CN104236546A - Satellite starlight refraction navigation error determination and compensation method - Google Patents

Satellite starlight refraction navigation error determination and compensation method Download PDF

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CN104236546A
CN104236546A CN201410459284.0A CN201410459284A CN104236546A CN 104236546 A CN104236546 A CN 104236546A CN 201410459284 A CN201410459284 A CN 201410459284A CN 104236546 A CN104236546 A CN 104236546A
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refraction
star
satellite
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CN104236546B (en
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李志�
李怀锋
林亲
宋亮
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China Academy of Space Technology CAST
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract

The invention relates to a satellite starlight refraction navigation error determination and compensation method. The method comprises the following steps: firstly, generating data of a satellite orbit by virtue of STK software; establishing a satellite attitude planning model; determining an actual observation visual field, and simulating an observation star map comprising refraction stars and non-refraction stars; calculating to obtain the tangential height h of the refraction stars; calculating to obtain the tangential height h'' of the refraction stars with errors of refraction angles and errors of an atmospheric model, wherein tangential height errors are mainly caused by the measurement precision errors of the refraction angles and the errors of the atmospheric model; calculating to obtain the position of a satellite under a geocentric inertial coordinate system; and performing filtration by an extended Kalman filtration method, and outputting a starlight refraction navigation estimated position and position errors. The method provided by the invention can realize accurate prediction of navigation precision of a satellite starlight refraction navigation system, and is comprehensive in error analysis and accurate and reliable in results.

Description

A kind of Satellite anaclasis navigation error is determined and compensation method
Technical field
The invention belongs to celestial navigation field, relate to a kind of Satellite anaclasis navigation error and determine and compensation method, be applicable to accurately estimating of the positioning precision of Satellite anaclasis navigational system.
Background technology
Starlight refraction celestial navigation utilizes optical sensor to measure fixed star starlight in the refraction by occurring during earth edge atmospheric envelope, indirectly obtains Horizon information, obtain the position of satellite in geocentric coordinate system, thus determine the method for satellite orbit.The concept of starlight refraction navigation proposed so far from nineteen eighty-two, receive the concern of many scholars, propose more navigation accuracy analytical approach, but Robert, Robert and Eliezer (Guidance and Control Conference, Gatlinburg, TN, August 15-17, 1983:359-367), Whilte, Thurman and Barnes (Proceedings of the Forty-First Annual Meeting, the Institute of Navigation, Annapolis, MD, June 25-27, 1985:83-89), Lair and Duchon (Acta Astronautica, 1988, 17 (10): 1069-1079), the analytical approach that these principal investigator such as Ning and Fang (Aerospace Science and Technology 11 (2007): 222-228) propose all does not analyze the several main error source affecting starlight refraction navigation accuracy completely, only analyze the impact of part main error source on navigation accuracy, and do not consider the impact of these error sources on navigation accuracy yet, the demand that Satellite anaclasis navigational system is accurately estimated navigation accuracy can not be met.
China Patent Publication No. CN 103616028A, publication date is on March 5th, 2014, name is called in " a kind of the starlight based on single star sensor refraction autonomous navigation of satellite method " to disclose and a kind ofly utilizes starlight refraction principle to carry out the method for autonomous navigation of satellite based on single star sensor, the method describes and utilizes starlight to reflect the basic ideas of carrying out autonomous navigation of satellite, and give the simulation result of navigation accuracy, although obtain high-precision navigation accuracy, but be not based upon and carry out on the basis of multianalysis to error, so result and actual conditions have a certain distance, the demand that Satellite anaclasis navigational system is accurately estimated navigation accuracy can not be met.
Summary of the invention
The technical matters that the present invention solves is: overcome the deficiencies in the prior art part, a kind of Satellite anaclasis navigation error is provided to determine and compensation method, realize accurately estimating Satellite anaclasis navigational system navigation accuracy, the method error analysis comprehensively, result accurately and reliably.
Technical scheme of the present invention is: a kind of Satellite anaclasis navigation error is determined and compensation method, and step is as follows:
1) adopt STK Software Create satellite orbit data, comprise solar direction vector geocentric position vector under satellite inertial coordinate system earth angular θ;
2) attitude of satellite plan model is set up:
21) acquisition starlight refraction sensor observation field of view edge vector is calculated according to following formula with field of view center vector
Wherein when for ensureing that the visual field that observation does not reflect star is not less than 50 square degree square grade, the earth can be allowed to enter maximum earth angular in visual field, and φ is starlight refraction sensor visual field subtended angle;
22) according to the installation site of starlight refraction sensor, calculate the corresponding attitude angle of satellite by coordinate conversion, obtain optimum satellite planning attitude;
3) according to step 1) satellite orbit data, the step 22 that obtain) the optimum satellite planning attitude that obtains, and starlight refraction sensor visual field size, determine actual observation visual field; Based on Microsoft SQL Server database, adopt multistage triangle division method, choose observation star according to actual observation visual field, simulate observation star chart; Described observation star comprises through the refraction star of atmospheric refraction and does not reflect star without atmospheric refraction; According to the geocentric position under the refraction right ascension of star, declination and satellite inertial coordinate system, calculate the tangential height h obtaining refraction star;
4) the refraction angle γ=2350.1074e obtaining refraction star is calculated -0.10326788h; According to refraction angle measuring accuracy error, simulation is created on equally distributed stochastic error in this error range, this stochastic error is joined in the refraction angle γ of refraction star, calculates the refraction star tangential height h ' with refraction angle error; Again the tangential height error that Atmospheric models error causes directly is joined in h ' the tangential height h of the refraction star obtaining having refraction angle error and Atmospheric models error ";
5) three refraction stars on observation star chart are chosen, according to their right ascension, declination and tangential height h ", calculate the position obtaining satellite under geocentric inertial coordinate system;
51) central shaft O is resolved according to three the refraction right ascensions of stars, declination bposition (the α of E on celestial sphere c, δ c); Described central shaft O be is the central shaft reflecting the circular cone that star directions are bus with three; And calculate the semi-cone angle η of this circular cone;
52) spinning satellite inertial coordinates system F b, make satellite inertial coordinate system F bz baxle and O be direction is consistent, and postrotational coordinate system is designated as F d=(X d, Y d, Z d) t, wherein subscript T represents transposition, then its transformational relation is:
Wherein, represent around Z baxle is rotated counterclockwise-α c, represent around Y baxle is rotated counterclockwise δ c-90 °;
Change the coordinate of three refraction stars according to transformational relation, draw at F dposition under coordinate system is (α i, δ i) (i=1,2,3);
53) according to following three equation solutions three variable ξ, , α
ζ 2+ξ 2-2ζξcos(α-α i)＝a i 2，(i＝1，2，3)；
Wherein h i" be the tangential height of i-th refraction star;
54) F is obtained according to following equation dthe earth's core vector e in coordinate system d
e d＝ζ(cosαX d+sinαY d)+ξctgηZ d；
55) the earth's core is obtained at satellite inertial coordinate system F according to following coordinate transformation relation bin vector e bfor
56) satellite is obtained at geocentric inertial coordinate system F iunder coordinate vector be;
6) to step 5) satellite position that obtains uses EKF filter method to carry out filtering, exports starlight refraction navigation estimated position and site error.
The present invention's beneficial effect is compared with prior art:
(1) attitude that the present invention proposes is planned, on the basis considering spatial observation environment, starlight refraction sensor performance index and navigation principle restrictive condition, devise a kind of attitude algorithm method obtaining maximum signal to noise ratio star chart, maximum magnitude refraction star, thus the positioning precision making starlight reflect navigation reaches optimum.
(2) the present invention carries out the foundation of error source model to the error affecting starlight refraction navigation accuracy, finally comprehensively analyze the impact of these main error source on starlight refraction navigation accuracy based on starlight refraction navigation and positioning accuracy simulation analysis system, obtain the navigation accuracy value closer to reality, be better than 1.2km.
Accompanying drawing explanation
Fig. 1 is starlight of the present invention refraction navigation and positioning accuracy simulation analysis system comprising modules;
The observation visual field schematic three dimensional views of Fig. 2 attitude plan model
The observation field two-dimensional schematic diagram of Fig. 3 attitude plan model
Fig. 4 is starlight of the present invention refraction navigation positioning error tree;
Fig. 5 is the probability of a fixed star number in the different magnitude apparent field of the present invention;
Fig. 6 is the main source of starlight of the present invention refraction navigation positioning error;
Fig. 7 is fixed star relative position schematic diagram of the present invention;
Fig. 8 is that satellite position of the present invention resolves geometric relationship figure
Fig. 9 is that satellite position of the present invention resolves perspective view;
Figure 10 is starlight of the present invention refraction navigation and positioning accuracy curve over time.
Embodiment
Below in conjunction with accompanying drawing and example, the present invention is described in further detail.
The present invention proposes a kind of Satellite anaclasis navigation error and determines and compensation method, in order to realize accurately estimating Satellite anaclasis navigational system navigation accuracy, starlight refraction navigation and positioning accuracy simulation analysis system need be built, system comprises satellite trajectory generator, attitude planning module and background star chart module, Atmospheric models, error source model, location compute module and wave filter seven major part, see Fig. 1, specific implementation step is as follows:
Step one: satellite trajectory occurs
The nominal track data of Satellite Orbit Maneuver flight can use satellite kit (Satellite Tool Kit, STK) to generate.After running STK software, first set up a dummy satellite, then by arranging the base attribute of Satellite Orbit Maneuver flight track in software, getting final product generator orbital data, finally can select corresponding formatted output orbital data according to self-demand.
Step 2: attitude is planned
The mounting means of starlight refraction sensor is strapdown pattern, and namely starlight refraction sensor is directly connected on carrier, and without tracking platform, therefore its optical axis points to and changes with the change of attitude.
The satellite being in high rail due to starlight refraction sensor directly carries out absolute orientation to be observed, and the satellite being in low rail can take the method deflecting detection over the ground, in order to make the signal to noise ratio (S/N ratio) of acquisition image the highest, reaching optimum observation effect, the optimum attitude planning of satellite need be carried out.Attitude planning principles has following three:
1) visual field not reflecting fixed star is not less than 50 square degree square grades;
2) minimum sun angle: 35 °;
3) preferential observation is not by the region of solar irradiation.
Attitude plan model is θ according to the solar direction S, direction, the earth's core E estimated that calculate and earth angular, calculate the sensing of field of view edge P and field of view center O based on above three principles, finally calculate the attitude of satellite of a certain moment optimum according to the installation site of starlight refraction sensor.Fig. 2 and Fig. 3 be shown in by schematic diagram, and calculation method is as follows.
According to preferential observation not by the principle in the region of solar irradiation, known field of view edge P, solar direction S and direction, the earth's core E should be in a plane; In order to the visual field ensureing not reflect fixed star is not less than 50 square degree square grades, therefore the angle of vectorial P and vectorial E can be decided to be wherein when for ensureing that the visual field that observation does not reflect star is not less than 50 square degree square grade, the earth can be allowed to enter maximum earth angular in visual field; Angle due to vectorial P and vectorial S is less than the angle of vectorial E and vectorial S.List expression formula as follows:
Solve above system of equations and can obtain vectorial P.In like manner, field of view center vector O and vectorial S, P are at same plane; The angle of vector O and vectorial P is φ/2, and wherein φ is starlight refraction sensor visual field subtended angle; The angle of vector O and vectorial S is greater than the angle of vectorial P and vectorial S.List expression formula as follows:
Solve above system of equations and can obtain vectorial O.Based on the vectorial P resolved and vectorial O, according to the installation site of starlight refraction sensor, the corresponding attitude angle of satellite can be calculated by coordinate conversion, obtain optimal programming attitude.
Step 3: background star chart
Simulation analysis system needs Reality simulation background starry sky situation, because starlight refraction sensor has high data updating rate, therefore also needs to possess in visual field the fast selecting function observing star.The present invention is based on Microsoft SQL Server database, adopt multistage triangle division method (Hierarchical Triangular Mesh, be called for short HTM) manage high precision navigational star table, and achieve the function carrying out observing star fast selecting according to observation visual field, thus realize the effective simulation to observation star chart.Described observation star comprises through the refraction star of atmospheric refraction and does not reflect star without atmospheric refraction; According to the geocentric position under the refraction right ascension of star, declination and satellite inertial coordinate system, calculate the tangential height h obtaining refraction star.
Step 4: Atmospheric models build and error source model construction
First starlight refraction navigation processes the image obtained, and identifies and classification fixed star, calculates the refraction angle of refraction star, then realize resolving of aircraft current location and Filtering Analysis based on this refraction angle in conjunction with Atmospheric models.Based on this positioning flow, analysis can obtain starlight refraction navigation positioning error source as shown in Figure 4.
The positioning error of starlight refraction navigation comprises single positioning error and filter result error.
1) single positioning error
Single positioning error is directly by reflecting the impact reflecting star number amount in homogeneity and visual field that star distributes around the earth in refraction star tangential height error, visual field.Wherein reflect refraction angle measuring accuracy and Atmospheric models error that the tangential height error of star derives from refraction star.Refraction angle measuring accuracy is then by the impact of importance in star map recognition correctness, fixed star measuring accuracy and navigational star table precision.Therefore starlight refraction navigation single positioning error is analyzed by following six sports.
A. fixed star measuring accuracy
Fixed star measuring accuracy is mainly limited to the performance of detector itself, in conjunction with suitable image processing algorithm, starlight refraction star sensor can realize 3 " the position measurement of fixed star asterism.
B. importance in star map recognition correctness
The correct identification of star chart is the pacing factor carrying out starlight refraction navigator fix, if importance in star map recognition failure, cannot complete directly causing current positioning work.First importance in star map recognition uses the fixed star without refraction to mate with the star chart of high precision navigational star table, after the match is successful, WCS (time coordinate system) parameter of image can be obtained, based on this parameter, the position of any point under inertial coordinates system on star chart can be calculated.
The correctness of importance in star map recognition depends primarily on fixed star number and star place measuring accuracy without reflecting fixed star, and do not reflect fixed star number by visual field size and the impact detecting magnitude threshold value, therefore needing the relation to not reflecting star number order and detection magnitude threshold value and visual field size to carry out statistical study, just can describe the problem.
Nearly all star Pattern Recognition Algorithm all will ensure at least to have in visual field (FOV) 3 and above without refraction fixed star, just can complete effective identification of star chart.Due to starlight refraction navigation position resolve required refraction star also need 3 and more than, when aircraft operates in GEO track, observation refraction star apparent field minimum, be only the donut-like visual field of 360 ° × 0.11 ° (40 square degree square grade).Being 96.5% for realizing reflecting in apparent field star number more than the probability of 3, need ensureing that the detection limit for refraction star is 7.5 magnitudes, seeing Fig. 5.The visual field that attitude due to the planning of starlight refraction star sensor leaves more than 50 square degree square grades when ensure that observation is observed and is not reflected fixed star, and therefore the detection of starlight refraction sensor will more than 96.5% more than the probability of 3 refraction stars.
Under ensureing that not reflecting star number order meets the requirements of situation, improving asterism positional accuracy measurement is improve importance in star map recognition accuracy effective method the most, because the positional accuracy measurement of fixed star affects the measuring accuracy of angular distance between star, and star angular distance is the principal character of importance in star map recognition.The star place measuring accuracy of starlight refraction star sensor is better than 3 ", then the measuring accuracy of star angular distance is 6 ", current most star Pattern Recognition Algorithm is 6 in star angular distance measuring accuracy ", importance in star map recognition accuracy can reach more than 95%.
C. navigational star table precision
After importance in star map recognition success, first right ascension, the declination value after the refraction of refraction star is calculated, and identification goes out to reflect that star corresponding to star in navigational star table, and then calculate the refraction angle of this star, thus every the refraction right ascension of star, declination and refraction angle information can be obtained, as the input parameter that position of aircraft resolves.
The star place measuring accuracy that the precision being better than high precision navigational star table is better than 0.05 ", this precision is relative to 3 " is negligible, and therefore the measuring accuracy at refraction angle determines primarily of star place measuring accuracy, and namely the measuring accuracy at refraction angle is 3 ".
D. refraction angle measuring accuracy
Refraction angle measuring accuracy is one of principal element of the tangential height error of impact refraction star, but this measuring accuracy causes the mode of the tangential height error of refraction star to be indirectly, and namely measuring accuracy causes by acting on Atmospheric models.
E. Atmospheric models error
Except refraction angle measuring accuracy, Atmospheric models error is another principal element of the tangential height error of impact refraction star, therefore sets up the key that high-precision Atmospheric models are autonomous orbit determinations.
F. star number amount and distributing homogeneity is reflected
According to starlight refraction navigator fix principle, when other condition is identical, the refraction star of acquisition distributes more even around the earth, and positioning precision is higher; The quantity of refraction star is more, and in conjunction with rational algorithm, positioning precision is also higher.
When detector field of view, limiting magnitude and detecting strategy are determined, the quantity reflecting star in visual field and the distribution situation reflecting star are certain.Therefore, analytical refraction star number amount and distributing homogeneity, need according to detector field of view, limiting magnitude and detecting strategies on the impact of single positioning error, and combine refraction sing data Processing Algorithm and carry out process to real refraction star background and come.
G. brief summary
More than analyze the source of starlight refraction navigation single positioning error, and specify that hierarchical relationship, Influencing Mechanism and the influence degree between these sources, finally show that starlight refraction navigation single positioning precision is mainly by the impact of refraction angle measuring accuracy, Atmospheric models error, refraction star number amount and these three factors of distributing homogeneity.
2) filter result error is located
Starlight refraction navigator fix filter result error is mainly by single positioning error, the impact of measuring employing cycle and dynamics of orbits model error.
Item goal analysis premenstruum (premenstrua), the sampling period is less, and positioning error is less, but reduces the sampling period, the calculated amount can resolved by geometry rule increase system independent navigation.Therefore, in the permissible range of system computing capacity, should reduce as far as possible measure the sampling period, the general sampling period is not more than 5s.Because the data updating rate of starlight refraction navigation is better than 5s, error is negligible.Visible starlight refraction navigator fix filter result error is mainly by the impact of single positioning error, and single positioning precision is mainly by the impact of refraction angle measuring accuracy, Atmospheric models error, refraction star number amount and these three factors of distributing homogeneity, therefore, in order to the positioning error of starlight refraction navigation is described, by simulation analysis refraction angle measuring accuracy, Atmospheric models error, refraction star number amount and these three factors of distributing homogeneity, the impact of positioning precision is realized, see Fig. 6.
Can be obtained by upper analysis, starlight refraction navigation refraction star tangential height error causes primarily of the error originated from input of two aspects, is on the one hand to act on by refraction angle measuring accuracy the tangential height error of refraction star that Atmospheric models cause; The tangential height error of refraction star caused for the error of Atmospheric models own on the other hand.Therefore structure one is needed to embody the Atmospheric models of tangential height with refraction angle change.The model of starlight atmospheric refraction changed based on air index that the scope that constructs at present is suitable for, match with stellar atmosphere refraction rule carries out simulation analysis, and to set Atmospheric models error be 1%.The fitting formula of these Atmospheric models is as follows:
γ＝2350.1074e -0.10326788h
Wherein h is air height, unit km; γ is atmospheric refraction angle, and unit is ".
Error generator main analog generates two main errors affecting starlight refraction navigation and positioning accuracy, is respectively star place measuring accuracy and Atmospheric models error.According to refraction angle error, simulation is created on equally distributed stochastic error in this error range, this stochastic error is joined in the refraction angle γ of refraction star, calculates the refraction star tangential height h ' with refraction angle error; Again the tangential height error that Atmospheric models error causes directly is joined in h ' the tangential height h of the refraction star obtaining having refraction angle error and Atmospheric models error ".
Step 6: location compute
Location compute algorithm be input as three refraction right ascensions of stars, declination and tangential height, export the position into satellite under geocentric inertial coordinate system.Specific algorithm is as follows:
Suppose that the centre of sphere of unit celestial sphere is at centroid of satellite O b, the earth is spherical, and its radius is R e; Star sensor observes that starlight passes three fixed star S of earth adjacent edges 1, S 2, S 3apparent position S on celestial sphere i(α i, δ i) (i=1,2,3) expression; Celestial coordinates (α, δ) and coordinate system F bpass be
X b＝cosδcosα，Y b＝cosδsinα，Z b＝sinδ
3 on celestial sphere is S i(i=1,2,3).Obtained the orientation in the earth's core below by geometric relationship, wherein Fig. 7 is shown in by fixed star relative position schematic diagram.
Suppose three starlights be not complete and earth surface tangent, can O be determined bs ithe central shaft O of the circular cone A that (i=1,2,3) are bus bthe direction of E, supposes O bthe position of E on celestial sphere is (α c, δ c), the semi-cone angle η of circular cone A is O bs iwith O bthe angle of E.
Rotating coordinate system F b, make Z baxle and O bthe direction of E is consistent, and postrotational coordinate system is designated as F d=(X d, Y d, Z d) t, then its transformational relation is:
Fig. 8 is that satellite position resolves geometric relationship figure, is located at F ds under coordinate system iposition be respectively (α i, δ i) (i=1,2,3).Cross the earth's core O eand O eat O bintersection point O on E cmake starlight O respectively bs ithe vertical line of (i=1,2,3), intersection point is respectively E iand C i, wherein O ee ibe the tangential height h of refraction star i".If starlight O bs iwith mistake O eand perpendicular to O bthe plane point of intersection of E is B i(i=1,2,3), O e, O c, B iand B ithe circle at place is at O bx by bplane projects, O esubpoint is designated as O e ', O csubpoint is O b, B isubpoint is designated as D i.Then D iat F dposition on celestial sphere under coordinate system is (α i, 0) and (i=1,2,3), see that the satellite position of Fig. 9 resolves perspective view.
By geometric relationship, obviously
O e ′ D 1 = O e B 1 = O e E 1 cos η , O e ′ D 2 = O e B 2 = O e E 2 cos η
O e ′ D 3 = O e B 3 = O e E 3 cos η , O b D i = O c B i = O c C i cos η = Δ ξ , ( i = 1,2,3 )
Note
O bO e′＝O cO e＝ζ，O e′D i＝a i,(i＝1,2,3)
At F dposition vector O in coordinate system bo ebe designated as e d, then
Work as a 1=a 2=a 3time, now O e 'with O boverlap, O ewith O coverlap, then
e d＝a 1ctgηZ d
Work as a 1=a 2=a 3when being false, then O e 'with O bdo not overlap, O ewith O cdo not overlap, note O e 'at F dposition on celestial sphere under coordinate system is (α, 0), then
ζ 2+ξ 2-2ζξcos(α-α i)＝a i 2
Separate above-mentioned three equations (three unknown quantitys) can in the hope of ξ, , α.Obviously
O b O c = O c C 1 sin η = ξctgη
At F din coordinate system, O co ethe unit vector in direction is designated as e c, then
e c＝cosαX d+sinαY d
e d＝ξctgηZ d+ζe c
Thus obtain the earth's core at F bvector e under coordinate system bfor
By the F provided iwith F btransformational relation, and the earth's core obtained above is at F bvector e under coordinate system b, satellite can be obtained at geocentric inertial coordinate system F iin coordinate vector r=-C bi te b.
Step 7: Filtering Analysis
Resolving position to the satellite of position computation module output uses EKF filter method to carry out Filtering Analysis, finally exports starlight refraction navigation estimated position and site error.
Embodiment:
In order to the positioning error of starlight refraction navigation is described, by simulation analysis refraction angle measuring accuracy, Atmospheric models error, refraction star number amount and this three large principal element of distributing homogeneity on the impact of positioning precision.
The initial conditions of analogue system is as follows:
1) emulate the GTO track that track is satellite, altitude range is from 20000km to 36000km, and orbit parameter is: a=24421.2km, e=0.726543, i=28.5 °, Ω=139.3 °, ω=75 °;
2) starlight refraction sensor system technical indicator:
3) Atmospheric models:
γ=2350.1074e -0.10326788h, wherein h is air height, unit km; γ is atmospheric refraction angle, and unit is ".
4) Atmospheric models error 1%.
Figure 10 is according to above initial conditions, and selects the refraction star after 20 ~ 50km atmospheric envelope, the starlight refraction navigation and positioning accuracy curve over time of acquisition.The position estimation error value of visible X, Y and Z is in 3 σ error bound substantially all the time, illustrates that estimation has good consistance.At the end of emulation, the 3 σ error bound of location estimation X, Y, Z are about 1.01km, 0.51km, 0.51km respectively.In last 1000s, the average error of location estimation X, Y, Z is about 0.20km, 0.14km, 0.31km respectively.
The content be not described in detail in instructions of the present invention belongs to the known technology of those skilled in the art.

Claims (1)

1. Satellite anaclasis navigation error is determined and a compensation method, it is characterized in that step is as follows:
1) adopt STK Software Create satellite orbit data, comprise solar direction vector geocentric position vector under satellite inertial coordinate system earth angular θ;
2) attitude of satellite plan model is set up:
21) acquisition starlight refraction sensor observation field of view edge vector is calculated according to following formula with field of view center vector
Wherein when for ensureing that the visual field that observation does not reflect star is not less than 50 square degree square grade, the earth can be allowed to enter maximum earth angular in visual field, and φ is starlight refraction sensor visual field subtended angle;
22) according to the installation site of starlight refraction sensor, calculate the corresponding attitude angle of satellite by coordinate conversion, obtain optimum satellite planning attitude;
3) according to step 1) satellite orbit data, the step 22 that obtain) the optimum satellite planning attitude that obtains, and starlight refraction sensor visual field size, determine actual observation visual field; Based on Microsoft SQL Server database, adopt multistage triangle division method, choose observation star according to actual observation visual field, simulate observation star chart; Described observation star comprises through the refraction star of atmospheric refraction and does not reflect star without atmospheric refraction; According to the geocentric position under the refraction right ascension of star, declination and satellite inertial coordinate system, calculate the tangential height h obtaining refraction star;
4) the refraction angle γ=2350.1074e obtaining refraction star is calculated -0.10326788h; According to refraction angle measuring accuracy error, simulation is created on equally distributed stochastic error in this error range, this stochastic error is joined in the refraction angle γ of refraction star, calculates the refraction star tangential height h ' with refraction angle error; Again the tangential height error that Atmospheric models error causes directly is joined in h ' the tangential height h of the refraction star obtaining having refraction angle error and Atmospheric models error ";
5) three refraction stars on observation star chart are chosen, according to their right ascension, declination and tangential height h ", calculate the position obtaining satellite under geocentric inertial coordinate system;
51) central shaft O is resolved according to three the refraction right ascensions of stars, declination bposition (the α of E on celestial sphere c, δ c); Described central shaft O be is the central shaft reflecting the circular cone that star directions are bus with three; And calculate the semi-cone angle η of this circular cone;
52) spinning satellite inertial coordinates system F b, make satellite inertial coordinate system F bz baxle and O be direction is consistent, and postrotational coordinate system is designated as F d=(X d, Y d, Z d) t, wherein subscript T represents transposition, then its transformational relation is:
Wherein, represent around Z baxle is rotated counterclockwise-α c, represent around Y baxle is rotated counterclockwise δ c-90 °;
Change the coordinate of three refraction stars according to transformational relation, draw at F dposition under coordinate system is (α i, δ i) (i=1,2,3);
53) according to following three equation solutions three variable ξ, , α
ζ 2+ξ 2-2ζξcos(α-α i)＝a i 2，(i＝1，2，3)；
Wherein h i" be the tangential height of i-th refraction star;
54) F is obtained according to following equation dthe earth's core vector e in coordinate system d
e d＝ζ(cosαX d+sinαY d)+ξctgηZ d；
55) the earth's core is obtained at satellite inertial coordinate system F according to following coordinate transformation relation bin vector e bfor
56) satellite is obtained at geocentric inertial coordinate system F iunder coordinate vector be;
6) to step 5) satellite position that obtains uses EKF filter method to carry out filtering, exports starlight refraction navigation estimated position and site error.
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