CN105253330B - 一种基于优化的信息融合geo卫星控制系统菜单式设计方法 - Google Patents
一种基于优化的信息融合geo卫星控制系统菜单式设计方法 Download PDFInfo
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Abstract
本发明提出基于优化的信息融合GEO卫星控制系统菜单式设计方法,步骤如下:长寿命GEO卫星控制系统配置金字塔型的四个长寿命惯性姿态敏感器陀螺;按硬件菜单式设计要求配置各类用户所需敏感器;将三类卡尔曼滤波器进行排序:三个惯性姿态敏感器陀螺+光学姿态星敏感器;三个惯性姿态敏感器陀螺+地球敏感器+太阳敏感器;三个惯性姿态敏感器陀螺+其他类型可测三轴姿态的敏感器;若星载计算机应用软件中的FDIR模块检测到故障时,FDIR模块自主产生相应故障的报警,并且当前所选卡尔曼滤波器进行自主降阶滤波,若在设定时间内故障仍未消除,则由FDIR模块实现自主重组。本发明可提高卫星平台的性价比、载干比和可靠性,并且能明显缩短研制周期。
Description
技术领域
本发明涉及一种基于优化的信息融合GEO卫星控制系统菜单式设计方法,属于航天器控制技术领域。
背景技术
地球静止轨道(GEO)卫星的发射定点成本远高于中低轨道卫星,因此通常要求延长工作寿命,GEO卫星现在通常是15年以上寿命了,星载计算机抗辐照要求高,为保证可靠性,计算机工作频率通常降额使用,也降低了计算机的计算能力,为提高姿态确定与姿态控制精度,又需要减小滤波和控制的采样周期,因此长寿命GEO卫星计算机工作负担比中低轨道卫星计算机重,抗幅照高性能芯片成了GEO卫星计算机高价关键元器件。
信息融合即多敏感器或传感器的测量数据多层次、多方面的处理过程。一些研究信息融合的论文提出的基于联邦卡尔曼滤波的多个子滤波加一个主滤波器的信息融合方案,对一些3~5年寿命的中低轨道航天器计算机比较适合,对长寿命GEO卫星就负担过重,而且对GEO卫星,如果全部冗余姿态敏感器均要同时工作,则备份要增加,性价比、载干比(载荷重量与卫星干重之比)就降低了,而且同样的配置,如采用并行工作,失效率是增大的,可靠性是降低的。
目前长寿命GEO卫星平台的控制系统的软件设计通常是影响研制进度的薄弱点,如何实现GEO卫星信息融合是关键问题,如何将敏感器和陀螺组合实现优化的信息融合是目前急需解决的问题。
目前尚未见有相同研究成果的论文和专利。
发明内容
本发明的技术解决问题是:针对现有技术的不足,提出了一种基于优化的信息融合GEO卫星控制系统菜单式设计方法,本发明充分发挥长寿命惯性姿态敏感器陀螺作用的适度冗余的信息融合,与星上自主FDIR(故障检测、隔离、重组)软件相结合,实现软件控制系统菜单式设计,保证了高性价比、载干比和可靠性,并且能明显缩短研制周期。
本发明的技术解决方案:
一种基于优化的信息融合GEO卫星控制系统菜单式设计方法,包括步骤如下:
(1)长寿命GEO卫星控制系统需按照金字塔型布局配置四个长寿命惯性姿态敏感器陀螺;四个陀螺中三个参与卡尔曼滤波,一个陀螺用于冷备份,陀螺正常工作时输出的测量值包含三轴姿态角和姿态角速度分量;
(2)按硬件菜单式设计要求配置各类用户所需敏感器:长寿命GEO卫星控制系统,选配相应姿态测量精度的光学姿态敏感器:星敏感器、地球敏感器、太阳敏感器或其他类型可测三轴姿态的敏感器;星载计算机的应用软件将长寿命惯性姿态敏感器陀螺与光学姿态敏感器星敏感器、地球敏感器、太阳敏感器或其他类型可测三轴姿态的敏感器构成可独立进行姿态确定的三类卡尔曼滤波器,每一类卡尔曼滤波器均具有姿态测量冗余信息,可自主标定和自主补偿陀螺角速度常值漂移;
(3)根据实际配置的敏感器填写星载计算机应用软件中的三取二的硬件配置表和主备份工作状态表及健康字,星载计算机的应用软件在开机初始化后,自主将步骤(2)中三类卡尔曼滤波器进行排序:三个惯性姿态敏感器陀螺+光学姿态星敏感器;三个惯性姿态敏感器陀螺+地球敏感器+太阳敏感器;三个惯性姿态敏感器陀螺+其他类型可测三轴姿态的敏感器;
(4)若星载计算机应用软件中的FDIR模块检测到光学姿态敏感器短期受日月光干扰或被遮挡或发生其他故障时,或任意一个长寿命惯性姿态敏感器陀螺发生故障时,FDIR模块自主产生相应故障的报警,并且当前所选卡尔曼滤波器进行自主降阶滤波,若在设定时间内故障仍未消除,则由FDIR模块发出宏指令序列,实现自主重组(包括自主启动健康的冷备份敏感器或下一层次滤波器),以确保控制系统姿态确定性能指标。
本发明与现有技术相比的有益效果:
(1)本发明基于优化的信息融合的长寿命(15年以上寿命)GEO卫星控制系统菜单式设计方法,是充分发挥长寿命惯性姿态敏感器陀螺作用的适度冗余的信息融合,与星上自主FDIR(故障检测、隔离、重组)模块相结合,实现控制系统菜单式设计,本发明可推广应用到长寿命的倾斜同步轨道卫星和长寿命的中低轨道航天器,本发明通用性强,工程应用价值大,填补了国内外该领域的空白,处于世界领先地位,增强国际竞争力。
(2)本发明配置金字塔型布局的长寿命惯性姿态敏感器陀螺,每个陀螺的测量值均包含三轴姿态角和姿态角速度分量,使三类卡尔曼滤波器进行自主降阶滤波的能力进一步加强,有利于提高GEO卫星平台的性价比、载干比和可靠性,并且能明显缩短研制周期,减轻GEO卫星的计算机负担,降低对GEO卫星计算机芯片的要求。
附图说明
图1为本发明方法的流程图;
图2为本发明金字塔型布局的示意图。
具体实施方式
下面结合附图对本发明的工作原理和工作过程作进一步解释。
如图1所示,一种基于优化的信息融合GEO卫星控制系统菜单式设计方法,包括步骤如下:
(1)长寿命GEO卫星控制系统需按照金字塔型布局配置四个长寿命惯性姿态敏感器陀螺;四个陀螺中三个参与卡尔曼滤波,一个陀螺用于冷备份,陀螺正常工作时输出的测量值包含三轴姿态角和姿态角速度分量;
如图2所示,四个陀螺(A1、A2、A3和A4)采用金字塔型的对称布局方式,对称轴为卫星本体坐标系三轴的任意一个轴,每个陀螺的测量轴与所述对称轴的夹角为θ(大小可任意选取),每个陀螺的测量轴在由卫星本体坐标系三轴中除对称轴外的另外两轴确定的平面内的投影与所述另外两轴的夹角均为45°;
(2)按硬件菜单式设计要求配置各类用户所需敏感器:长寿命GEO卫星控制系统,选配相应姿态测量精度的光学姿态敏感器:星敏感器、地球敏感器、太阳敏感器或其他类型可测三轴姿态的敏感器(比如射频敏感器、有四个天线的基于导航卫星系统的自主定轨定姿接收机等);星载计算机的应用软件将长寿命惯性姿态敏感器陀螺与光学姿态敏感器星敏感器、地球敏感器、太阳敏感器或其他类型可测三轴姿态的敏感器构成可独立进行姿态确定的三类卡尔曼滤波器,每一类卡尔曼滤波器均具有姿态测量冗余信息,可自主标定和自主补偿陀螺角速度常值漂移;
(3)根据实际配置的敏感器填写星载计算机应用软件中的三取二的硬件配置表和主备份工作状态表及健康字,星载计算机的应用软件在开机初始化后,自主将步骤(2)中三类卡尔曼滤波器进行排序:三个惯性姿态敏感器陀螺+光学姿态星敏感器;三个惯性姿态敏感器陀螺+地球敏感器+太阳敏感器;三个惯性姿态敏感器陀螺+其他类型可测三轴姿态的敏感器(根据用户需要选择排序的敏感器);
(4)若星载计算机应用软件中的FDIR模块检测到光学姿态敏感器短期受日月光干扰或被遮挡或发生其他故障时,或任意一个长寿命惯性姿态敏感器陀螺发生故障时,FDIR模块自主产生相应故障的报警,并且当前所选卡尔曼滤波器进行自主降阶滤波,若在设定时间内故障仍未消除,则由FDIR模块发出宏指令序列,实现自主重组(包括自主启动健康的冷备份敏感器或下一层次滤波器),以确保控制系统姿态确定性能指标。陀螺的随机漂移越小、脉冲当量越小,实现重组的允许时间间隔越长,启动下一层次滤波器后,由于初始姿态误差很小,滤波收敛快,对姿态确定和姿态控制性能影响很小。
通常姿态确定与姿态控制精度指标要求高的GEO卫星,硬件配置均会有星敏感器,因此通常陀螺+星敏感器的单一卡尔曼滤波器作为第一选择,根据不同用户不同性能指标要求,可按菜单式设计方法选择GEO卫星控制系统需要配置的姿态敏感器,如用户的姿态控制性能指标要求低,硬件配置可没有星敏感器,则陀螺+地球敏感器+太阳敏感器的单一卡尔曼滤波器上可自主升为第一选择,其姿态确定和控制的精度可不低于或优于单独靠星敏感器姿态确定时的精度,即根据实际配置的敏感器填写星载计算机应用软件中的三取二的硬件配置表和主备份工作状态表及健康字,星载计算机开机初始化后,就自主将可选用的单一卡尔曼滤波器进行了排序,当然哪一个卡尔曼滤波器当第一层次单一卡尔曼滤波器,地面遥控有排序修改优先权。
本发明说明书中未作详细描述的内容属航天领域技术人员的公知技术。
Claims (8)
1.一种基于优化的信息融合GEO卫星控制系统菜单式设计方法,其特征在于步骤如下:
(1)长寿命GEO卫星控制系统配置四个长寿命惯性姿态敏感器陀螺;四个陀螺中三个参与卡尔曼滤波,一个陀螺用于冷备份,陀螺正常工作时输出的测量值包含三轴姿态角和姿态角速度分量;
(2)按硬件菜单式设计要求配置各类用户所需敏感器:长寿命GEO卫星控制系统,选配相应姿态测量精度的可测三轴姿态的敏感器;星载计算机的应用软件将长寿命惯性姿态敏感器陀螺与可测三轴姿态的敏感器构成可独立进行姿态确定的三类卡尔曼滤波器;每一类卡尔曼滤波器均具有姿态测量冗余信息,可自主标定和自主补偿陀螺角速度常值漂移;
(3)根据实际配置的敏感器填写星载计算机应用软件中的三取二的硬件配置表和主备份工作状态表及健康字,星载计算机的应用软件在开机初始化后,自主将步骤(2)中的卡尔曼滤波器进行排序;
(4)若星载计算机应用软件中的FDIR模块检测到光学姿态敏感器短期受日月光干扰或被遮挡或任意一个长寿命惯性姿态敏感器陀螺发生故障时,FDIR模块自主产生相应故障的报警,并且当前所选卡尔曼滤波器进行自主降阶滤波,若在设定时间内故障仍未消除,则由FDIR模块发出宏指令序列,实现自主重组,以确保控制系统姿态确定性能指标。
2.根据权利要求1所述的一种基于优化的信息融合GEO卫星控制系统菜单式设计方法,其特征在于:步骤(2)中选配的相应姿态测量精度的可测三轴姿态的敏感器包括:惯性姿态敏感器、光学姿态敏感器、射频敏感器或有四个天线的基于导航卫星系统的自主定轨定姿接收机,光学姿态敏感器又包括星敏感器、地球敏感器和太阳敏感器。
3.根据权利要求2所述的一种基于优化的信息融合GEO卫星控制系统菜单式设计方法,其特征在于:步骤(3)中三类卡尔曼滤波器进行排序的方式如下:三个惯性姿态敏感器陀螺+星敏感器;三个惯性姿态敏感器陀螺+地球敏感器+太阳敏感器;三个惯性姿态敏感器陀螺+射频敏感器或有四个天线的基于导航卫星系统的自主定轨定姿接收机。
4.根据权利要求3所述的一种基于优化的信息融合GEO卫星控制系统菜单式设计方法,其特征在于:步骤(4)中所述的实现自主重组包括自主启动健康的冷备份敏感器或启动下一层次滤波器。
5.根据权利要求4所述的一种基于优化的信息融合GEO卫星控制系统菜单式设计方法,其特征在于:所述启动下一层次滤波器指按照三类卡尔曼滤波器的排序结果顺序选择卡尔曼滤波器。
6.根据权利要求1所述的一种基于优化的信息融合GEO卫星控制系统菜单式设计方法,其特征在于:所述的长寿命大于等于15年寿命。
7.根据权利要求1所述的一种基于优化的信息融合GEO卫星控制系统菜单式设计方法,其特征在于:步骤(1)中长寿命GEO卫星控制系统需按照金字塔型布局配置四个长寿命惯性姿态敏感器陀螺,对称轴为卫星本体坐标系三轴的任意一个轴,每个陀螺的测量轴与所述对称轴成一定夹角θ。
8.根据权利要求7所述的一种基于优化的信息融合GEO卫星控制系统菜单式设计方法,其特征在于:夹角θ大小为任意选取。
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