CN104990533A - Ultra-high precision attitude measuring method and device of satellite ground physical simulation system - Google Patents

Abstract

The invention aims to provide an ultra-high precision attitude measuring method and device of a satellite ground physical simulation system. The measurement device comprises two optoelectronic autocollimations, four prisms and a computer. The two optoelectronic autocollimations are installed below a three-axis air floating table and are connected with the computer. The two optoelectronic autocollimations are perpendicular to each other. The four prisms are installed on the three-axis air floating table. The computer is installed below the three-axis air floating table. The two optoelectronic autocollimations measure the relative attitudes of the four prisms, and the attitude information of the three-axis air floating table is given according to a double-infrared vector attitude determining algorithm. The method and device are applicable to attitude determination of the three-axis air floating table and meanwhile can be applied to other spacecraft ground physical simulation systems. The method and device have a wide application range. The optoelectronic autocollimations have high measurement accuracy, and ultra-high precision attitude measurement is achieved through the attitude determining algorithm. As is proved by an experiment, the attitude measurement precision is superior to 1.

Description

Satellite ground physical simulation system superhigh precision attitude measurement method and device

Technical field

The present invention relates to measuring technique, relate to a kind of satellite ground physical simulation system superhigh precision attitude measurement method and device.

Background technology

Spacecraft will be once transmitting will be difficult to maintenance, its special running environment makes its ground simulation test seem particularly important, therefore, researching and analysing of spacecraft ground artificial system has great importance, and wherein the nucleus equipment of ground artificial system is exactly three-axis air-bearing table.

The air film that three-axis air-bearing table relies on pressurized air to be formed between air-bearing and bearing seat, makes simulation stage body float, thus realizes approximate friction free relative motion condition, with the virtual space aircraft mechanical environment that disturbance torque is very little suffered by outer space.As spacecraft motion simulator, three-axis air-bearing table carries out the performance of Physical Simulation for Satellite Control Systems experimental check system, is the important means in spacecraft development process and method.

Three-axis air-bearing table needs dynamically to provide the attitude information such as attitude angle, angular speed by attitude measurement system in process of the test, to complete Control loop, due to the special construction of three-axis air-bearing table, the device (as rotary transformer, inductosyn, photoelectric code disk, grating etc.) in the past measured for turntable is not suitable for the measurement of three-axis air-bearing table, needs to consider new measuring method and device.And in current practical application, the height of attitude measurement system precision is directly connected to the effect of l-G simulation test.

Find through searching document, Chinese invention patent application number: 201110249979.2, patent name is three-axis air-bearing table high-precision attitude angle measuring devices and methods therefor, this patent is surrounding mounting guide rail, window-blind and marker bottom three-axis air-bearing table table top, and artificial lighting system and digital CCD camera are arranged on lifting platform.Digital CCD camera gathers the image of marker and is transferred on the computing machine of responsible image procossing, by carrying out sub-pixel positioning to marker, obtaining the accurate coordinates of marker, thus calculating the relative attitude angle between marker and digital CCD camera.But due to the defect on system constructing, measuring accuracy is restricted, thus affect its actual usable range.

Chinese invention patent application number: 201310134631.8, patent name is: three-axis air-bearing table high-precision attitude angle and angular velocity measurement device, this patent installs intelligent side head, gyroscope and kaleidoscope prism on the platform of three-axis air-bearing table, laser tracker and two photoelectric auto-collimators are installed under platform, directly obtain attitude information according to laser tracker, two photoelectric auto-collimators and gyrostatic data.But this patent is in data filtering processing section, does not consider that deviation quaternary digital-to-analogue is the constraint condition of 1, directly adopt Kalman filtering, easily cause error covariance matrix to occur unusual, cause data scatter, attitude determines failure.This patent does not consider the attitude parameter conversion of laser tracker and photoelectric auto-collimator output information, gyroscope measures the processes such as coordinate system demarcation.In addition, carry out under data processing and communications portion being arranged in platform, do not meet actual conditions.

(aerospace journal is published at document " three-axis air-bearing table single frame servo angle measurement systematic research ", 1996,17th volume, 4th phase, the page number: 71-74) in, Zhang Xiaoyou, Liu Dun of Harbin Institute of Technology and the Li Jisu etc. of Beijing Control Engineering Inst. propose a kind of single frame servo measurement scheme, this system installs an arc arms that can rotate around air floating table center pedal line on air floating table base, and transportable balladeur train is installed, by the attitude information of the rotation of responsive arc arms and the traverse measurement air floating table of balladeur train thereon.When this system needs to increase complicated mechanical system and sensor system, mechanism is complicated, and engineer applied is more difficult, and its precision is subject to the restriction of mechanical hook-up and sensor, is difficult to reach high precision.

Summary of the invention

The object of the present invention is to provide a kind of satellite ground physical simulation system superhigh precision attitude measurement method and device.

The technology used in the present invention is as follows: a kind of satellite ground physical simulation system superhigh precision attitude measuring, and the equipment of employing comprises the first photoelectric auto-collimator, the second photoelectric auto-collimator, kaleidoscope prism and computing machine; Under first photoelectric auto-collimator and the second photoelectric auto-collimator are installed on three-axis air-bearing table platform, first photoelectric auto-collimator and the mutual installation in 90 ° of the second photoelectric auto-collimator, kaleidoscope prism is arranged on three-axis air-bearing table platform, under computing machine is arranged on three-axis air-bearing table platform, the first photoelectric auto-collimator is connected with computing machine with the second photoelectric auto-collimator; During work, first photoelectric auto-collimator and the second photoelectric auto-collimator receive the Infrared of kaleidoscope prism reflection, obtain the attitude of relative first photoelectric auto-collimator of kaleidoscope prism and the second photoelectric auto-collimator, and send to computing machine, computing machine receives the output information of the first photoelectric auto-collimator and the second photoelectric auto-collimator, according to two infrared vector attitude determination algorithm, carry out data fusion and ordinate transform process, finally provide the attitude information of three-axis air-bearing table.

The present invention also has following feature:

1, the measuring method adopting a kind of satellite ground physical simulation system superhigh precision attitude measuring as above to draw is as follows:

Step 1: two photoelectric auto-collimators receive the Infrared of kaleidoscope prism reflection, obtain the attitude of the relative photoelectric auto-collimator of kaleidoscope prism;

Step 2: photoelectric auto-collimator sends to computing machine under platform by data line;

Step 3: computing machine receives the output information of photoelectric auto-collimator, according to two infrared vector attitude determination algorithm, carries out data fusion and ordinate transform process, finally provides the attitude information of three-axis air-bearing table;

Two infrared vector attitude determination algorithm is as follows:

Two reference vector V be not parallel to each other are selected in reference frame V ₁, V ₂, their coordinates in moving coordinate system U are U ₁, U ₂.Then attitude matrix A _uVsatisfy condition:

U ₁＝A _UVV ₁，U ₂＝A _UVV ₂(1)

Utilize the malalignment of reference vector, in V system, set up orthogonal coordinate system R, each axle unit vector respectively:

$R_1=V_1,R_2=\frac{V_1\×V_2}{\left|\right|V_1\×V_2\left|\right|},R_3=R_1\×R_2---\left(2\right)$

In like manner, in U system, set up orthogonal coordinate system S, each axle unit vector respectively:

$S_1=U_1,S_2=\frac{U_1\×U_2}{\left|\right|U_1\×U_2\left|\right|},S_3=S_1\×S_2---\left(3\right)$

Then

M _S＝A _UVM _R(4)

M _S＝[R ₁R ₂R ₃]，M _R＝[S ₁S ₂S ₃] (5)

Then

$A_{\mathrm{UV}}=M_S{M}_R^T---\left(6\right)$

Advantage and disadvantage of the present invention:

The present invention is not only applicable to the attitude problem identificatioin of three-axis air-bearing table, equally can be applied in other spacecraft ground physical analogue systems yet, have range of application more widely.Photoelectric auto-collimator has higher measuring accuracy, coordinates attitude determination algorithm, can realize the measurement of attitude superhigh precision.Through experimental verification, attitude measurement accuracy is better than 1 ".

Accompanying drawing explanation

Fig. 1 is the composition schematic diagram of superhigh precision attitude measuring;

Fig. 2 is calibration system coordinate system and the surving coordinate system schematic diagram of kaleidoscope prism;

Fig. 3 is each coordinate system schematic diagram;

Fig. 4 is each ordinate transform relation schematic diagram;

Fig. 5 is X-axis attitude angle;

Fig. 6 is Y-axis attitude angle;

Fig. 7 is Z axis attitude angle.

Embodiment

Below in conjunction with accompanying drawing citing, the invention will be further described.

Embodiment 1:

Composition graphs 1, satellite ground physical simulation system superhigh precision attitude measurement method of the present invention and device, the equipment of employing comprises the first photoelectric auto-collimator 1, second photoelectric auto-collimator 2, kaleidoscope prism 3 and computing machine 4.First photoelectric auto-collimator 1 and the second photoelectric auto-collimator 2 mutually in 90 ° be installed on the platform of three-axis air-bearing table under, installation site can adjust according to requirement of experiment; Kaleidoscope prism 3 is arranged on the platform of three-axis air-bearing table; Under computing machine 4 is arranged on the platform of three-axis air-bearing table; Two single data transmission lines connect the first photoelectric auto-collimator 1, second photoelectric auto-collimator 2 and computing machine 4 respectively by USB interface.First photoelectric auto-collimator 1 and the second photoelectric auto-collimator 2 receive the Infrared that kaleidoscope prism 3 reflects, and obtain the attitude of the relative photoelectric auto-collimator of kaleidoscope prism 3, send to computing machine 4 by data line.Computing machine 4 receives the output information of the first photoelectric auto-collimator 1 and the second photoelectric auto-collimator 2, according to two infrared vector attitude determination algorithm, carries out data fusion and ordinate transform process, finally provides the attitude information of three-axis air-bearing table.Photoelectric auto-collimator has higher measuring accuracy, coordinates attitude determination algorithm, can realize the measurement of attitude superhigh precision.

A kind of satellite ground physical simulation system superhigh precision attitude measurement method, step is as follows:

Step 1: the first photoelectric auto-collimator 1 and the second photoelectric auto-collimator 2 receive the Infrared that kaleidoscope prism 3 reflects, and obtain the attitude of relative first photoelectric auto-collimator 1 of kaleidoscope prism 3 and the second photoelectric auto-collimator 2.

Step 2: the first photoelectric auto-collimator 1 and the second photoelectric auto-collimator 2 send to computing machine 4 by data line.

Step 3: computing machine 4 receives the output information of the first photoelectric auto-collimator 1 and the second photoelectric auto-collimator 2, according to two infrared vector attitude determination algorithm, carries out data fusion and ordinate transform process, finally provides the attitude information of three-axis air-bearing table.

Satellite ground physical simulation system superhigh precision attitude measuring of the present invention, wherein photoelectric auto-collimator can select at present ripe commercial product, and as the Related product of Tyler Corporations of Britain Ultra series or German Muller company, measuring accuracy is all better than 1 ".Under the platform of the first photoelectric auto-collimator 1 and the mutual installation in 90 ° of the second photoelectric auto-collimator 2 and three-axis air-bearing table, installation site can adjust according to requirement of experiment.

Kaleidoscope prism 3 is arranged on platform la m, near laminate outer to ensure visual field.In experimentation, kaleidoscope prism 3 moves together with the platform of three-axis air-bearing table.

Embodiment 2:

The measuring principle of the photoelectric auto-collimator in the present invention is as follows:

Infrared launched by photoelectric auto-collimator, Infrared reaches in kaleidoscope prism plane and reflects, received by photoelectric auto-collimator again, photoelectric auto-collimator is according to the position of the hot spot reflected on lens plane, provide the attitude of the relative photoelectric auto-collimator of reflection ray, i.e. the attitude of the relative photoelectric auto-collimator of kaleidoscope prism.

Composition graphs 2, a photoelectric auto-collimator can only provide kaleidoscope prism in the two-dimensional signal in space, the i.e. angle of pitch and crab angle, cannot responsive roll angle, so adopt two photoelectric auto-collimators with the use of, the degree of freedom of mutual compensation the other side on rolling direction, realizes the measurement to kaleidoscope prism 3 d pose.

The demarcation coordinate of definition kaleidoscope prism is O _l-X _ly _lz _l, surving coordinate is O _d-X _dy _dz _d.

For the first photoelectric auto-collimator 1, can responsive kaleidoscope prism around X _daxle and Z _dthe attitude angle x of axle ₁, z ₁; For the second photoelectric auto-collimator 2, responsive is that kaleidoscope prism is around Y _daxle and Z _dthe attitude angle y of axle ₂, z ₂.

Embodiment 3:

Attitude measurement method in the present invention is as follows:

Step 1: as shown in Figure 3, definition coordinate system.

1. geographic coordinate system O _g-X _gy _gz _g

O _g: local geographic position.

X _g: along local east-west direction, refer to that east is just.

Y _g: along local North and South direction, refer to that north is just.

Z _g: vertical geographical surface level, refers to that sky is just.

2. the body coordinate system O of three-axis air-bearing table _b-X _by _bz _b

3. the demarcation coordinate system O of kaleidoscope prism _l-X _ly _lz _l

4. the surving coordinate system O of kaleidoscope prism _d-X _dy _dz _d

5. initial time, the body coordinate system of three-axis air-bearing table

6. current time, the body coordinate system of three-axis air-bearing table

7. initial time, the demarcation coordinate system of kaleidoscope prism

8. current time, the demarcation coordinate system of kaleidoscope prism

9. initial time, the surving coordinate system of kaleidoscope prism

10. current time, the surving coordinate system of kaleidoscope prism

Step 2: determine relative attitude.

According to two infrared vector attitude determination algorithm, calculate the relative motion attitude of kaleidoscope prism surving coordinate system

Because photoelectric auto-collimator can not attitudes vibration on responsive wobble shaft direction, so corresponding first photoelectric auto-collimator 1 and the second photoelectric auto-collimator 2, consider two unit vector V along autosensitization axle respectively ₁, V ₂, thus avoid the discussion to roll angle.

V ₁, V ₂? under expression:

V ₁＝[0 1 0] ^T，V ₂＝[1 0 0] ^T(7)

First photoelectric auto-collimator 1 exports O _d-X _dy _dz _daround axle and the corner x of axle ₁, z ₁; Second photoelectric auto-collimator 2 exports O _d-X _dy _dz _daround axle and the corner y of axle ₂, z ₂.

Turn sequence according to pitching after first going off course, calculate V ₁, V ₂? under expression U ₁, U ₂:

$\begin{array}{c}{U}_1=A_{D_1{D}_0}{V}_1=R_x\left(x_1\right)R_z\left(z_1\right)V_1\\ U_2=A_{D_1{D}_0}{V}_2=R_y\left(y_2\right)R_z\left(z_2\right)V_2\end{array}---\left(8\right)$

Wherein R _x(x ₁) represent prism around axle rotates x ₁the direction cosine matrix at angle, R _z(Z ₁) represent prism around axle rotates Z ₁the direction cosine matrix at angle, R _y(y ₂) represent prism around axle rotates y ₂the direction cosine matrix at angle, R _z(z ₂) represent prism around axle rotates z ₂the direction cosine matrix at angle.

Set up two orthogonal coordinate system R, S, wherein M respectively _sthe unit coordinate matrix of S system, M _rit is the unit coordinate matrix of R system;

$\begin{array}{c}{M}_R=\left[\begin{array}{ccc}{V}_1& \frac{V_1\×V_2}{|V_1\×V_2|}& V_1\×\frac{V_1\×V_2}{\left|\right|V_1\×V_2\left|\right|}\end{array}\right]\\ M_S=\left[\begin{array}{ccc}{U}_1& \frac{U_1\×U_2}{\left|\right|U_1\×U_2|}& U_1\×\frac{U_1\×U_2}{\left|\right|U_1\×U_2\left|\right|}\end{array}\right]\end{array}----\left(9\right)$

The then relative motion attitude of kaleidoscope prism surving coordinate system for:

$A_{D_1{D}_0}=M_S{M}_R^T---\left(10\right)$

Step 3: determine absolute pose.

The ordinate transform relation of composition graphs 4, asks for the body coordinate system absolute pose relative to the earth of three-axis air-bearing table and attitude angle

The relative motion attitude of known kaleidoscope prism surving coordinate system in conjunction with kaleidoscope prism O _d-X _dy _dz _dand O _l-X _ly _lz _lbetween transformational relation A _dL, the installation matrix A of kaleidoscope prism _lB, the relative motion attitude of the body series of three-axis air-bearing table for:

$A_{B_1{B}_0}=A_{\mathrm{BL}}{A}_{\mathrm{LD}}{A}_{D_1{D}_0}{A}_{\mathrm{DL}}{A}_{\mathrm{LB}}---\left(11\right)$

Wherein A _bLa _lBtransposed matrix, A _lDa _dLtransposed matrix.

If before attitude measurement, calibrate three-axis air-bearing table initial attitude relative to the earth so just can obtain the body coordinate system absolute pose relative to the earth of axle air floating table

$A_{B_{1}G}=A_{B_1{B}_0}{A}_{B_{0}G}=A_{\mathrm{BL}}{A}_{\mathrm{LD}}{A}_{D_1{D}_0}{A}_{\mathrm{DL}}{A}_{\mathrm{LB}}{A}_{B_{0}G}---\left(12\right)$

Calculate absolute pose angle through experimental verification, three-axis attitude measuring accuracy is better than 1 ", achieve superhigh precision attitude and determine, as illustrated in figs. 5-7:

Wherein representing matrix in the 1st row the 2nd arrange corresponding element, representing matrix in the 1st row the 1st arrange corresponding element, representing matrix in the 1st row the 3rd arrange corresponding element, representing matrix in the 2nd row the 3rd arrange corresponding element, representing matrix in the 3rd row the 3rd arrange corresponding element.

Claims (2)

1. a satellite ground physical simulation system superhigh precision attitude measuring, comprises the first photoelectric auto-collimator (1), the second photoelectric auto-collimator (2), kaleidoscope prism (3) and computing machine (4), it is characterized in that: under the first photoelectric auto-collimator (1) and the second photoelectric auto-collimator (2) are installed on three-axis air-bearing table platform, first photoelectric auto-collimator (1) and the second photoelectric auto-collimator (2) mutually in 90 °, kaleidoscope prism (3) is arranged on three-axis air-bearing table platform, under computing machine (4) is arranged on three-axis air-bearing table platform, the first photoelectric auto-collimator (1) is connected with computing machine (4) with the second photoelectric auto-collimator (2), during work, first photoelectric auto-collimator (1) and the second photoelectric auto-collimator (2) receive the Infrared that kaleidoscope prism (3) reflects, obtain the attitude of relative first photoelectric auto-collimator (1) of kaleidoscope prism (3) and the second photoelectric auto-collimator (2), and send to computing machine (4), computing machine (4) receives the output information of the first photoelectric auto-collimator (1) and the second photoelectric auto-collimator (2), according to two infrared vector attitude determination algorithm, carry out data fusion and ordinate transform process, finally provide the attitude information of three-axis air-bearing table.

2. a kind of satellite ground physical simulation system superhigh precision attitude measurement method of drawing of a kind of satellite ground physical simulation system superhigh precision attitude measuring according to claim 1, it is characterized in that, method is as follows:

Step 1: two photoelectric auto-collimators receive the Infrared of kaleidoscope prism reflection, obtain the attitude of the relative photoelectric auto-collimator of kaleidoscope prism;

Step 2: photoelectric auto-collimator sends to computing machine by data line;

Step 3: computing machine receives the output information of photoelectric auto-collimator, according to two infrared vector attitude determination algorithm, carries out data fusion and ordinate transform process, finally provides the attitude information of three-axis air-bearing table.

Described two infrared vector attitude determination algorithm is as follows:

Two reference vector V be not parallel to each other are selected in reference frame V ₁, V ₂, their coordinates in moving coordinate system U are U ₁, U ₂, then attitude matrix A _uVsatisfy condition:

U ₁＝A _UVV ₁，U ₂＝A _UVV ₂(1)

Utilize the malalignment of reference vector, in V system, set up orthogonal coordinate system R, each axle unit vector respectively:

$R_1=V_1,R_2=\frac{V_1\×V_2}{\left|\right|V_1\×V_2\left|\right|},R_3=R_1\×R_2---\left(2\right)$

In like manner, in U system, set up orthogonal coordinate system S, each axle unit vector respectively:

$S_1=U_1,S_2=\frac{U_1\×U_2}{\left|\right|U_1\×U_2\left|\right|},S_3=S_1\×S_2---\left(3\right)$

Then

M _S＝A _UVM _R(4)

Wherein M _sthe unit coordinate matrix of S system, M _rit is the unit coordinate matrix of R system;

M _S＝[R ₁R ₂R ₃]，M _R＝[S ₁S ₂S ₃] (5)

Then

$A_{\mathrm{UV}}=M_S{M}_R^T---\left(6\right).$