CN105487402A - Attitude determination full-physical simulation test method by combination of star sensor and gyro - Google Patents
Attitude determination full-physical simulation test method by combination of star sensor and gyro Download PDFInfo
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- CN105487402A CN105487402A CN201410474340.8A CN201410474340A CN105487402A CN 105487402 A CN105487402 A CN 105487402A CN 201410474340 A CN201410474340 A CN 201410474340A CN 105487402 A CN105487402 A CN 105487402A
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Abstract
The invention relates to the field of spacecraft ground tests, and aims to solve the problem of utilizing a real starry sky and earth rotation to simulate star sensor and gyro on-orbit states on the ground to perform a combined attitude determination test. The invention provides an attitude determination full-physical simulation test method by a combination of a start sensor and a gyro, and can conveniently perform star sensor installation matrix and system polarity testing, the polarity is not easy to mistake, and gyro drift estimation is not influenced. The method specifically includes the steps of: utilizing earth rotation and orbital parameter design to carry out a star sensor installation matrix test, utilizing a real starry sky combined with rotation of a rotary table to carry out a system polarity test, and carrying out a gyro drift estimation test through installation of the star sensor and the gyro in an aligned manner. Compared with the prior art, the advantages and beneficial effects are that the in-orbit state can be truly simulated on the ground to carry out the attitude determination test by the combination of the star sensor and the gyro, and the test method is simple and effective, and is easy to realize.
Description
technical field
The present invention relates to spacecraft ground experimental technique field, belong to spacecraft ground physical simulation test method especially, be specifically related to that a kind of star is quick determines appearance full physical simulation test method with Gyro.
Background technology
Star is quick determine with Gyro appearance semi-physical simulation generally with star simulator to the quick input star chart of star, gyro is placed on turntable, kinetics-driven turntable and star mould, attitude quaternion and the posture angular dependence of the quick output of this closed-loop fashion star are not directly perceived, and there is installation matrix, the not Easy Test of system polarity in quick the installation on celestial body of star; Although gyro and star quick based on same kinetics-driven, there is integral error in turntable rotational angle, after long-time test, turntable angle of rotation changes inconsistent generation error with the quick attitude angle of star, this error effect gyroscopic drift estimation.
The true star field simulation of the quick use of star and being installed by scaffold mimics celestial body, can carry out system polarity test easily, and polarity is not easily got wrong; Simulate motion state in-orbit based on earth rotation, the correctness of the quick installation matrix of star can be tested easily; The quick aligning by frock with gyro of star is installed, and turntable rotational angle integral error affects the quick and gyro of star simultaneously, and this error can be cancelled out each other, and does not affect gyroscopic drift and estimates.
Ground carries out based on true starry sky and earth rotation that star is quick to be determined appearance with Gyro and test, and can test the quick installation matrix of star and system polarity easily, and estimate gyroscopic drift, for guaranteeing successfully to lay the foundation in-orbit.Industry does not have research and the report of correlation technique at present, does not have the use of related art scheme with open yet.
Summary of the invention
After may there is the quick dress star of star in-orbit for existing spacecraft, matrix is installed or system polarity gets problem wrong, the object of this invention is to provide that a kind of star is quick determines appearance full physical simulation test method with Gyro, to test installation matrix and system polarity at ground visible, and estimation gyroscopic drift, test method is simple, effective, and is easy to realize.
Design of the present invention: the quick emphasis determining appearance ground test with Gyro of star comprises the correctness of the quick installation matrix of star and system polarity, and the correctness that gyroscopic drift is estimated.Carrying out the quick polarity test of star based on star simulator to limit by fixedly mounting after star simulator and the quick optical axis alignment of star, cannot manual polarity test be carried out, install can carry out manual polarity test easily based on true starry sky and by scaffold mimics celestial body; The quick installation matrix of star is coupled with orbit parameter, in semi-physical simulation, own polarity quick to star is relevant again, the test of installation matrix correctness can not be carried out intuitively, based on earth rotation and the upper note geo-stationary orbit parameter corresponding with earth rotation, the quick installation matrix of star can be tested easily.
To achieve the above object of the invention, technical solution of the present invention is: a kind of star is quick determines appearance full physical simulation test method with Gyro, adopt true starry sky in combination quick the and Gyro of revolutions design star determine appearance full physical simulation and test, it specifically comprises the steps: first to utilize earth rotation and orbit parameter design to carry out the quick installation matrix test of star, secondly, true starry sky is utilized to carry out system polarity test in conjunction with rotating table; Finally, to aim at installation with gyro and carry out gyroscopic drift by star is quick and estimate to test
Further, in above-mentioned steps, star is quick to be pointed to by support adjustment optical axis, the quick mounting means different on celestial body of simulation star; Earth rotation angular speed is identical with satellite angular speed, and the orbit parameter that the orbit parameter needed for the quick attitude algorithm of star presses satellite is arranged; Calculate the quick optical axis inertia sensing of star according to the test moment and carry out the calculating of latitude argument initial value, upper note orbit parameter, satellite relative orbit system attitude should near zero; Star is quick to be installed optical axis and celestial body to bear Y-axis consistent on celestial body, and the attitude angle of satellite relative orbit system is near zero, otherwise pitch attitude angle increases by speed doubly, roll and yaw-position angle still near zero, realize the quick installation matrix of star and test;
Secondly, utilize true starry sky to rotate in conjunction with rotating table simulation celestial body attitude, direct interpretation celestial body attitude carries out system polarity test;
Finally, the quick aligning on turntable by frock with gyro of star is installed; The corresponding orbit parameter of upper note, makes satellite relative orbit system zero attitude, realizes initial alignment, carries out gyroscopic drift and estimates test; Star is quick to be installed optical axis and celestial body to bear Y-axis consistent on celestial body, and test result is directly gyroscopic drift estimated value, otherwise needs the ground velocity of deduction two times.
The star that the present invention adopts is quick determines appearance full physical simulation test method with Gyro, and compared with prior art, its advantage and beneficial effect are:
1) ground real simulation in-orbit state carry out the quick and Gyro of star and determine appearance and test;
2) test method is simple, effective, and is easy to realize.
Accompanying drawing explanation
Below with reference to drawings and Examples, the invention will be further described.
To be that star of the present invention is quick determine appearance full physical simulation test method process flow diagram with Gyro to Fig. 1;
To be that star of the present invention is quick aim at scheme of installation with gyro to Fig. 2 on turntable.
Embodiment
As shown in Figure 1, being that star of the present invention is quick determines appearance full physical simulation test method process flow diagram with Gyro, and composition graphs 2 star of the present invention is quick aims at scheme of installation with gyro on turntable.
1. utilize earth rotation and orbit parameter design to carry out the quick installation matrix test of star
Star is quick to be pointed to by support adjustment optical axis, the quick mounting means different on celestial body of simulation star; The earth
Angle of rotation speed is identical with satellite angular speed, and the orbit parameter that the orbit parameter needed for the quick attitude algorithm of star presses satellite is arranged; Calculate the quick optical axis inertia sensing of star according to the test moment and carry out the calculating of latitude argument initial value, upper note orbit parameter, satellite relative orbit system attitude should near zero; Star is quick to be installed optical axis and celestial body to bear Y-axis consistent on celestial body, and the attitude angle of satellite relative orbit system is near zero, otherwise pitch attitude angle increases by speed doubly, roll and yaw-position angle still near zero, realize the quick installation matrix of star and test.
Earth rotation angular speed is identical with satellite angular speed, and the quick required orbit parameter of star can be arranged by the track of satellite, and satellite track angular speed is as follows:
Geo-stationary orbit semi-major axis a=42164.17km, eccentric ratio e=0, orbit inclination i=0, argument of perigee
, for convenience of Track desigh right ascension of ascending node
, consider that excentricity is 0, test t mean anomaly
, orbit parameter design focal point to determine test t latitude argument
, t Greenwich sidereal time Sg is:
Transformational relation between sidereal time and degree
, in conjunction with local geographic longitude
, try to achieve the initial latitude argument of t
as follows:
Make celestial body X-axis point to east by rotating table, Y-axis is consistent with earth's axis.
2. utilize true starry sky to carry out system polarity test in conjunction with rotating table
Utilize true starry sky to rotate in conjunction with rotating table simulation celestial body attitude, direct interpretation celestial body attitude carries out system polarity test.
3. to aim at installation with gyro and carry out gyroscopic drift by star is quick and estimate to test
The quick aligning on turntable by frock with gyro of star is installed; The corresponding orbit parameter of upper note, makes satellite relative orbit system zero attitude, realizes initial alignment, carries out gyroscopic drift and estimates test; Star is quick to be installed optical axis and celestial body to bear Y-axis consistent on celestial body, and test result is directly gyroscopic drift estimated value, otherwise needs the ground velocity of deduction two times.
In the embodiment of the present invention, the quick aligning with gyro of star is installed, and together with earth rotation, gyro is identical with the quick angle turned over of star, and can not affect gyroscopic drift and estimate, the attitude accumulation relative error problem in semi-physical simulation does not exist.
Although the present invention with preferred embodiment openly as above; but it is not for limiting the present invention; any those skilled in the art without departing from the spirit and scope of the present invention; the Method and Technology content of above-mentioned announcement can be utilized to make possible variation and amendment to technical solution of the present invention; therefore; every content not departing from technical solution of the present invention; the any simple modification done above embodiment according to technical spirit of the present invention, equivalent variations and modification, all belong to the protection domain of technical solution of the present invention.
Claims (4)
1. star is quick determines an appearance full physical simulation test method with Gyro, it is characterized in that: adopt true starry sky in combination quick the and Gyro of revolutions design star determine appearance full physical simulation and test, it specifically comprises the steps:
1) earth rotation and orbit parameter design is utilized to carry out the quick installation matrix test of star;
2) true starry sky is utilized to carry out system polarity test in conjunction with rotating table;
3) to aim at installation with gyro and carry out gyroscopic drift by star is quick and estimate to test.
2. a kind of star as claimed in claim 1 is quick determines appearance full physical simulation test method with Gyro, it is characterized in that: described step 1-1) in,
Star is quick to be pointed to by support adjustment optical axis, the quick mounting means different on celestial body of simulation star; The earth
Angle of rotation speed is identical with satellite angular speed, and the orbit parameter that the orbit parameter needed for the quick attitude algorithm of star presses satellite is arranged; Calculate the quick optical axis inertia sensing of star according to the test moment and carry out the calculating of latitude argument initial value, upper note orbit parameter, satellite relative orbit system attitude should near zero; Star is quick to be installed optical axis and celestial body to bear Y-axis consistent on celestial body, and the attitude angle of satellite relative orbit system is near zero, otherwise pitch attitude angle increases by speed doubly, roll and yaw-position angle still near zero, realize the quick installation matrix of star and test.
3. a kind of star as claimed in claim 1 is quick determines appearance full physical simulation test method with Gyro, it is characterized in that: described step 1-2) in, utilize true starry sky to rotate in conjunction with rotating table simulation celestial body attitude, direct interpretation celestial body attitude carries out system polarity test.
4. a kind of star as claimed in claim 1 is quick determines appearance full physical simulation test method with Gyro, it is characterized in that: described step 1-3) in, the quick aligning on turntable by frock with gyro of star is installed; The corresponding orbit parameter of upper note, makes satellite relative orbit system zero attitude, realizes initial alignment, carries out gyroscopic drift and estimates test; Star is quick to be installed optical axis and celestial body to bear Y-axis consistent on celestial body, and test result is directly gyroscopic drift estimated value, otherwise needs the ground velocity of deduction two times.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109470275A (en) * | 2018-12-17 | 2019-03-15 | 中国科学院光电技术研究所 | A kind of electro-optic theodolite high-precision independent orientation method at motor-driven cloth station |
| CN109596146A (en) * | 2018-12-25 | 2019-04-09 | 哈尔滨工业大学 | A kind of star sensor performance field testing system |
| CN111207775A (en) * | 2020-02-24 | 2020-05-29 | 上海航天控制技术研究所 | Gyro zero calibration method for semi-physical simulation closed-loop test of satellite GNC system |
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| GB1285919A (en) * | 1968-09-27 | 1972-08-16 | Tokyo Shibaura Electric Co | A device for automatically controlling the attitude of a space satellite utilizing geomagnetic field |
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| CN102506894A (en) * | 2011-10-11 | 2012-06-20 | 北京航空航天大学 | Stationary base platform absolute space attitude reference establishing method based on precise timing |
| CN103245364A (en) * | 2013-05-14 | 2013-08-14 | 哈尔滨工业大学 | Method for testing dynamic performance of star sensor |
| CN103344872A (en) * | 2013-06-28 | 2013-10-09 | 上海新跃仪表厂 | Test method of installation polarity of star sensor |
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2014
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| GB1285919A (en) * | 1968-09-27 | 1972-08-16 | Tokyo Shibaura Electric Co | A device for automatically controlling the attitude of a space satellite utilizing geomagnetic field |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109470275A (en) * | 2018-12-17 | 2019-03-15 | 中国科学院光电技术研究所 | A kind of electro-optic theodolite high-precision independent orientation method at motor-driven cloth station |
| CN109596146A (en) * | 2018-12-25 | 2019-04-09 | 哈尔滨工业大学 | A kind of star sensor performance field testing system |
| CN109596146B (en) * | 2018-12-25 | 2022-07-05 | 哈尔滨工业大学 | Star sensor performance external field test system |
| CN111207775A (en) * | 2020-02-24 | 2020-05-29 | 上海航天控制技术研究所 | Gyro zero calibration method for semi-physical simulation closed-loop test of satellite GNC system |
| CN111207775B (en) * | 2020-02-24 | 2023-07-07 | 上海航天控制技术研究所 | Gyro zero calibration method for semi-physical simulation closed-loop test of satellite GNC system |
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| CN105487402B (en) | 2018-07-20 |
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