CN106679653A - Relative measurement method of HEO (High Elliptical Orbit) satellite group based on satellite sensor and inter-satellite link - Google Patents

Abstract

The invention discloses a relative measurement method of an HEO (High Elliptical Orbit) satellite group based on a satellite sensor and an inter-satellite link. The method comprises the following steps: firstly taking HEO satellite earth observation as task requirement for designing a formation flight structure taking two satellites as a primary satellite and a secondary satellite and orbit parameters; then putting forward the following four basic illumination conditions needed to be met when the primary satellite sensor observes the secondary satellite: relative distance between the primary satellite and the secondary satellite meets the requirement on specific observation distance, the secondary satellite is in a sunlight illumination area and can be completely observed, the earth or other heavenly bodies do not enter the view field of the satellite sensor, and the visual magnitude of the secondary satellite is smaller than visual magnitude threshold; then determining whether the main satellite sensor can observe the secondary satellite or not, whether the secondary satellite is in the view field of the satellite sensor or not and whether the secondary satellite is in a two-dimensional image plane array of the satellite sensor or not; and finally calculating direction vector, direction angle and pitch angle of the secondary satellite relative to the primary satellite and providing data support for the primary satellite to autonomously and continuously observe the secondary satellite.

Description

A kind of HEO satellite group relative measurements based on star sensor and inter-satellite link

Technical field

Chain between star sensor and star is based on the invention belongs to Spacecraft Formation Flying space measurement field, more particularly to one kind The HEO satellite group relative measurements on road.

Background technology

The orbital eccentricity of highly elliptic orbit (High Elliptical Orbit, HEO) satellite is more than 0.6, and perigee is high Between 300 km~1000 kms, the height at apogee is higher than geostationary orbit satellite (36000 km) to degree.HEO Satellite has the characteristics of overlay area is wide, and the cover time is long, therefore is obtained for application, such as missile warning in many fields, Meteorological detection, navigator fix, space science exploration etc..The HEO satellites of early stage are mainly used in military field, typical generation therein Table has " lightning " series of satellites of Russia；" folding seat " in the U.S., " bugle " satellite.Although it can be said that current countries in the world The emphasis of research is still low orbit satellite and middle rail satellite, but HEO satellites are due to its own unique track feature, can be as The supplement of existing satellite, will gather around and have wide practical use.

The space environment that HEO satellite groups are experienced during space motion is more complicated, wants to realize that its is high-precision Independent navigation, it is necessary to solve the problems, such as two aspects：On the one hand, when noise distribution and it is uncertain when, the filtering algorithm for being used is It is no to cause that filter result is restrained with stronger adaptive ability, and ensure sufficiently high precision；On the other hand, HEO satellites Speed and acceleration more violent change occurs near perigee, that is, there is high speed high dynamic, it Filter result can be caused the situation of fluctuation occur.

In order to HEO satellites carry out formation flight and altogether position control, it is necessary to can in real time obtain position and the appearance of satellite first State information, and interference can not be produced to facing star, due to HEO satellites apogee generally in 36000km highly, HEO satellites are present The problem that navigation observation signal is not enough：(1) commonly use GNSS navigation mode and have that navigation signal is weak, the earth blocks few with visible satellite Etc. serious problems；(2) other navigation modes：Earth's magnetic field cannot use, and radar altimeter is only limitted to LEO navigation, is all difficult to Meet whole orbital period navigation request as observation information, therefore this allows for the research HEO satellite new observation procedures of introducing and shows Obtain urgently important.

The content of the invention

Goal of the invention：The present invention causes the relatively low problem of navigation accuracy for HEO satellite formation flying observation information deficiencies, A kind of HEO satellite group relative measurements based on star sensor and inter-satellite link are proposed, for the HEO satellites of formation flight are provided The relative observation information of high accuracy.

Technical scheme：A kind of HEO satellite group relative measurements based on star sensor and inter-satellite link, step is as follows：

(1) with HEO satellite earth observations as mission requirements, two HEO satellites are set to primary and component, design master Star and component formation flight configuration and orbit parameter；

(2) according to the primary and component relative distance for calculating, judge whether component meets star sensor observed range requirement, Meet and then enter step (3), otherwise into step (10)；

(3) according to the sun, the earth and component three's position relationship for resolving, judge whether component is in solar irradiation area, It is then to enter step (4), otherwise into step (10)；

(4) according to the earth, primary and component three's position relationship for resolving, judge whether the earth regards into star sensor , it is then to enter step (5), otherwise into step (10)；

(5) according to calculate component can the apparent magnitude, judge component can the apparent magnitude whether be less than star sensor Observable threshold value, It is then to enter step (6), otherwise into step (10)；

(6) angle is pointed to star sensor optical axis with respect to primary direction vector according to the component for calculating, whether judges component It is then to enter step (7) in star sensor field range, after otherwise being pointed to using universal axial adjustment star sensor optical axis, after It is continuous to judge, it is then to enter step (7), otherwise into (10)；

(7) judge component whether in star sensor two dimension in star sensor two dimension image planes battle array coordinate according to the component for calculating It is then to enter step (8), otherwise into step (10) in image planes battle array；

(8) component is calculated with respect to primary theory orientation vector azimuth and the angle of pitch, into step (9)；

(9) according to gained theory azimuth, adjustment primary star sensor optical axis are consistent with theory orientation vector, to asteroid Truly observed, and set up observation model, into step (10)；

(10) observation is terminated.

Further, the orbit parameter in the step (1) includes semi-major axis of orbit a, orbital eccentricity e, orbit inclination angle I, right ascension of ascending node Ω, argument of perigee ω, time of perigee passage t_p。

Further, to judge whether component meets star sensor observed range requirement process in the step (2) as follows：

Primary is calculated with respect to component apart from δ r⁽¹⁰⁾, judge whether it meets condition

L_min≤δr⁽¹⁰⁾≤L_max (1)

Wherein, δ r⁽¹⁰⁾=| δ r⁽¹⁰⁾|=| r⁽¹⁾-r⁽⁰⁾|, r⁽⁰⁾And r⁽¹⁾It is primary and component position vector；L_minAnd L_maxFor Minimum and maximum distance needed for being observed between star.

Further, to judge whether component is in solar irradiation area process in the step (3) as follows：

Analysis earth shaded region and component travel through the critical condition of the shaded region, if component position vector r⁽¹⁾With position of sun vector r^(sun)Angle is ψ, and the critical angle that component enters and leaves earth's shadow scope is ψ_cri, then component Being in solar irradiation area needs to meet condition：

ψ ＜ ψ_cri (2)。

Further, judge whether the earth enters star sensor visual field process in the step (4) as follows：

If primary position vector r⁽⁰⁾Component direction vector δ r relative with primary⁽¹⁰⁾Angle be θ, being blocked by the earth causes The excessively weak critical condition of background light is component with respect to primary direction vector δ r⁽¹⁰⁾It is tangent with earth edge, define this critical folder Angle is θ_cri, then the earth be introduced into star sensor viewing conditions and be：

θ ＞ θ_cri (3)。

Further, judge in the step (5) component can the apparent magnitude whether be less than star sensor Observable threshold process It is as follows：

Introduce can the apparent magnitude analyze the observability of component, magnitude value is smaller, shows that celestial body is brighter；Conversely, celestial body is then darker； If star sensor Observable threshold value is m_thr, component can the apparent magnitude be m, component be observed its can the apparent magnitude meet condition

M ＜ m_thr (4)。

Further, judge whether component is as follows in star sensor field range internal procedure in the step (6)：

If component is with respect to primary direction vector δ r⁽¹⁰⁾With star sensor optical axis pointing vectorAngle isStar sensor The angle of visual field is FOV, then direction vector δ r⁽¹⁰⁾Meet condition in star sensor field range

If relative vector δ r⁽¹⁰⁾Not in field range, pointed to using universal axial adjustment star sensor optical axis, enter it Enter field range, if can not still enter visual field after rotating, cannot observe.

Further, judge whether component is as follows in star sensor two dimension image planes battle array internal procedure in the step (7)：

According to component with respect to primary direction vector δ r⁽¹⁰⁾It is projected in the geometrical relationship of star sensor two dimension image planes battle array, Xie Qi Coordinate isIf two-dimentional image planes array length degree and width are respectively IP_longthAnd IP_width, then component is in image plane seat Mark needs to meet condition

Further, the step (8) operator star of falling into a trap specifically is walked with respect to primary direction vector and azimuth with the angle of pitch It is rapid as follows：

Component is with respect to primary unit direction vectorBy star sensor obtain, obtain component with respect to primary azimuth angle alpha with bow Elevation angle δ, primary and component relative distance | δ r⁽¹⁰⁾| obtained by inter-satellite link, obtain component with respect to primary theory orientation vector delta r⁽¹⁰⁾

Wherein,

Component is described with respect to primary orientation by azimuth and the angle of pitch, in satellite body coordinate system o_b-x_by_bz_bIn, definition Azimuth angle alpha is δ r⁽¹⁰⁾In o_b-y_bz_bThe projection of plane and y_bAxle clamp angle, angle of pitch δ is δ r⁽¹⁰⁾With x_bAxle clamp angle, is expressed as

Wherein, It is geocentric inertial coordinate system opposing body's coordinate It is pose transformation matrix.

Further, primary is truly observed asteroid in the step (9), and is set up observation model and be specially：

According to step (8) resulting bottle star with respect to primary theory orientation vector azimuth and the angle of pitch, primary is using universal The sensing of axial adjustment star sensor optical axis is consistent with the theory orientation vector, and carries out actual measurement, output using star sensor Star is with respect to primary unit direction vector true measurementBy the actual measured value of inter-satellite link between primary and componentObtaining the asteroid true observation model of relative satellite unit direction vector is：

Operation principle：The present invention is a kind of HEO satellite group relative measurements based on star sensor and inter-satellite link, profit With the autonomous Continuous Observation component of primary star sensor, component is obtained with respect to primary theory orientation vector azimuth and the angle of pitch. First with HEO satellite earth observations as mission requirements, two HEO satellites are set to primary and component, design primary and son Star formation flight configuration and orbit parameter；Then propose that primary star sensor observation component needs to meet four kinds of basic illumination bars Part：1. primary and component relative distance meet observed range requirement；2. component is in solar irradiation area and can be observed completely；3. Ball (or other celestial bodies) is introduced into star sensor visual field；4. component can the apparent magnitude less than can apparent magnitude threshold value, secondly judge primary Can star sensor observe component：1. whether component is in star sensor field range；2. whether component is in star sensor two dimension In image planes battle array, component is finally calculated with respect to primary theory orientation vector azimuth and the angle of pitch, be the autonomous Continuous Observation of primary Component provides data and supports.

Beneficial effect：Relative to prior art, the method have the advantages that being：(1) star sensor is the celestial body for observing fixed star Sensor, and carrying out Inter-satellite relative measure using star sensor needs to meet specified conditions, the present invention is observed between proposing star to be needed Illumination condition and star sensor observation condition, solve the problems, such as traditional star sensor can only passive measurement, improve and autonomous select star accurate True property；(2) on the basis of being observed between realizing star, the present invention propose to calculate in real time component with respect to primary orientation vector and azimuth with Angle of pitch method, and continuous tracking component is pointed to using universal axial adjustment star sensor optical axis, solving conventional observation cannot be even Continuous tracking problem, improves Continuous Observation efficiency between star.

Brief description of the drawings

Fig. 1 is the inventive method flow chart；

Fig. 2 for the present invention in primary with respect to specific distance range schematic diagram between the star of component；

Fig. 3 is neutron star illumination condition schematic diagram of the present invention；

Fig. 4 is star sensor visual field and position of the earth relation schematic diagram in the present invention；

Fig. 5 is that neutron star of the present invention can apparent magnitude calculating schematic diagram；

Fig. 6 is neutron star of the present invention in star sensor two-dimensional image area array projection schematic diagram；

Fig. 7 is neutron star of the present invention with respect to primary direction vector and azimuth schematic diagram.

Specific embodiment

Below in conjunction with accompanying drawing, case study on implementation of the invention is described in detail；

As shown in figure 1, the present invention is a kind of HEO satellite group relative measurements based on star sensor and inter-satellite link, In HEO satellite earth observation task phases, HEO satellites using star sensor and inter-satellite link enter planet between observe, be a kind of non- It is very suitable for method of the HEO satellite Autonomous continuous phase to observing.It includes that step is as follows：

(1) design HEO satellites (being set to primary and component) formation flight configuration and orbit parameter (including semi-major axis of orbit a, Orbital eccentricity e, orbit inclination angle i, right ascension of ascending node Ω, argument of perigee ω, time of perigee passage t_p), design primary star is quick The optimal installation position of sensor is observing component；

(2) according to designed two satellite orbit parameters, primary and component relative distance δ r are calculated⁽¹⁰⁾, such as the institute of accompanying drawing 2 Show, judge whether it meets star sensor observation component needs and meet specific range requirement

L_min≤δr⁽¹⁰⁾≤L_max (10)

Wherein, δ r⁽¹⁰⁾=| δ r⁽¹⁰⁾|=| r⁽¹⁾-r⁽⁰⁾|, r⁽⁰⁾And r⁽¹⁾It is primary and component position vector；L_minAnd L_maxFor Minimum and maximum distance needed for being observed between star.

(3) when primary observes component, component needs fully to be irradiated by sunshine.When component is in global illumination area, son Star can fully be irradiated by sunshine；Conversely, when component enters earth's shadow area, because the earth is blocked, sunshine cannot irradiate To component, it is therefore desirable to which sub- star illumination condition is judged.

According to the sun, the earth and component three's geometry site, as shown in Figure 3, shadow of the sun and component are determined Critical condition of the running orbit through the shadow region.If sunshine is directional light, component position vector r⁽¹⁾With solar direction vector r^(sun)The angle of formation is

The critical angle that component enters and leaves earth's shadow scope is

Wherein,R_eIt is earth radius.

It can thus be concluded that component is in solar irradiation area and shadow region condition is respectively：

Solar irradiation area：ψ ＜ ψ_cri (13a)

Shadow of the sun：ψ≥ψ_cri (13b)

(4) during star sensor observation component, when comparison field light is too strong or excessively weak, it cannot also observe son Star, it is therefore desirable to which analyze comparison field is influenceed by celestial body.

Cause to be analyzed as a example by star sensor comparison field is excessively weak by the earth, it is several according to the earth, primary and component three What position relationship, as shown in Figure 4, component is with respect to primary direction vector δ r⁽¹⁰⁾With primary direction vector r⁽⁰⁾Angle be

Due to the critical condition that the earth causes background light excessively weak be primary and component line it is tangent with earth edge, then Tangent line is with the critical angle of primary position vector

It can thus be concluded that the condition that star sensor visual field is not influenceed by background light is

θ ＞ θ_cri (16)

The equally applicable judgement component background of the method is blocked by other celestial bodies and causes the too strong situation of light.

(5) magnitude is the concept in astronomy, and it is the physical quantity for weighing celestial body luminosity.Magnitude is generally divided into absolute magnitude With can the apparent magnitude, absolute magnitude refers in the celestial body brightness seen away from the light-year of celestial body 32.6；Can the apparent magnitude refer to the earth Celestial body brightness seen by upper observer.Magnitude value is smaller, shows that celestial body is brighter；Conversely, celestial body is then darker.Introduce can the apparent magnitude it is general Read the observability that analysis is observed component.

First have to calculate the absolute magnitude of component, the absolute magnitude M of component can be calculated by following formula：

Wherein, m_sunBe the sun can the apparent magnitude, its value be -26.73；r_dTo be observed the radius of celestial body；A is celestial body Reflectivity；d₀It is the average distance between the earth and the sun, its value is 1.496 × 10¹¹m。

The apparent magnitude m of component can be calculated by absolute magnitude M according to equation below：

Wherein, | r^(sun0)| it is the distance between the sun and component；ξ is relative vector δ r⁽¹⁰⁾Component relative with sun direction Vector r^(sun1)Angle, as shown in Figure 5, can be tried to achieve by following formula：

P (ξ) is phase integral, can be tried to achieve by following formula：

It is observed the visual magnitude value of celestial body bigger, it is darker with respect to star sensor；Conversely, it is brighter with respect to star sensor. If star sensor Observable threshold value is m_thr, component can the apparent magnitude be m, its can the apparent magnitude need to meet condition

M ＜ m_thr (21)

Define star sensor optical axis and point to and be in body coordinate system direction vectorComponent is calculated to be sweared with respect to primary direction Amount δ r⁽¹⁰⁾It is with star sensor direction vectorAngle

Wherein,It is geocentric inertial coordinate system opposing body's coordinate system pose transition matrix.

It is FOV to define the star sensor angle of visual field, judges relative vector δ r⁽¹⁰⁾Whether in star sensor field range

In field range：

Outside field range：

If relative vector δ r⁽¹⁰⁾Not in field range, it is considered to utilize universal axial adjustment star sensor optical axis director Amount, can be by δ r⁽¹⁰⁾WithDirectly deflection is equal to or more than in the plane of compositionAngle, makes vector delta r⁽¹⁰⁾Enter Enter field range, if can not still enter visual field after rotating, cannot observe.

(7) according to component with respect to primary direction vector δ r⁽¹⁰⁾The geometrical relationship of star sensor two dimension image planes battle array is projected in, such as Shown in accompanying drawing 6, following (23) formula is resolved, component can be obtained in two-dimentional image planes battle array coordinate

Wherein, f is star sensor focal length

If image plane length and width is respectively IP_longthAnd IP_width, component can be observed to be needed to meet condition

(8) after primary observes component, can be obtained between two satellites apart from δ r by inter-satellite link⁽¹⁰⁾, by star sensor Component can be obtained with respect to primary unit direction vectorAs shown in Figure 7, therefore component can be obtained with respect to primary theory orientation vector For

Wherein,

Component can be described with respect to primary direction vector by azimuth and the angle of pitch, in satellite body coordinate system o_b-x_by_bz_b In, definition azimuth angle alpha is δ r⁽¹⁰⁾In o_b-y_bz_bThe projection of plane and y_bAxle clamp angle, angle of pitch δ is δ r⁽¹⁰⁾With x_bAxle clamp angle, can It is expressed as

Wherein, It is geocentric inertial coordinate system opposing body's coordinate It is pose transformation matrix.

(9) the theoretical azimuth according to above-mentioned resulting bottle star relative satellite and the angle of pitch, primary using universal drive shaft or other Mechanical device adjustment star sensor optical axis sensing is consistent with the theory orientation, and carries out actual measurement using star sensor, exports Component is with respect to primary unit direction vector true measurementBy the actual measured value of inter-satellite link between primary and componentThe asteroid true observation model of relative satellite unit direction vector can be obtained is：

(10) observation is terminated.

The present invention first with HEO satellite earth observations as mission requirements, compile by two satellites (being set to primary and component) of design Team's flight configuration and orbit parameter, then propose that primary star sensor observation component needs to meet four kinds of basic illumination conditions：It is main Star and component relative distance meet observation specific range requirement；Component is in solar irradiation area and can be observed completely；The earth (or its His celestial body) it is introduced into star sensor visual field；Component can the apparent magnitude less than can apparent magnitude threshold value, secondly judge primary star sensor energy It is no to observe component：Whether component is in star sensor field range；Finally counted whether in star sensor two dimension image planes battle array component Operator star is supported with respect to primary direction vector and azimuth and the angle of pitch for the autonomous Continuous Observation component of primary provides data.

Claims (10)

1. a kind of HEO satellite group relative measurements based on star sensor and inter-satellite link, it is characterised in that step is as follows：

(1) with HEO satellite earth observations as mission requirements, two HEO satellites are set to primary and component, design primary and Component formation flight configuration and orbit parameter；

(2) according to the primary and component relative distance for calculating, judge whether component meets star sensor observed range requirement, meet Then enter step (3), otherwise into step (10)；

(3) according to the sun, the earth and component three's position relationship for resolving, judge whether component is in solar irradiation area, be then Into step (4), otherwise into step (10)；

(4) according to the earth, primary and component three's position relationship for resolving, judge whether the earth enters star sensor visual field, be Then enter step (5), otherwise into step (10)；

(5) according to calculate component can the apparent magnitude, judge component can the apparent magnitude whether be less than star sensor Observable threshold value, be then Into step (6), otherwise into step (10)；

(6) angle is pointed to star sensor optical axis with respect to primary direction vector according to the component for calculating, judges component whether in star It is then to enter step (7) in sensor field range, after otherwise being pointed to using universal axial adjustment star sensor optical axis, continues to sentence It is disconnected, it is then to enter step (7), otherwise into (10)；

(7) according to the component for calculating in star sensor two dimension image planes battle array coordinate, judge component whether in star sensor two dimension image planes It is then to enter step (8), otherwise into step (10) in battle array；

(8) component is calculated with respect to primary theory orientation vector azimuth and the angle of pitch, into step (9)；

(9) according to gained theory azimuth, adjustment primary star sensor optical axis are consistent with theory orientation vector, and asteroid is carried out True observation, and observation model is set up, into step (10)；

(10) observation is terminated.

2. the HEO satellite group relative measurements based on star sensor and inter-satellite link according to claim 1, its feature It is：Orbit parameter in the step (1) includes semi-major axis of orbit a, orbital eccentricity e, orbit inclination angle i, right ascension of ascending node Ω, argument of perigee ω, time of perigee passage t_p。

3. the HEO satellite group relative measurements based on star sensor and inter-satellite link according to claim 1, its feature It is：Judge whether component meets star sensor observed range requirement process in the step (2) as follows：

Primary is calculated with respect to component apart from δ r⁽¹⁰⁾, judge whether it meets condition

L_min≤δr⁽¹⁰⁾≤L_max (1)

Wherein, δ r⁽¹⁰⁾=| δ r⁽¹⁰⁾|=| r⁽¹⁾-r⁽⁰⁾|, r⁽⁰⁾And r⁽¹⁾It is primary and component position vector；L_minAnd L_maxFor between star Minimum and maximum distance needed for observation.

4. the HEO satellite group relative measurements based on star sensor and inter-satellite link according to claim 1, its feature It is：Judge whether component is in solar irradiation area process in the step (3) as follows：

Analysis earth shaded region and component travel through the critical condition of the shaded region, if component position vector r⁽¹⁾With Position of sun vector r^(sun)Angle is ψ, and the critical angle that component enters and leaves earth's shadow scope is ψ_cri, then component be in Solar irradiation area needs to meet condition：

ψ ＜ ψ_cri (2)。

5. the HEO satellite group relative measurements based on star sensor and inter-satellite link according to claim 1, its feature It is：Judge whether the earth enters star sensor visual field process in the step (4) as follows：

If primary position vector r⁽⁰⁾Component direction vector δ r relative with primary⁽¹⁰⁾Angle be θ, being blocked by the earth causes bias light The excessively weak critical condition of line is component with respect to primary direction vector δ r⁽¹⁰⁾Tangent with earth edge, defining this critical angle is θ_cri, then the earth be introduced into star sensor viewing conditions and be：

θ ＞ θ_cri (3)。

6. the HEO satellite group relative measurements based on star sensor and inter-satellite link according to claim 1, its feature It is：Judge in the step (5) component can the apparent magnitude whether to be less than star sensor Observable threshold process as follows：

Introduce can the apparent magnitude analyze the observability of component, magnitude value is smaller, shows that celestial body is brighter；Conversely, celestial body is then darker；If star Sensor Observable threshold value is m_thr, component can the apparent magnitude be m, component be observed its can the apparent magnitude meet condition

M ＜ m_thr (4)。

7. the HEO satellite group relative measurements based on star sensor and inter-satellite link according to claim 1, its feature It is：Judge whether component is as follows in star sensor field range internal procedure in the step (6)：

If component is with respect to primary direction vector δ r⁽¹⁰⁾With star sensor optical axis pointing vectorAngle isStar sensor visual field Angle is FOV, then direction vector δ r⁽¹⁰⁾Meet condition in star sensor field range

If relative vector δ r⁽¹⁰⁾Not in field range, pointed to using universal axial adjustment star sensor optical axis, make it into and regard Field scope, if can not still enter visual field after rotating, cannot observe.

8. the HEO satellite group relative measurements based on star sensor and inter-satellite link according to claim 1, its feature It is：Judge whether component is as follows in star sensor two dimension image planes battle array internal procedure in the step (7)：

According to component with respect to primary direction vector δ r⁽¹⁰⁾The geometrical relationship of star sensor two dimension image planes battle array is projected in, solving its coordinate isIf two-dimentional image planes array length degree and width are respectively IP_longthAnd IP_width, then component is full in image plane coordinate needs Sufficient condition

$\left|x_p^{\left(10\right)}\right|<\frac{{\mathrm{IP}}_{longth}}{2}---\left(6a\right)$

$\left|y_p^{\left(10\right)}\right|<\frac{{\mathrm{IP}}_{width}}{2}---\left(6b\right).$

9. the HEO satellite group relative measurements based on star sensor and inter-satellite link according to claim 1, its feature With：The step (8) operator star of falling into a trap is comprised the following steps that with respect to primary direction vector and azimuth with the angle of pitch：

Component is with respect to primary unit direction vectorObtained by star sensor, obtain component with respect to primary azimuth angle alpha and angle of pitch δ, Primary and component relative distance | δ r⁽¹⁰⁾| obtained by inter-satellite link, obtain component with respect to primary theory orientation vector delta r⁽¹⁰⁾

${\mathrm{\&delta;r}}^{\left(10\right)}=\mathrm{\&delta;}{\hat{r}}^{\left(10\right)}\&CenterDot;\left|{\mathrm{\&delta;r}}^{\left(10\right)}\right|---\left(7\right)$

Wherein,

Component is described with respect to primary orientation by azimuth and the angle of pitch, in satellite body coordinate system o_b-x_by_bz_bIn, define azimuth α is δ r⁽¹⁰⁾In o_b-y_bz_bThe projection of plane and y_bAxle clamp angle, angle of pitch δ is δ r⁽¹⁰⁾With x_bAxle clamp angle, is expressed as

$\mathrm{\&alpha;}=arctan\left(\frac{{\mathrm{\&delta;r}}_{bz}^{\left(10\right)}}{{\mathrm{\&delta;r}}_{by}^{\left(10\right)}}\right)---\left(8a\right)$

$\mathrm{\&delta;}=arcsin\left(\frac{{\mathrm{\&delta;r}}_{bx}^{\left(10\right)}}{\left|{\mathrm{\&delta;r}}_b^{\left(10\right)}\right|}\right)---\left(8b\right)$

Wherein, It is geocentric inertial coordinate system opposing body's coordinate system appearance State transition matrix.

10. HEO satellite group relative measurements based on star sensor and inter-satellite link according to claim 1, it is special Levy with：Primary is truly observed asteroid in the step (9), and is set up observation model and be specially：

According to step (8) resulting bottle star with respect to primary theory orientation vector azimuth and the angle of pitch, primary is adjusted using universal drive shaft Whole star sensor optical axis sensing is consistent with the theory orientation vector, and carries out actual measurement using star sensor, exports component phase To primary unit direction vector true measurementBy the actual measured value of inter-satellite link between primary and component The true observation model of asteroid relative satellite unit direction vector is：

${\mathrm{\&delta;r}}_{mes}^{\left(10\right)}=\mathrm{\&delta;}{\hat{r}}_{mes}^{\left(10\right)}\&CenterDot;\left|{\mathrm{\&delta;r}}_{mes}^{\left(10\right)}\right|---\left(9\right).$