future in engineering applications and promotional value.
Brief description of the drawings
Fig. 1 is the steps flow chart schematic diagram of the global attitude acquisition method based on magnetic sensor and star sensor described in one embodiment of the invention.
Fig. 2 A is the configuration diagram of the global attitude acquisition device based on magnetic sensor and star sensor described in one embodiment of the invention.
Fig. 2 B is the configuration diagram of described attitude angle acquisition module.
Detailed description of the invention
Below in conjunction with accompanying drawing, a kind of global attitude acquisition method based on magnetic sensor and star sensor provided by the invention and the detailed description of the invention of device thereof are elaborated.
Shown in Figure 1, the invention provides a kind of global attitude acquisition method based on magnetic sensor and star sensor, comprise the following steps: S110, obtain a cireular frequency of satellite attitude by a gyro; S120, judge that described cireular frequency whether within first threshold scope, if described cireular frequency is not within described first threshold scope, carries out rate damping by a magnetic torquer, so that within described cireular frequency is adjusted to described first threshold scope; S130, measure earth magnetic field intensity vector by a magnetic sensor and obtain a solar vector to resolve; S140, judge satellite sailboard normal and described solar vector angle whether in a Second Threshold scope, if described angle is not within described Second Threshold scope, by a momentum wheel, satellite is rotated, so that within described angle is adjusted to described Second Threshold scope; S150, measure earth magnetic field intensity vector to obtain an attitude angle of the relative earth of satellite by described magnetic sensor; S160, judge that described attitude angle whether within the 3rd threshold range, if described attitude angle is not within described the 3rd threshold range, rotates satellite by described momentum wheel, so that within described attitude angle is adjusted to described the 3rd threshold range; S170, obtain satellite attitude quaternion by a star sensor, to determine the attitude information of satellite; S180, according to described attitude information and solar vector, control satellite sailboard Direct to the sun.
Below will be described in detail above-mentioned steps.
S110, obtain a cireular frequency of satellite attitude by a gyro.
Satellite, in operational process, need to obtain the attitude information of satellite.The attitude information of satellite refers to the three-axis attitude angle of satellite body system of axes with respect to track system.In the time that satellite transit is normal, the cireular frequency of satellite and attitude angle be for example, at predetermined threshold range (first threshold scope and the 3rd threshold range), is arranged on information that the each sensor on satellite exports for normal.Wherein, sensor comprises magnetic sensor, star sensor, sun sensor etc.In operational process, make for a certain reason satellite attitude abnormal and work as satellite, so need to adopt global attitude acquisition pattern.Because current global attitude acquisition pattern majority is to adopt sun sensor to measure attitude information, thereby can be subject to the restriction in angle of field (referring to the scope angle that sensor can be observed) and shadow zone, ground.In the time that global attitude acquisition pattern need to realize in shadow zone, ground or exceed the angle of field of sun sensor, the information of sun sensor is just invalid, can not complete attitude acquisition task.Therefore, in the present embodiment, by step S110 to the execution of step S180 effectively to solve the problem of prior art global attitude acquisition.
Gyro is a kind of sensor for measured angular speed.Can obtain the cireular frequency of satellite attitude by gyro.
Described cireular frequency is the key factor that global attitude acquisition is carried out in impact.In the time that described cireular frequency is larger, can cause and satellite rolling affect its safety, in the time that cireular frequency is greater than 2 °/s, star sensor can lose efficacy, and cireular frequency also can affect survey precision when larger; When described cireular frequency hour, almost without affecting.Generally, in the time that satellite is out of control, be cireular frequency larger.In the time of satellite smooth operation, cireular frequency is almost nil.
S120, judge that described cireular frequency whether within first threshold scope, if described cireular frequency is not within described first threshold scope, carries out rate damping by a magnetic torquer, so that within described cireular frequency is adjusted to described first threshold scope.
In order to guarantee correctly to carry out global attitude acquisition, therefore need to make described cireular frequency within the scope of first threshold.In the time that satellite is not executed the task, the cireular frequency of acquiescence is zero, 0.01 °/s of error limit +/-, and 3 ° of angular range +/-, all refer to three-axis attitude angle herein.In the time that described cireular frequency is not within the scope of described first threshold, carry out speed damping by a magnetic torquer.Wherein, magnetic torquer compensates for the direct momentum control in satellite attitude and control system, magnetic perturbation or provides momentum for reaction wheel unloads.Speed damping, for being for example, by the effect of execution unit (magnetic torquer), reduces the cireular frequency of satellite.
S130, measure earth magnetic field intensity vector by a magnetic sensor and obtain a solar vector to resolve.
If sun sensor cannot obtain solar vector, can adopt magnetic sensor.Due to having wide range of applications of magnetic sensor, and without visual field restriction, therefore can measure earth magnetic field intensity vector by magnetic sensor and obtain a solar vector to resolve.
S140, judge satellite sailboard normal and described solar vector angle whether in a Second Threshold scope, if described angle is not within described Second Threshold scope, by a momentum wheel, satellite is rotated, so that within described angle is adjusted to described Second Threshold scope.
For example, when described angle is within Second Threshold scope (90 degree), represent that sun acquisition completes, satellite enters Direct to the sun pattern.
S150, measure earth magnetic field intensity vector to obtain an attitude angle of the relative earth of satellite by described magnetic sensor.
Due to having wide range of applications of magnetic sensor, and without visual field restriction, therefore can measure earth magnetic field intensity vector to obtain an attitude angle of the relative earth of satellite by magnetic sensor.Described attitude degree is the key factor that global attitude acquisition is carried out in impact.In the time that described attitude degree is larger, while exceeding task scope, easily make satellite rolling, under regular situation, attitude angle is zero.Certainly, attitude angle has different scopes in different task section.
In the present embodiment, further measure three components of magnetic-field vector of the earth at satellite body system of axes by described magnetic sensor, and pass through an algorithm to calculate the attitude angle of the relative earth of satellite according to described three components.Because the relative earth of earth magnetic field intensity is fixed, the size and Orientation that is any point magnetic induction intensity in magnetic field is relatively-stationary, therefore, be not subject at magnetic sensor under the prerequisite of visual field restriction, measure three components of magnetic-field vector of the earth at satellite body system of axes by described magnetic sensor, and pass through an algorithm to calculate the attitude angle of the relative earth of satellite according to described three components.
S160, judge that described attitude angle whether within the 3rd threshold range, if described attitude angle is not within described the 3rd threshold range, rotates satellite by described momentum wheel, so that within described attitude angle is adjusted to described the 3rd threshold range.
In order to guarantee correctly to carry out global attitude acquisition, therefore need to make described attitude angle in the 3rd predetermined threshold range.In the time that satellite is not executed the task, 3 ° of the angular range +/-of acquiescence, all refer to that three-axis attitude angle, in the time that described attitude angle is not in described the 3rd threshold range, rotates satellite by a momentum wheel herein, so that within described attitude angle is adjusted to described the 3rd threshold range.
Although magnetic sensor is not limited by visual field, can accomplish that weather-proof measures, to obtain attitude angle or to resolve and obtain solar vector, but because himself attitude accuracy is relatively low, therefore in order to obtain the accurate attitude information of satellite, in this step, introduce star sensor.Although described star sensor is subject to visual field restriction, himself attitude accuracy is relatively high, so star sensor and magnetic sensor can be combined, forms complementaryly, can effectively realize the demand of global attitude acquisition.
In an embodiment of the present invention, further comprising the steps: step S161: to judge whether a star sensor exports a satellite attitude quaternion within a schedule time; Step S162: if within the described schedule time no-output, by the control of momentum wheel make satellite rotate, and return execution step S161.
When described magnetic sensor is measured earth magnetic field intensity vector, and obtain after an attitude angle of the relative earth of satellite, when magnetic sensor obtains current magnetic field direction, judge whether star sensor exports a satellite attitude quaternion within a schedule time.The wherein said schedule time can be 600s, and this schedule time is not limited to this.In other embodiments, the described schedule time can be other schedule times, only needs realistic measurement demand.If no-output within the described schedule time, rotates satellite by the control of momentum wheel.In order to ensure reliability, adopt repeatedly the mode of sampled value judgement, thereby can avoid the situation of the single output data erroneous judgement of star sensor, and can absolutely prove that star sensor normally exports data when the data of star sensor are effective in setting-up time, pose recovery is normal.Described momentum wheel is the actuating unit in a kind of satellite attitude control system, and it can, according to the instruction of attitude control system, provide suitable control torque, satellite is rotated, thereby change satellite attitude, proofreaies and correct the attitude misalignment of satellite, or completes certain predetermined attitude adjustment.Described momentum wheel comprises the axis of rolling and pitch axis, and the described axis of rolling is for rotate one first corner when no-output within the described schedule time, and described pitch axis rotates one second corner during for no-output within the described schedule time.In this enforcement, the first corner can be set as 55 degree, and the second corner can be set as 10 degree, and above-mentioned the first corner and the second corner are not limited to this, can do relative adjustment according to actual conditions.In the present embodiment, if rotate 55 degree at the axis of rolling, after 10 degree are rotated in depression angle, and wait for star sensor output information (being satellite attitude quaternion) whether in 600 seconds, if still no-output, continue the axis of rolling by momentum wheel and overlook axle and rotate the first identical corner and the second corner, satellite being rotated, until star sensor output satellite attitude quaternion.
S170, obtain satellite attitude quaternion by a star sensor, to determine the attitude information of satellite.
When star sensor output satellite attitude quaternion, determine appearance to determine the attitude information of satellite so use star sensor, utilize the high characteristic of accuracy of attitude determination of star sensor, make satellite attitude forward the state of normal need to, thereby complete global attitude acquisition process, and then realize the global attitude acquisition of high precision, high reliability, and also avoid the upset that satellite attitude is possible, reduce the suffered security threat of satellite.
S180, according to described attitude information and solar vector, control satellite sailboard Direct to the sun.
According to described attitude and solar vector, control satellite sailboard Direct to the sun, thereby ensure power supply.After Direct to the sun completes, accurate orbital data is injected on wait ground, utilizes star sensor to determine satellite attitude, adopts momentum wheel control to make the attitude that proceeds to expectation of satellite three axis stabilization.
Referring to Fig. 2 A, another object of the present invention, a kind of global attitude acquisition device based on magnetic sensor and star sensor is also provided, comprise: a cireular frequency acquisition module 210, one cireular frequency judge module 220, one cireular frequency adjusting module 230, one solar vector acquisition module 240, one angle judge module 250, one angle adjusting module 260, one attitude angle acquisition module 270, one attitude angle judge module 280, one attitude angle adjusting module 290, one satellite attitude judge module 2100, one satellite attitude adjusting module 2110, one satellite attitude acquisition module 2120 and a control module 2130.
In an embodiment of the present invention, described cireular frequency acquisition module 210, for obtaining a cireular frequency of satellite attitude by a gyro (not shown).By the information of gyro and cireular frequency that can satellite attitude according to an algorithm.Described cireular frequency is the key factor that global attitude acquisition is carried out in impact.In the time that described cireular frequency is larger, can cause and satellite rolling affect its safety, in the time that cireular frequency is greater than 2 °/s, star sensor can lose efficacy, and cireular frequency also can affect survey precision when larger; When described cireular frequency hour, almost without affecting.Generally, in the time that satellite is out of control, be cireular frequency larger.In the time of satellite smooth operation, cireular frequency is almost nil.
Described cireular frequency judge module 220, is connected with described cireular frequency acquisition module 210, for judging that described cireular frequency is whether within first threshold scope.In order to guarantee correctly to carry out global attitude acquisition, therefore need to make described cireular frequency within the scope of predetermined first threshold.In the time that satellite is not executed the task, the cireular frequency of acquiescence is zero, 0.01 °/s of error limit +/-, and 3 ° of angular range +/-, all refer to three-axis attitude angle herein.
Described cireular frequency adjusting module 230, be connected with described cireular frequency judge module 220, for at described cireular frequency not within described first threshold scope, carry out rate damping by a magnetic torquer (not shown), so that within described cireular frequency is adjusted to described first threshold scope.In the time that described cireular frequency is not within the scope of described first threshold, carry out speed damping by a magnetic torquer.Wherein, magnetic torquer compensates for the direct momentum control in satellite attitude and control system, magnetic perturbation or provides momentum for reaction wheel unloads.Speed damping, for being for example, by the effect of execution unit (magnetic torquer), reduces the cireular frequency of satellite.
Described solar vector acquisition module 240, is connected with described cireular frequency adjusting module 230, obtains a solar vector for measuring earth magnetic field intensity vector by a magnetic sensor (not shown) to resolve.Due to having wide range of applications of magnetic sensor, and without visual field restriction, therefore can measure earth magnetic field intensity vector by magnetic sensor and obtain a solar vector to resolve.
Described angle judge module 250, is connected with described solar vector acquisition module 240, for the angle that judges satellite sailboard normal and described solar vector whether in a Second Threshold scope.
Described angle adjusting module 260, be connected with described angle judge module 250, if for described angle not within described Second Threshold scope, by a momentum wheel (not shown), satellite is rotated, so that within described angle is adjusted to described Second Threshold scope.For example, when described angle is within Second Threshold scope (90 degree), represent that sun acquisition completes, satellite enters Direct to the sun pattern.
Described attitude angle acquisition module 270, is connected with described angle adjusting module 260, obtains an attitude angle of the relative earth of satellite for measuring earth magnetic field intensity vector by described magnetic sensor.Can measure earth magnetic field intensity vector to obtain an attitude angle of the relative earth of satellite by magnetic sensor.Described attitude degree is the key factor that global attitude acquisition is carried out in impact.In the time that described attitude degree is larger, while exceeding task scope, easily make satellite rolling, under regular situation, attitude angle is zero.Certainly, attitude angle has different scopes in different task section.Referring to Fig. 2 B, as optional technical scheme, described attitude angle acquisition module 270 further comprises: a magnetic-field intensity measuring unit 271, for measure three components of magnetic-field vector of the earth at satellite body system of axes by described magnetic sensor; One attitude angle calculating unit 272, is connected with described magnetic-field intensity measuring unit 271, for passing through an algorithm according to described three components to calculate the attitude angle of the relative earth of satellite.Because the relative earth of earth magnetic field intensity is fixed, the size and Orientation that is any point magnetic induction intensity in magnetic field is relatively-stationary, therefore, be not subject at magnetic sensor under the prerequisite of visual field restriction, measure three components of magnetic-field vector of the earth at satellite body system of axes by described magnetic sensor, and pass through an algorithm to calculate the attitude angle of the relative earth of satellite according to described three components.
Described attitude angle judge module 280, is connected with described attitude angle acquisition module 270, for judging that described attitude angle is whether within the 3rd threshold range.
Described attitude angle adjusting module 290, be connected with described attitude angle judge module 280, if for described attitude angle not within described the 3rd threshold range, by described momentum wheel, satellite is rotated, so that within described attitude angle is adjusted to described the 3rd threshold range.Although magnetic sensor is not limited by visual field, can accomplish that weather-proof measures, to obtain attitude angle, because himself attitude accuracy is relatively low, therefore in order to obtain the accurate attitude information of satellite, therefore introducing star sensor (not shown).Although described star sensor is subject to visual field restriction, himself attitude accuracy is relatively high, so star sensor and magnetic sensor are combined, forms complementaryly, can effectively realize the demand of global attitude acquisition.When described magnetic sensor is measured earth magnetic field intensity vector, and obtain after an attitude angle of the relative earth of satellite, when magnetic sensor obtains current magnetic field direction, judge whether star sensor exports a satellite attitude quaternion within a schedule time.
In the present embodiment, described satellite attitude judge module 2100 and satellite attitude judge module 2110 are optional components.Wherein, described satellite attitude judge module 2100 is connected with satellite attitude adjusting module 2110 with attitude angle adjusting module 290 respectively, for judging whether a star sensor exports a satellite attitude quaternion within a schedule time.Described satellite attitude adjusting module 2110, is connected with satellite attitude acquisition module 2120, if for no-output within the described schedule time, by the control of momentum wheel, satellite is rotated.
In order to ensure reliability, adopt repeatedly the mode of sampled value judgement, thereby can avoid the situation of the single output data erroneous judgement of star sensor, and can absolutely prove that star sensor normally exports data when the data of star sensor are effective in setting-up time, pose recovery is normal.Described momentum wheel is the actuating unit in a kind of satellite attitude control system, and it can, according to the instruction of attitude control system, provide suitable control torque, satellite is rotated, thereby change satellite attitude, proofreaies and correct the attitude misalignment of satellite, or completes certain predetermined attitude adjustment.Described momentum wheel comprises the axis of rolling and pitch axis, and the described axis of rolling is for rotate one first corner when no-output within the described schedule time, and described pitch axis rotates one second corner during for no-output within the described schedule time.In this enforcement, the first corner can be set as 55 degree, and the second corner can be set as 10 degree, and above-mentioned the first corner and the second corner are not limited to this, can do relative adjustment according to actual conditions.In the present embodiment, if rotate 55 degree at the axis of rolling, after 10 degree are rotated in depression angle, and wait for star sensor output information (being satellite attitude quaternion) whether in 600 seconds, if still no-output, continue the axis of rolling by momentum wheel and overlook axle and rotate the first identical corner and the second corner, satellite being rotated, until star sensor output satellite attitude quaternion.
Described satellite attitude acquisition module 2120, is connected with described satellite attitude adjusting module 2110, for obtain satellite attitude quaternion by star sensor, to determine the attitude information of satellite.In other are implemented, described satellite attitude acquisition module 2120 (not shown) that can be connected with described attitude angle adjusting module 290.When star sensor output satellite attitude quaternion, determine appearance to determine the attitude information of satellite so use star sensor, utilize the high characteristic of accuracy of attitude determination of star sensor, make satellite attitude forward the state of normal need to, thereby complete global attitude acquisition process, and then realize the global attitude acquisition of high precision, high reliability.
Described control module 2130, is connected with satellite attitude acquisition module 2120, for according to described attitude information and solar vector, controls satellite sailboard Direct to the sun.That is, according to described attitude and solar vector, control satellite sailboard (not shown) Direct to the sun, thereby ensure power supply.After Direct to the sun completes, accurate orbital data is injected on wait ground, utilizes star sensor to determine satellite attitude, adopts momentum wheel control to make the attitude that proceeds to expectation of satellite three axis stabilization.
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 considered as protection scope of the present invention.
Claims (10)
1. the global attitude acquisition method based on magnetic sensor and star sensor, is characterized in that, comprises the following steps:
(1) obtain a cireular frequency of satellite attitude by a gyro;
(2) judge that described cireular frequency whether within first threshold scope, if described cireular frequency is not within described first threshold scope, carries out rate damping by a magnetic torquer, so that within described cireular frequency is adjusted to described first threshold scope;
(3) measure earth magnetic field intensity vector by a magnetic sensor and obtain a solar vector to resolve;
(4) whether the angle that judges satellite sailboard normal and described solar vector is in a Second Threshold scope, if described angle is not within described Second Threshold scope, by a momentum wheel, satellite is rotated, so that within described angle is adjusted to described Second Threshold scope;
(5) measure earth magnetic field intensity vector to obtain an attitude angle of the relative earth of satellite by described magnetic sensor;
(6) judge that described attitude angle whether within one the 3rd threshold range, if described attitude angle is not within described the 3rd threshold range, rotates satellite by described momentum wheel, so that within described attitude angle is adjusted to described the 3rd threshold range;
(7) obtain satellite attitude quaternion by a star sensor, to determine the attitude information of satellite.
2. the global attitude acquisition method based on magnetic sensor and star sensor according to claim 1, is characterized in that, between step (6) and step (7), further comprises:
(61) judge whether a star sensor exports a satellite attitude quaternion within a schedule time;
(62) if within the described schedule time no-output, by the control of described momentum wheel, satellite is rotated, and return to execution step (61).
3. the global attitude acquisition method based on magnetic sensor and star sensor according to claim 2, it is characterized in that, in step (62), described momentum wheel comprises the axis of rolling and pitch axis, the described axis of rolling is for rotate one first corner when no-output within the described schedule time, and described pitch axis rotates one second corner during for no-output within the described schedule time.
4. the global attitude acquisition method based on magnetic sensor and star sensor according to claim 1, it is characterized in that, in step (5), measure three components of magnetic-field vector of the earth at satellite body system of axes by described magnetic sensor, and pass through an algorithm to calculate the attitude angle of the relative earth of satellite according to described three components.
5. the global attitude acquisition method based on magnetic sensor and star sensor according to claim 1, is characterized in that, in step (7) afterwards, further comprises:
According to described attitude information and solar vector, control satellite sailboard Direct to the sun.
6. the global attitude acquisition device based on magnetic sensor and star sensor, is characterized in that, comprising:
One cireular frequency acquisition module, for obtaining a cireular frequency of satellite attitude by a gyro;
One cireular frequency judge module, is connected with described cireular frequency acquisition module, for judging that described cireular frequency is whether within first threshold scope;
One cireular frequency adjusting module, is connected with described cireular frequency judge module, at described cireular frequency not within described first threshold scope, carry out rate damping by a magnetic torquer, so that within described cireular frequency is adjusted to described first threshold scope;
One solar vector acquisition module, is connected with described cireular frequency adjusting module, obtains a solar vector for measuring earth magnetic field intensity vector by a magnetic sensor to resolve;
One angle judge module, is connected with described solar vector acquisition module, for the angle that judges satellite sailboard normal and described solar vector whether in a Second Threshold scope;
One angle adjusting module, is connected with described angle judge module, if for described angle not within described Second Threshold scope, by a momentum wheel, satellite is rotated, so that within described angle is adjusted to described Second Threshold scope;
One attitude angle acquisition module, is connected with described cireular frequency adjusting module, for measuring earth magnetic field intensity vector to obtain an attitude angle of the relative earth of satellite by described magnetic sensor;
One attitude angle judge module, is connected with described attitude angle acquisition module, for judging that described attitude angle is whether within one the 3rd threshold range;
One attitude angle adjusting module, is connected with described attitude angle judge module, if for described attitude angle not within described the 3rd threshold range, by described momentum wheel, satellite is rotated, so that within described attitude angle is adjusted to described the 3rd threshold range;
One satellite attitude acquisition module, is connected with described attitude angle adjusting module, for obtaining satellite attitude quaternion by a star sensor, to determine the attitude information of satellite.
7. the global attitude acquisition device based on magnetic sensor and star sensor according to claim 6, is characterized in that, described device further comprises:
One satellite attitude judge module, is connected with a satellite attitude adjusting module with an attitude angle adjusting module respectively, for judging whether a star sensor exports a satellite attitude quaternion within a schedule time;
Described satellite attitude adjusting module, is connected with satellite attitude acquisition module, if for no-output within the described schedule time, by the control of described momentum wheel, satellite is rotated.
8. the global attitude acquisition device based on magnetic sensor and star sensor according to claim 7, it is characterized in that, described momentum wheel comprises the axis of rolling and pitch axis, the described axis of rolling is for rotate one first corner when no-output within the described schedule time, and described pitch axis rotates one second corner during for no-output within the described schedule time.
9. the global attitude acquisition device based on magnetic sensor and star sensor according to claim 6, is characterized in that, described attitude angle acquisition module further comprises:
One magnetic-field intensity measuring unit, for measuring three components of magnetic-field vector of the earth at satellite body system of axes by described magnetic sensor;
One attitude angle calculating unit, is connected with described magnetic-field intensity measuring unit, for passing through an algorithm according to described three components to calculate the attitude angle of the relative earth of satellite.
10. the global attitude acquisition device based on magnetic sensor and star sensor according to claim 6, is characterized in that, described device further comprises:
One control module, is connected with described satellite attitude acquisition module, for according to described attitude information and solar vector, controls satellite sailboard Direct to the sun.
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