CN105487402B - A kind of star is quick to determine appearance full physical simulation test method with Gyro - Google Patents
A kind of star is quick to determine appearance full physical simulation test method with Gyro Download PDFInfo
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- CN105487402B CN105487402B CN201410474340.8A CN201410474340A CN105487402B CN 105487402 B CN105487402 B CN 105487402B CN 201410474340 A CN201410474340 A CN 201410474340A CN 105487402 B CN105487402 B CN 105487402B
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Abstract
The present invention relates to spacecraft grounds to test field, determine appearance test using quick be combined with the in-orbit state of gyro of true starry sky and earth rotation simulation star to solve ground, appearance full physical simulation test method is determined with Gyro the present invention provides a kind of star is quick, it can be easily into the quick installation matrix of planet and system polarity test, polarity is not easy to get wrong, and gyroscopic drift estimation is not influenced, specifically comprise the following steps：It is designed into the quick installation matrix of planet and is tested using earth rotation and orbit parameter, system polarity test is carried out using true starry sky combination rotating table, installation progress gyroscopic drift estimation test is directed at gyro by the way that star is quick.Compared with prior art, advantages and beneficial effects are that appearance test can be determined with Gyro into planet is quick in the in-orbit state of ground real simulation, and test method is simple, effective, and is easily achieved.
Description
Technical field
The present invention relates to spacecraft ground experimental technique fields, particularly belong to spacecraft ground physical simulation test method,
Determine appearance full physical simulation test method with Gyro more particularly to a kind of star is quick.
Background technology
Star is quick and Gyro determines appearance semi-physical simulation and generally gives star quick input star chart with star simulator, and gyro is placed on turntable
On, kinetics-driven turntable and star mould, the attitude quaternion and posture angular dependence of this quick output of closed-loop fashion star be straight
It sees, and the quick installation on celestial body of star has installation matrix, system polarity not Easy Test；Although gyro is quick based on same power with star
Driving is learned, but there are integral errors for turntable rotational angle, tests rear turntable angle of rotation for a long time and differ with the quick attitude angle variation of star
It causes to generate error, this error influences gyroscopic drift estimation.
Star is quick to be installed with true star field simulation and by scaffold mimics celestial body, can easily carry out system polarity test,
And polarity is not easy to get wrong；In-orbit motion state is simulated based on earth rotation, can easily test the correct of the quick installation matrix of star
Property；Star is quick to be directed at installation with gyro by tooling, and turntable rotational angle integral error influences that star is quick and gyro simultaneously, this error can
To cancel out each other, gyroscopic drift estimation is not influenced.
Ground is based on true starry sky and earth rotation and determines appearance test with Gyro into planet is quick, can easily test star
Quick installation matrix and system polarity, and estimation gyroscopic drift, to ensure in-orbit successfully to lay the foundation.Industry is currently without correlation
The research of technology and report, also not the use of related art scheme with openly.
Invention content
It is likely to occur installation matrix or system polarity after the quick dress star of star for existing spacecraft is in-orbit and gets problem wrong, the present invention
Purpose be to provide that a kind of star is quick determine appearance full physical simulation test method with Gyro, so as in ground visible to installation square
Battle array and system polarity are tested, and estimation gyroscopic drift, and test method is simple, effective, and is easily achieved.
The design of the present invention：Star is quick, and to determine the emphasis of appearance ground test with Gyro include the quick installation matrix of star and system pole
Property correctness and gyroscopic drift estimation correctness.Based on star simulator into the quick polarity test of planet by star simulator with
Limitation is fixedly mounted after the quick optical axis alignment of star, manual polarity test can not be carried out, based on true starry sky and pass through scaffold mimics star
Body installation can easily carry out manual polarity test；The quick installation matrix of star is coupled with orbit parameter, in semi-physical simulation again with
The quick polarity correlation of star itself, cannot intuitively carry out installing the test of matrix correctness, be based on earth rotation and upper note and the earth certainly
Turn corresponding stationary orbit parameter, can easily test the quick installation matrix of star.
To achieve the above object of the invention, technical solution of the invention is：A kind of star is quick to determine the full object of appearance with Gyro
Simulating experimental is managed, determines the experiment of appearance full physical simulation with Gyro using true starry sky combination earth rotation design star is quick,
It specifically comprises the following steps：It is designed into the quick installation matrix test of planet, secondly, profit first with earth rotation and orbit parameter
System polarity test is carried out with true starry sky combination rotating table；Finally, installation progress gyro drift is directed at gyro by the way that star is quick
Move estimation test
Further, in above-mentioned steps, star is quick to adjust optical axis direction by holder, simulates the quick different installation on celestial body of star
Mode；Earth rotation angular speed is identical as satellite angular speed, and the orbit parameter needed for the quick attitude algorithm of star is by static
The orbit parameter of orbiter is arranged；The quick optical axis inertia of star, which is calculated, according to the experiment moment is directed toward progress latitude argument initial value calculating,
Upper note orbit parameter, satellite relative orbit system posture should be near zero；The quick optical axis of being installed on celestial body of star bears Y-axis one with celestial body
It causes, the attitude angle of satellite relative orbit system is near zero, and otherwise pitch attitude angle is increased by doubly speed, rolling and yaw-position
The quick installation matrix test of star is realized still near zero in angle；
Secondly, it is rotated using true starry sky combination rotating table simulation celestial body posture, direct interpretation celestial body posture is
System polarity test；
Finally, star is quick is directed at installation by tooling with gyro on turntable；The upper corresponding orbit parameter of note, keeps satellite opposite
Track system zero attitude realizes initial alignment, carries out gyroscopic drift estimation test；The quick optical axis of being installed on celestial body of star bears Y with celestial body
Axis is consistent, and test result is directly gyroscopic drift estimated value, otherwise needs to deduct two times of ground velocity.
The star that the present invention uses is quick and Gyro determines appearance full physical simulation test method, compared with prior art, excellent
Point and advantageous effect are：
1）On ground, the in-orbit state of real simulation determines appearance test into planet is quick with Gyro；
2）Test method is simple, effective, and is easily achieved.
Description of the drawings
Below with reference to drawings and examples, the invention will be further described.
Fig. 1 is that the star of the present invention is quick determines appearance full physical simulation test method flow chart with Gyro；
Fig. 2 is that the star of the present invention is quick is directed at scheme of installation with gyro on turntable.
Specific implementation mode
As shown in Figure 1, be that star of the invention is quick determines appearance full physical simulation test method flow chart with Gyro, in conjunction with figure
The star of 2 present invention is quick to be directed at scheme of installation with gyro on turntable.
It is tested 1. being designed into the quick installation matrix of planet using earth rotation and orbit parameter
Star is quick to adjust optical axis direction by holder, simulates the quick different mounting means on celestial body of star；The earth
Rotation angular speed is identical as satellite angular speed, and the orbit parameter needed for the quick attitude algorithm of star presses static rail
The orbit parameter of road satellite is arranged；The quick optical axis inertia of star, which is calculated, according to the experiment moment is directed toward progress latitude argument initial value calculating, on
Orbit parameter is noted, satellite relative orbit system posture should be near zero；The quick optical axis of being installed on celestial body of star is consistent with the negative Y-axis of celestial body,
Near zero, otherwise pitch attitude angle is increased the attitude angle of satellite relative orbit system by doubly speed, is rolled and yaw-position angle
Still near zero, the quick installation matrix test of star is realized.
Earth rotation angular speed is identical as satellite angular speed, and the quick required orbit parameter of star can be by static rail
The track of road satellite is arranged, and satellite track angular speed is as follows：
Stationary orbit semi-major axis a=42164.17km, eccentric ratio e=0, orbit inclination angle i=0, argument of perigee, for side
Just Track desigh right ascension of ascending node, consider that eccentricity is 0, test t moment mean anomaly, rail
Road parameter designing emphasis is to determine experiment t moment latitude argument, t moment Greenwich sidereal time Sg is：
Transformational relation between sidereal time and degree, in conjunction with local geographic logitude, acquire the initial latitude argument of t momentIt is as follows：
Celestial body X-axis is set to be directed toward east by rotating table, Y-axis is consistent with earth's axis.
2. carrying out system polarity test using true starry sky combination rotating table
It is rotated using true starry sky combination rotating table simulation celestial body posture, direct interpretation celestial body posture carries out system polarity
Test.
3. being directed at installation progress gyroscopic drift estimation test with gyro by the way that star is quick
Star is quick to be directed at installation by tooling with gyro on turntable；The upper corresponding orbit parameter of note, makes satellite relative orbit
It is zero attitude, realizes initial alignment, carries out gyroscopic drift estimation test；The quick optical axis of being installed on celestial body of star bears Y-axis one with celestial body
It causes, test result is directly gyroscopic drift estimated value, otherwise needs to deduct two times of ground velocity.
In the embodiment of the present invention, star is quick to be directed at installation with gyro, together with earth rotation, gyro and the quick angle turned over of star
It is identical, gyroscopic drift estimation is not interfered with, the posture accumulation relative error problem in semi-physical simulation is not present.
Although the invention has been described by way of example and in terms of the preferred embodiments, but it is not for limiting the present invention, any this field
Technical staff without departing from the spirit and scope of the present invention, may be by the methods and technical content of the disclosure above to this hair
Bright technical solution makes possible variation and modification, therefore, every content without departing from technical solution of the present invention, and according to the present invention
Technical spirit to any simple modifications, equivalents, and modifications made by above example, belong to technical solution of the present invention
Protection domain.
Claims (1)
1. a kind of star is quick to determine appearance full physical simulation test method with Gyro, it is characterised in that：In combination using true starry sky
Revolutions design star is quick and Gyro determines the experiment of appearance full physical simulation, specifically comprises the following steps：
1）It is designed into the quick installation matrix of planet and is tested using earth rotation and orbit parameter；
The step 1）In,
Star is quick to adjust optical axis direction by holder, simulates the quick different mounting means on celestial body of star；The earth
Rotation angular speed is identical as satellite angular speed, and the orbit parameter needed for the quick attitude algorithm of star is defended by stationary orbit
The orbit parameter of star is arranged；The quick optical axis inertia of star, which is calculated, according to the experiment moment is directed toward progress latitude argument initial value calculating, upper note rail
Road parameter, satellite relative orbit system posture should be near zero；The quick optical axis of being installed on celestial body of star is consistent with the negative Y-axis of celestial body, satellite
The attitude angle of relative orbit system is near zero, and otherwise pitch attitude angle is increased by doubly speed, rolls and yaw-position angle still exists
Near zero, the quick installation matrix test of star is realized；
2）System polarity test is carried out using true starry sky combination rotating table；
The step 2）In, it is rotated using true starry sky combination rotating table simulation celestial body posture, direct interpretation celestial body posture
Carry out system polarity test；
3）Installation progress gyroscopic drift estimation test is directed at gyro by the way that star is quick；
The step 3）In, star is quick to be directed at installation by tooling with gyro on turntable；The upper corresponding orbit parameter of note, makes to defend
Star relative orbit system zero attitude realizes initial alignment, carries out gyroscopic drift estimation test；Star is quick to install optical axis and star on celestial body
The negative Y-axis of body is consistent, and test result is directly gyroscopic drift estimated value, otherwise needs to deduct two times of ground velocity.
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| CN201410474340.8A CN105487402B (en) | 2014-09-17 | 2014-09-17 | A kind of star is quick to determine appearance full physical simulation test method with Gyro |
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| CN201410474340.8A CN105487402B (en) | 2014-09-17 | 2014-09-17 | A kind of star is quick to determine appearance full physical simulation test method with Gyro |
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| CN105487402A CN105487402A (en) | 2016-04-13 |
| CN105487402B true CN105487402B (en) | 2018-07-20 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109470275B (en) * | 2018-12-17 | 2022-06-28 | 中国科学院光电技术研究所 | High-precision autonomous orientation method for photoelectric theodolite of motorized station |
| CN109596146B (en) * | 2018-12-25 | 2022-07-05 | 哈尔滨工业大学 | Star sensor performance external field test 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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| 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 |
| CN101758934A (en) * | 2010-01-29 | 2010-06-30 | 航天东方红卫星有限公司 | Star sensor setting angle determining method based on mission planning |
| 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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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN101758934A (en) * | 2010-01-29 | 2010-06-30 | 航天东方红卫星有限公司 | Star sensor setting angle determining method based on mission planning |
| 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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| 基于星敏感器/陀螺组合定姿建模及精度仿真;王炯琦等;《系统仿真学报》;20091231;第21卷(第23期);全文 * |
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