CN104097791B - A kind of global attitude acquisition method based on magnetic sensor and star sensor and device thereof - Google Patents
A kind of global attitude acquisition method based on magnetic sensor and star sensor and device thereof Download PDFInfo
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Abstract
A kind of global attitude acquisition method based on magnetic sensor and star sensor of the present invention includes: (1) obtains an angular velocity of the attitude of satellite by gyro; (2) judge that angular velocity is whether within first threshold scope, if not existing, carries out rate damping by magnetic torquer, so that angular velocity adjusts to first threshold scope; (3) solar vector is obtained by magnetic sensor; (4) judge that whether the satellite sailboard normal angle with solar vector is in a Second Threshold scope, if not existing, makes satellite rotate by momenttum wheel, so that angle adjusts to Second Threshold scope; (5) earth magnetic field intensity vector is measured to obtain an attitude angle of the relative earth of satellite by magnetic sensor; (6) judge that attitude angle is whether within the 3rd threshold range, if not existing, makes satellite rotate by momenttum wheel, so that attitude angle adjusts to the 3rd threshold range; (7) attitude of satellite quaternary number is obtained by star sensor, to determine the attitude information of satellite.
Description
Technical field
The present invention relates to space attitude and control technical field, specifically, be a kind of global attitude acquisition method based on magnetic sensor and star sensor and device thereof.
Background technology
Satellite is owing to certain unknown cause makes its attitude occur extremely in running, and in order to avoid satellite is out of control, satellite enables global attitude acquisition pattern, to ensure the safety of satellite. In the attitude acquisition stage, adopt an effective sensor of full filed to attitude acquisition task complete be necessary. It additionally is able to obtain accurate attitude information, it is provided that high-precision sensor is also necessary. Current global attitude acquisition method great majority are to adopt sun sensor to measure attitude information, but it can be subject to the angle of visual field (namely referring to the field angle that sensor is able to observe that) and the restriction in shadow zone, ground, therefore, when global attitude acquisition pattern needs the angle of visual field realizing or exceeding sun sensor in shadow zone, ground, sensor information is just invalid, then can not complete attitude acquisition task, if the attitude of satellite is rolled, then the safety of satellite can be constituted a threat to.
In view of this, need a kind of global attitude acquisition method based on magnetic sensor and star sensor of offer and device thereof badly, to realize the global attitude acquisition of high accuracy, high-reliability.
Summary of the invention
It is an object of the invention to, it is provided that a kind of global attitude acquisition method based on magnetic sensor and star sensor, it can when the attitude of satellite be out of control, it is necessary to surface instruction or satellite Autonomous enable global attitude acquisition pattern, and make satellite recover to normal attitude. Additionally described method adopts magnetic sensor and star sensor to measure the attitude information of satellite, with the pluses and minuses of complementary above two sensor, thus promoting the precision measuring the attitude of satellite, to ensure the reliability of satellite system.
For achieving the above object, the present invention provides a kind of global attitude acquisition method based on magnetic sensor and star sensor, comprises the following steps: (1) obtains an angular velocity of the attitude of satellite by a gyro; (2) judge that described angular velocity is whether within first threshold scope, if described angular velocity is not within described first threshold scope, then carry out rate damping by a magnetic torquer, so that described angular velocity adjusts to described first threshold scope; (3) earth magnetic field intensity vector is measured to resolve acquisition one solar vector by a magnetic sensor; (4) judge that whether the satellite sailboard normal angle with described solar vector is in a Second Threshold scope, if described angle is not within described Second Threshold scope, then satellite is made to rotate by a momenttum wheel, so that described angle adjusts to described Second Threshold scope; (5) earth magnetic field intensity vector is measured to obtain an attitude angle of the relative earth of satellite by described magnetic sensor; (6) judge that described attitude angle is whether within one the 3rd threshold range, if described attitude angle is not within described 3rd threshold range, then makes satellite rotate by described momenttum wheel, so that described attitude angle adjusts to described 3rd threshold range; (7) attitude of satellite quaternary number is obtained by a star sensor, to determine the attitude information of satellite.
As optional technical scheme, farther include between step (6) and step (7): (61) judge whether a star sensor exports an attitude of satellite quaternary number within a scheduled time; (62) if without output within the described scheduled time, then making satellite rotate by the control of momenttum wheel, and execution step (61) is returned.
As optional technical scheme, in step (62), described momenttum wheel includes the axis of rolling and pitch axis, and the described axis of rolling is for rotating one first corner time within the described scheduled time without output, and described pitch axis is for rotating one second corner time within the described scheduled time without output.
As optional technical scheme, in step (5), measure the magnetic-field vector of the earth three components in satellite body coordinate system 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, after step (7), farther include: according to described attitude information and solar vector, control satellite sailboard Direct to the sun.
Another object of the present invention is to, it is provided that a kind of global attitude acquisition device based on magnetic sensor and star sensor, including: an angular velocity acquisition module, for being obtained an angular velocity of the attitude of satellite by a gyro; One angular velocity judge module, is connected with described angular velocity acquisition module, is used for judging that described angular velocity is whether within first threshold scope; One angular velocity adjusting module, is connected with described angular velocity judge module, is used at described angular velocity not within described first threshold scope, then carries out rate damping by a magnetic torquer, so that described angular velocity adjusts to described first threshold scope; One solar vector acquisition module, is connected with described angular velocity adjusting module, for measuring earth magnetic field intensity vector to resolve acquisition one solar vector by a magnetic sensor; One angle judge module, is connected with described solar vector acquisition module, for judging that whether the satellite sailboard normal angle with described solar vector is 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, then making satellite rotate by a momenttum wheel, so that described angle adjusts to described Second Threshold scope; One attitude angle acquisition module, is connected with described angular velocity 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, is used 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 3rd threshold range, then making satellite rotate by described momenttum wheel, so that described attitude angle adjusts to described 3rd threshold range; One attitude of satellite acquisition module, is connected with described attitude angle adjusting module, for obtaining attitude of satellite quaternary number by a star sensor, to determine the attitude information of satellite.
As optional technical scheme, described device farther includes: an attitude of satellite judge module, it is connected with an attitude angle adjusting module and an attitude of satellite adjusting module respectively, is used for judging whether a star sensor exports an attitude of satellite quaternary number within a scheduled time; Described attitude of satellite adjusting module, is connected with attitude of satellite acquisition module, if for nothing output within the described scheduled time, then making satellite rotate by the control of described momenttum wheel.
As optional technical scheme, described momenttum wheel includes the axis of rolling and pitch axis, and the described axis of rolling is for rotating one first corner time within the described scheduled time without output, and described pitch axis is for rotating one second corner time within the described scheduled time without output.
As optional technical scheme, described attitude angle acquisition module farther includes: a magnetic field intensity measuring unit, for measuring the magnetic-field vector of the earth three components in satellite body coordinate system by described magnetic sensor; One attitude angle computing unit, is connected with described magnetic field intensity measuring unit, for passing through algorithm to calculate the attitude angle of the relative earth of satellite according to described three components.
As optional technical scheme, described device farther includes: one controls module, is connected with described attitude of satellite acquisition module, for according to described attitude information and solar vector, controlling satellite sailboard Direct to the sun.
It is an advantage of the current invention that when satellite generation attitude exception by performing global attitude acquisition method, to ensure the safety of satellite. The information that gathers of sensor when attitude exception occurs satellite in any position that this method solves is an invalid difficult problem. By introducing high-precision sensor, improve the precision to satellite attitude measurement in attitude acquisition process. The method provides a kind of brand-new thinking for global attitude acquisition pattern, strengthens the security reliability of satellite, has good future in engineering applications and promotional value.
Accompanying drawing explanation
Fig. 1 is the steps flow chart schematic diagram of the global attitude acquisition method described in one embodiment of the invention based on magnetic sensor and star sensor.
Fig. 2 A is the configuration diagram of the global attitude acquisition device described in one embodiment of the invention based on magnetic sensor and star sensor.
Fig. 2 B is the configuration diagram of described attitude angle acquisition module.
Detailed description of the invention
A kind of elaborate based on the global attitude acquisition method of magnetic sensor and star sensor and the detailed description of the invention of device thereof to provided by the invention below in conjunction with accompanying drawing.
Shown in Figure 1, the present invention provides a kind of global attitude acquisition method based on magnetic sensor and star sensor, comprises the following steps: S110, by one gyro obtain the attitude of satellite an angular velocity; S120, judge that described angular velocity is whether within first threshold scope, if described angular velocity is not within described first threshold scope, then carry out rate damping by a magnetic torquer, so that described angular velocity adjusts to described first threshold scope; S130, by one magnetic sensor measure earth magnetic field intensity vector with resolves obtain a solar vector; S140, judge that whether the angle of satellite sailboard normal and described solar vector is in a Second Threshold scope, if described angle is not within described Second Threshold scope, then satellite is made to rotate by a momenttum wheel, so that described angle adjusts to described Second Threshold scope; S150, by described magnetic sensor measure earth magnetic field intensity vector to obtain an attitude angle of the relative earth of satellite; S160, judge that described attitude angle is whether within the 3rd threshold range, if described attitude angle is not within described 3rd threshold range, then make satellite rotate by described momenttum wheel, so that described attitude angle adjusts to described 3rd threshold range; S170, by one star sensor obtain attitude of satellite quaternary number, to determine the attitude information of satellite; S180, according to described attitude information and solar vector, control satellite sailboard Direct to the sun.
Hereinafter above-mentioned steps will be described in detail.
S110, by one gyro obtain the attitude of satellite an angular velocity.
Satellite is in running, it is necessary to obtain the attitude information of satellite. The attitude information of satellite refers to the satellite body coordinate system three-axis attitude angle relative to track system. When satellite transit is normal, the angular velocity of satellite and attitude angle are in predetermined threshold range (such as first threshold scope and the 3rd threshold range), then the information that each sensor being arranged on satellite exports is normal. Wherein, sensor includes magnetic sensor, star sensor, sun sensor etc. And when satellite makes the attitude of satellite abnormal for a certain reason in running, then need to adopt global attitude acquisition pattern. Owing to current global attitude acquisition pattern majority is to adopt sun sensor to measure attitude information, thus the angle of visual field (referring to the field angle that sensor is able to observe that) and the restriction in shadow zone, ground can be subject to. When global attitude acquisition pattern needs the angle of visual field realizing or exceeding sun sensor in shadow zone, ground, the information of sun sensor is just invalid, it is impossible to complete attitude acquisition task. Therefore, in the present embodiment, problem effectively to solve prior art global attitude acquisition is performed by step S110 to step S180.
Gyro is a kind of sensor for measuring angular velocity. The angular velocity of the attitude of satellite it is obtained in that by gyro.
Described angular velocity is the key factor that impact performs global attitude acquisition. When described angular velocity is bigger, satellite being caused to roll, affect its safety, when angular velocity is more than 2 °/s, star sensor can lose efficacy, and also can affect certainty of measurement when angular velocity is bigger; When described angular velocity is less, almost without impact. Generally, when satellite is out of control, it is angular velocity bigger. When satellite stable operation, angular velocity is almost nil.
S120, judge that described angular velocity is whether within first threshold scope, if described angular velocity is not within described first threshold scope, then carry out rate damping by a magnetic torquer, so that described angular velocity adjusts to described first threshold scope.
In order to guarantee correctly to perform global attitude acquisition, it is therefore desirable to make described angular velocity within the scope of first threshold. When satellite does not perform task, the angular velocity of acquiescence is zero, 0.01 °/s of range of error +/-, and angular range +/-3 ° refers both to three-axis attitude angle herein. When described angular velocity is not within the scope of described first threshold, carry out speed damping by a magnetic torquer. Wherein, magnetic torquer controls for the direct momentum in the attitude of satellite and control system, magnetic disturbance compensates or provides momentum for reaction wheel unloading. Speed damps as being the effect by execution unit (such as magnetic torquer), makes the angular velocity of satellite reduce.
S130, by one magnetic sensor measure earth magnetic field intensity vector with resolves obtain a solar vector.
If sun sensor cannot obtain solar vector, then can adopt magnetic sensor. Due to having wide range of applications of magnetic sensor, and limit without visual field, therefore can pass through magnetic sensor and measure earth magnetic field intensity vector to resolve acquisition one solar vector.
S140, judge that whether the angle of satellite sailboard normal and described solar vector is in a Second Threshold scope, if described angle is not within described Second Threshold scope, then satellite is made to rotate by a momenttum wheel, so that described angle adjusts to described Second Threshold scope.
When described angle is within Second Threshold scope (such as 90 degree), then it represents that sun acquisition completes, namely satellite enters Direct to the sun pattern.
S150, by described magnetic sensor measure earth magnetic field intensity vector to obtain an attitude angle of the relative earth of satellite.
Due to having wide range of applications of magnetic sensor, and limit without visual field, therefore can pass through magnetic sensor and measure earth magnetic field intensity vector to obtain an attitude angle of the relative earth of satellite. Described attitude degree is the key factor that impact performs global attitude acquisition. When described attitude degree is bigger, during beyond task scope, it is easy to make satellite roll, under regular situation, attitude angle is zero. Certainly, attitude angle has different scopes in different task section.
In the present embodiment, measure the magnetic-field vector of the earth three components in satellite body coordinate system by described magnetic sensor further, and pass through an algorithm to calculate the attitude angle of the relative earth of satellite according to described three components. Owing to earth magnetic field intensity is fixing relative to the earth, namely in magnetic field, the size and Orientation of any point magnetic induction intensity is relatively-stationary, therefore, under the premise that magnetic sensor is not limited by visual field, measure the magnetic-field vector of the earth three components in satellite body coordinate system 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 is whether within the 3rd threshold range, if described attitude angle is not within described 3rd threshold range, then make satellite rotate by described momenttum wheel, so that described attitude angle adjusts to described 3rd threshold range.
In order to guarantee correctly to perform global attitude acquisition, it is therefore desirable to make described attitude angle in the 3rd predetermined threshold range. When satellite does not perform task, the angular range +/-3 ° of acquiescence, refer both to three-axis attitude angle when described attitude angle is not in described 3rd threshold range herein, make satellite rotate by a momenttum wheel, so that described attitude angle adjusts to described 3rd threshold range.
Although magnetic sensor is not limited by visual field, round-the-clock measurement can be accomplished, to obtain attitude angle or to resolve acquisition solar vector, but owing to himself attitude accuracy is relatively low, therefore to the exact posture information of satellite can be obtained, introduce star sensor in this step. Although described star sensor is subject to visual field restriction, but himself attitude accuracy is of a relatively high, then can star sensor and magnetic sensor be combined, and forms complementation, it is possible to effectively realize the demand of global attitude acquisition.
In an embodiment of the present invention, step S161 is further included steps of: judge whether a star sensor exports an attitude of satellite quaternary number within a scheduled time; Step S162: if without output within the described scheduled time, then making satellite rotate by the control of momenttum wheel, and return execution step S161.
When described magnetic sensor measures earth magnetic field intensity vector, and after obtaining an attitude angle of the relative earth of satellite, when namely magnetic sensor obtains current magnetic field direction, it is judged that whether star sensor exports an attitude of satellite quaternary number within a scheduled time. The wherein said scheduled time can be 600s, and this scheduled time is not limited to this. In other embodiments, the described scheduled time can be other scheduled times, it is only necessary to meets actual measurement demand. If without output within the described scheduled time, then making satellite rotate by the control of momenttum wheel. In order to ensure reliability, adopt the mode that multiple repairing weld value judges, it is thus possible to avoid the situation of the single output data erroneous judgement of star sensor, and can absolutely proving when the data of star sensor are effective within the setting time that star sensor normally exports data, pose recovery is normal. Described momenttum wheel is the actuator in a kind of satellite attitude control system, and it can according to the instruction of attitude control system, it is provided that suitable control moment, satellite is made to rotate, thus changing the attitude of satellite, the attitude misalignment of correction satellite, or complete certain predetermined pose adjustment. Described momenttum wheel includes the axis of rolling and pitch axis, and the described axis of rolling is for rotating one first corner time within the described scheduled time without output, and described pitch axis is for rotating one second corner time within the described scheduled time without output. In this embodiment, the first corner can set that to be 55 degree, and the second corner can set that to be 10 degree, and above-mentioned first corner and the second corner are not limited to this, it is possible to do relative adjustment according to practical situation. In the present embodiment, if rotating 55 degree at the axis of rolling, after depression angle rotates 10 degree, and wait whether star sensor exported information (i.e. attitude of satellite quaternary number) in 600 seconds, if still without output, the axis of rolling then continuing through momenttum wheel rotates the first identical corner and the second corner with overlooking axle so that satellite rotates, until star sensor output satellite attitude quaternion.
S170, by one star sensor obtain attitude of satellite quaternary number, to determine the attitude information of satellite.
When star sensor output satellite attitude quaternion, then star sensor is used to determine appearance to determine the attitude information of satellite, utilize the characteristic that the accuracy of attitude determination of star sensor is high, the attitude of satellite is made to forward the state of normal need to, thus completing global attitude acquisition process, and then the global attitude acquisition of realization high accuracy, high reliability, also avoid the upset that the attitude of satellite is possible, reduce the security threat suffered by 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, thus ensureing energy supply. After Direct to the sun completes, wait that accurate orbital data is injected on ground, utilize star sensor to determine the attitude of satellite, adopt what momenttum wheel controlled to make satellite three-axis stabilization to proceed to desired attitude.
Referring to Fig. 2 A, another object of the present invention, also provide for a kind of global attitude acquisition device based on magnetic sensor and star sensor, including: an angular velocity acquisition module 210, one angular velocity judge module 220, one angular velocity 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 attitude of satellite judge module 2100, one attitude of satellite adjusting module 2110, one attitude of satellite acquisition module 2120 and controls module 2130.
In an embodiment of the present invention, described angular velocity acquisition module 210, for obtaining an angular velocity of the attitude of satellite by a gyro (not shown). By the information of gyro and can the angular velocity of the attitude of satellite according to an algorithm. Described angular velocity is the key factor that impact performs global attitude acquisition. When described angular velocity is bigger, satellite being caused to roll, affect its safety, when angular velocity is more than 2 °/s, star sensor can lose efficacy, and also can affect certainty of measurement when angular velocity is bigger; When described angular velocity is less, almost without impact. Generally, when satellite is out of control, it is angular velocity bigger. When satellite stable operation, angular velocity is almost nil.
Described angular velocity judge module 220, is connected with described angular velocity acquisition module 210, is used for judging that described angular velocity is whether within first threshold scope. In order to guarantee correctly to perform global attitude acquisition, it is therefore desirable to make described angular velocity within the scope of predetermined first threshold. When satellite does not perform task, the angular velocity of acquiescence is zero, 0.01 °/s of range of error +/-, and angular range +/-3 ° refers both to three-axis attitude angle herein.
Described angular velocity adjusting module 230, it is connected with described angular velocity judge module 220, for at described angular velocity not within described first threshold scope, then carry out rate damping by a magnetic torquer (not shown), so that described angular velocity adjusts to described first threshold scope. When described angular velocity is not within the scope of described first threshold, carry out speed damping by a magnetic torquer. Wherein, magnetic torquer controls for the direct momentum in the attitude of satellite and control system, magnetic disturbance compensates or provides momentum for reaction wheel unloading. Speed damps as being the effect by execution unit (such as magnetic torquer), makes the angular velocity of satellite reduce.
Described solar vector acquisition module 240, is connected with described angular velocity adjusting module 230, for measuring earth magnetic field intensity vector to resolve acquisition one solar vector by a magnetic sensor (not shown). Due to having wide range of applications of magnetic sensor, and limit without visual field, therefore can pass through magnetic sensor and measure earth magnetic field intensity vector to resolve acquisition one solar vector.
Described angle judge module 250, is connected with described solar vector acquisition module 240, for judging that whether the satellite sailboard normal angle with described solar vector is in a Second Threshold scope.
Described angle adjusting module 260, it is connected with described angle judge module 250, if for described angle not within described Second Threshold scope, then make satellite rotate by a momenttum wheel (not shown), so that described angle adjusts to described Second Threshold scope. When described angle is within Second Threshold scope (such as 90 degree), then it represents that sun acquisition completes, namely 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. Magnetic sensor can be passed through and measure earth magnetic field intensity vector to obtain an attitude angle of the relative earth of satellite. Described attitude degree is the key factor that impact performs global attitude acquisition. When described attitude degree is bigger, during beyond task scope, it is easy to make satellite roll, 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 farther includes: a magnetic field intensity measuring unit 271, for measuring the magnetic-field vector of the earth three components in satellite body coordinate system by described magnetic sensor; One attitude angle computing unit 272, is connected with described magnetic field intensity measuring unit 271, for passing through an algorithm to calculate the attitude angle of the relative earth of satellite according to described three components. Owing to earth magnetic field intensity is fixing relative to the earth, namely in magnetic field, the size and Orientation of any point magnetic induction intensity is relatively-stationary, therefore, under the premise that magnetic sensor is not limited by visual field, measure the magnetic-field vector of the earth three components in satellite body coordinate system 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, is used for judging that described attitude angle is whether within the 3rd threshold range.
Described attitude angle adjusting module 290, it is connected with described attitude angle judge module 280, if for described attitude angle not within described 3rd threshold range, then make satellite rotate by described momenttum wheel, so that described attitude angle adjusts to described 3rd threshold range. Although magnetic sensor is not limited by visual field, it is possible to accomplish round-the-clock measurement, to obtain attitude angle, but owing to himself attitude accuracy is relatively low, therefore to the accurate attitude information of satellite can be obtained, therefore introduce star sensor (not shown). Although described star sensor is subject to visual field restriction, but himself attitude accuracy is of a relatively high, then star sensor and magnetic sensor is combined, and forms complementation, it is possible to effectively realize the demand of global attitude acquisition. When described magnetic sensor measures earth magnetic field intensity vector, and after obtaining an attitude angle of the relative earth of satellite, when namely magnetic sensor obtains current magnetic field direction, it is judged that whether star sensor exports an attitude of satellite quaternary number within a scheduled time.
In the present embodiment, described attitude of satellite judge module 2100 and attitude of satellite judge module 2110 are optional assembly. Wherein, described attitude of satellite judge module 2100 is connected with attitude angle adjusting module 290 and attitude of satellite adjusting module 2110 respectively, is used for judging whether a star sensor exports an attitude of satellite quaternary number within a scheduled time. Described attitude of satellite adjusting module 2110, is connected with attitude of satellite acquisition module 2120, if for nothing output within the described scheduled time, then making satellite rotate by the control of momenttum wheel.
In order to ensure reliability, adopt the mode that multiple repairing weld value judges, it is thus possible to avoid the situation of the single output data erroneous judgement of star sensor, and can absolutely proving when the data of star sensor are effective within the setting time that star sensor normally exports data, pose recovery is normal. Described momenttum wheel is the actuator in a kind of satellite attitude control system, and it can according to the instruction of attitude control system, it is provided that suitable control moment, satellite is made to rotate, thus changing the attitude of satellite, the attitude misalignment of correction satellite, or complete certain predetermined pose adjustment. Described momenttum wheel includes the axis of rolling and pitch axis, and the described axis of rolling is for rotating one first corner time within the described scheduled time without output, and described pitch axis is for rotating one second corner time within the described scheduled time without output. In this embodiment, the first corner can set that to be 55 degree, and the second corner can set that to be 10 degree, and above-mentioned first corner and the second corner are not limited to this, it is possible to do relative adjustment according to practical situation. In the present embodiment, if rotating 55 degree at the axis of rolling, after depression angle rotates 10 degree, and wait whether star sensor exported information (i.e. attitude of satellite quaternary number) in 600 seconds, if still without output, the axis of rolling then continuing through momenttum wheel rotates the first identical corner and the second corner with overlooking axle so that satellite rotates, until star sensor output satellite attitude quaternion.
Described attitude of satellite acquisition module 2120, is connected with described attitude of satellite adjusting module 2110, for obtaining attitude of satellite quaternary number by star sensor, to determine the attitude information of satellite. In other are implemented, described attitude of satellite acquisition module 2120 can be connected with described attitude angle adjusting module 290 (not shown). When star sensor output satellite attitude quaternion, then star sensor is used to determine appearance to determine the attitude information of satellite, utilize the characteristic that the accuracy of attitude determination of star sensor is high, the attitude of satellite is made to forward the state of normal need to, thus completing global attitude acquisition process, and then realize the global attitude acquisition of high accuracy, high reliability.
Described control module 2130, is connected with attitude of satellite acquisition module 2120, for according to described attitude information and solar vector, controlling satellite sailboard Direct to the sun. That is, according to described attitude and solar vector, control satellite sailboard (not shown) Direct to the sun, thus ensureing energy supply. After Direct to the sun completes, wait that accurate orbital data is injected on ground, utilize star sensor to determine the attitude of satellite, adopt what momenttum wheel controlled to make satellite three-axis stabilization to proceed to desired attitude.
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 making some improvements and modifications, these improvements and modifications also should be regarded as protection scope of the present invention.
Claims (10)
1. the global attitude acquisition method based on magnetic sensor and star sensor, it is characterised in that comprise the following steps:
(1) angular velocity of the attitude of satellite is obtained by a gyro;
(2) judge that described angular velocity is whether within first threshold scope, if described angular velocity is not within described first threshold scope, then carry out rate damping by a magnetic torquer, so that described angular velocity adjusts to described first threshold scope;
(3) earth magnetic field intensity vector is measured to resolve acquisition one solar vector by a magnetic sensor;
(4) judge that whether the satellite sailboard normal angle with described solar vector is in a Second Threshold scope, if described angle is not within described Second Threshold scope, then satellite is made to rotate by a momenttum wheel, so that described angle adjusts to described Second Threshold scope;
(5) earth magnetic field intensity vector is measured to obtain an attitude angle of the relative earth of satellite by described magnetic sensor;
(6) judge that described attitude angle is whether within one the 3rd threshold range, if described attitude angle is not within described 3rd threshold range, then makes satellite rotate by described momenttum wheel, so that described attitude angle adjusts to described 3rd threshold range;
(7) attitude of satellite quaternary number is obtained 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, it is characterised in that farther include between step (6) and step (7):
(61) judge whether a star sensor exports an attitude of satellite quaternary number within a scheduled time;
(62) if without output within the described scheduled time, then making satellite rotate by the control of described momenttum wheel, and execution step (61) is returned.
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 momenttum wheel includes the axis of rolling and pitch axis, the described axis of rolling is for rotating one first corner time within the described scheduled time without output, and described pitch axis is for rotating one second corner time within the described scheduled time without output.
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 the magnetic-field vector of the earth three components in satellite body coordinate system 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, it is characterised in that after step (7), farther include:
According to described attitude information and solar vector, control satellite sailboard Direct to the sun.
6. based on a global attitude acquisition device for magnetic sensor and star sensor, including
One angular velocity acquisition module, for obtaining an angular velocity of the attitude of satellite by a gyro;
One attitude of satellite acquisition module, is connected with an attitude angle adjusting module, for obtaining attitude of satellite quaternary number by a star sensor, to determine the attitude information of satellite;
It is characterized in that, described device farther includes:
One angular velocity judge module, is connected with described angular velocity acquisition module, is used for judging that described angular velocity is whether within first threshold scope;
One angular velocity adjusting module, is connected with described angular velocity judge module, is used at described angular velocity not within described first threshold scope, then carries out rate damping by a magnetic torquer, so that described angular velocity adjusts to described first threshold scope;
One solar vector acquisition module, is connected with described angular velocity adjusting module, for measuring earth magnetic field intensity vector to resolve acquisition one solar vector by a magnetic sensor;
One angle judge module, is connected with described solar vector acquisition module, for judging that whether the satellite sailboard normal angle with described solar vector is 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, then making satellite rotate by a momenttum wheel, so that described angle adjusts to described Second Threshold scope;
One attitude angle acquisition module, is connected with described angular velocity 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, is used for judging that described attitude angle is whether within one the 3rd threshold range;
Described attitude angle adjusting module, is connected with described attitude angle judge module, if for described attitude angle not within described 3rd threshold range, then making satellite rotate by described momenttum wheel, so that described attitude angle adjusts to described 3rd threshold range.
7. the global attitude acquisition device based on magnetic sensor and star sensor according to claim 6, it is characterised in that described device farther includes:
One attitude of satellite judge module, is connected with an attitude angle adjusting module and an attitude of satellite adjusting module respectively, is used for judging whether a star sensor exports an attitude of satellite quaternary number within a scheduled time;
Described attitude of satellite adjusting module, is connected with attitude of satellite acquisition module, if for nothing output within the described scheduled time, then making satellite rotate by the control of described momenttum wheel.
8. the global attitude acquisition device based on magnetic sensor and star sensor according to claim 7, it is characterized in that, described momenttum wheel includes the axis of rolling and pitch axis, the described axis of rolling is for rotating one first corner time within the described scheduled time without output, and described pitch axis is for rotating one second corner time within the described scheduled time without output.
9. the global attitude acquisition device based on magnetic sensor and star sensor according to claim 6, it is characterised in that described attitude angle acquisition module farther includes:
One magnetic field intensity measuring unit, for measuring the magnetic-field vector of the earth three components in satellite body coordinate system by described magnetic sensor;
One attitude angle computing unit, is connected with described magnetic field intensity measuring unit, for passing through an algorithm to calculate the attitude angle of the relative earth of satellite according to described three components.
10. the global attitude acquisition device based on magnetic sensor and star sensor according to claim 6, it is characterised in that described device farther includes:
One controls module, is connected with described attitude of satellite acquisition module, for according to described attitude information and solar vector, controlling satellite sailboard Direct to the sun.
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