CN107478234A - A kind of satellite Autonomous localization method and autonomous navigation of satellite method - Google Patents
A kind of satellite Autonomous localization method and autonomous navigation of satellite method Download PDFInfo
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- CN107478234A CN107478234A CN201710791070.7A CN201710791070A CN107478234A CN 107478234 A CN107478234 A CN 107478234A CN 201710791070 A CN201710791070 A CN 201710791070A CN 107478234 A CN107478234 A CN 107478234A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/02—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by astronomical means
- G01C21/025—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by astronomical means with the use of startrackers
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/04—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/24—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for cosmonautical navigation
Abstract
The present invention proposes a kind of satellite Autonomous localization method, and it is comprised the steps of：S1, pass through optics load detector acquisition surface mark point direction vector observation information entrained by satellite；S2, the equilibrium relationships established between surface mark point direction vector observation information and satellite position；S3, pass through star sensor acquisition fixed star starlight direction vector observation information entrained by satellite；S4, the equilibrium relationships established between fixed star starlight direction vector observation information and satellite position；S5, step S2 and the equilibrium relationships in S4 are solved, obtain satellite position information.Its advantage is：Using optics load and star sensor obtain respectively fixed star, surface mark point relative to satellite direction vector information, and it is used as measurement, surface mark point vector is established accordingly resolves equation and fixed star resolution of a vector equation, with reference to fixed star asterism coordinate and mark point coordinates, satellite location data to be asked is obtained, technical support is provided to the independent navigation of space remote sensing satellite.
Description
Technical field
The present invention relates to based on satellite Autonomous localization method and autonomous navigation of satellite method.
Background technology
Growing with remote sensing satellite technology, the quantity of remote sensing satellite gradually increases, the resolution over the ground of remote sensing satellite
The performance fast lifting of rate and remote sensing satellite, and the lifting of ground control point quantity and precision, utilize remote sensing images information
With reference to satellite standard configuration star sensor information realization to remote sensing satellite self poisoning, possess complete autonomous, anti-interference, integrated a variety of
Advantage.
The content of the invention
It is an object of the invention to provide a kind of satellite Autonomous localization method and autonomous navigation of satellite method, based on single mark
Will point and fixed star starlight vector information, using optics load and star sensor obtain respectively fixed star, surface mark point relative to
The direction vector information of satellite, and measurement is used as, surface mark point vector is established accordingly resolves equation and fixed star resolution of a vector
Equation, with reference to fixed star asterism coordinate and mark point coordinates, satellite location data to be asked is obtained, to the autonomous of space remote sensing satellite
Navigation provides technical support.
In order to achieve the above object, the present invention is achieved through the following technical solutions：
A kind of satellite Autonomous localization method, it is characterized in that, comprise the steps of：
S1, pass through optics load detector acquisition surface mark point direction vector observation information entrained by satellite；
S2, the equilibrium relationships established between surface mark point direction vector observation information and satellite position；
S3, pass through star sensor acquisition fixed star starlight direction vector observation information entrained by satellite；
S4, the equilibrium relationships established between fixed star starlight direction vector observation information and satellite position；
S5, step S2 and the equilibrium relationships in S4 are solved, obtain satellite position information.
Above-mentioned satellite Autonomous localization method, wherein, described step S1 is specifically included：
S11, establish load detector coordinate system DCAnd satellite body coordinate system Db；
The corresponding coordinate in load image plane of S12, surface mark point is (x1,y1), load focal length is f1, visited in load
Survey device coordinate system DCIn, the azimuthal angle beta of surface mark point1And angle of site α1It is calculated as follows：
Above-mentioned satellite Autonomous localization method, wherein, described step S2 is specifically included：
S21, to make surface mark point connect firmly the positional information in coordinate system in the earth's core be (XMark,YMark,ZMark), make satellite exist
Positional information in geocentric inertial coordinate system is (x, y, z), and surface mark dot position information and satellite position information is unified
To geocentric inertial coordinate system；
S22, surface mark point azimuthal angle beta1And angle of site α1It is calculated as follows：
Wherein, RInertia-the earth's core connects firmlyCoordinate system is connected firmly to the transition matrix between inertial coodinate system for the earth's core.
Above-mentioned satellite Autonomous localization method, wherein, described step S3 is specifically included：
S31, establish star sensor coordinate system DS；
The corresponding coordinate in star sensor image plane of S32, fixed star asterism is (x2,y2), star sensor focal length is f2,
Star sensor coordinate system DSIn, the azimuthal angle beta of fixed star starlight2And angle of site α2It is calculated as follows：
Above-mentioned satellite Autonomous localization method, wherein, described step S4 is specifically included：
S41, to make locality information of the fixed star in geocentric inertial coordinate system be (XFixed star direction,YFixed star direction,ZFixed star direction), order is defended
Positional information of the star in geocentric inertial coordinate system is (x, y, z)；
S42, fixed star starlight azimuthal angle beta2And angle of site α2It is calculated as follows：
Above-mentioned satellite Autonomous localization method, wherein, described step S5 is specifically included：
S51, simultaneous equation (1) and (2), are obtained：
In equation (5), f1、(XMark,YMark,ZMark)、(x1,y1) and RInertia-the earth's core connects firmlyBe known quantity, unknown quantity for (x,
Y, z)；
S52, simultaneous equation (3) and (4), are obtained：
In equation (6), f2、(XFixed star direction,YFixed star direction,ZFixed star direction) and (x2,y2) be known quantity, unknown quantity for (x, y,
z)；
S53, joint equation (5) and equation (6), solve the positional information (x, y, z) of common unknown quantity satellite.
A kind of autonomous navigation of satellite method, it is characterized in that, comprise the steps of：
S1, pass through optics load detector acquisition surface mark point direction vector observation information entrained by satellite；
S2, the equilibrium relationships established between surface mark point direction vector observation information and satellite position；
S3, pass through star sensor acquisition fixed star starlight direction vector observation information entrained by satellite；
S4, the equilibrium relationships established between fixed star starlight direction vector observation information and satellite position；
S5, step S2 and the equilibrium relationships in S4 are solved, obtain satellite position information, and realize that space remote sensing is defended
The independent navigation of star.
The present invention has advantages below compared with prior art：Based on single index point and fixed star starlight vector information, profit
Fixed star, surface mark point are obtained respectively relative to the direction vector information of satellite, and conduct with optics load and star sensor
Measurement, establish surface mark point vector accordingly and resolve equation and fixed star resolution of a vector equation, with reference to fixed star asterism coordinate and
Indicate point coordinates, obtain satellite location data to be asked, technical support is provided to the independent navigation of space remote sensing satellite.
Brief description of the drawings
Fig. 1 is flow chart of the method for the present invention；
Fig. 2 is surface mark point direction vector information observation chart under load detector coordinate system in embodiments of the invention；
Fig. 3 is surface mark point direction vector information observation chart under embodiments of the invention Satellite body coordinate system；
Fig. 4 is starlight direction vector information observation chart under star sensor coordinate system in embodiments of the invention；
Fig. 5 is starlight direction vector information observation chart under embodiments of the invention Satellite body coordinate system.
Embodiment
Below in conjunction with accompanying drawing, by describing a preferable specific embodiment in detail, the present invention is further elaborated.
As shown in Fig. 1~5, the present invention proposes a kind of satellite based on single index point and fixed star starlight vector information certainly
Master positioning method, it is comprised the steps of：
S1, pass through optics load detector acquisition surface mark point direction vector observation information entrained by satellite；
S2, the equilibrium relationships established between surface mark point direction vector observation information and satellite position；
S3, pass through star sensor acquisition fixed star starlight direction vector observation information entrained by satellite；
S4, the equilibrium relationships established between fixed star starlight direction vector observation information and satellite position；
S5, step S2 and the equilibrium relationships in S4 are solved, obtain satellite position information.
In the present embodiment, described step S1 is specifically included：
S11, establish load detector coordinate system DCAnd satellite body coordinate system Db；
The corresponding coordinate in load image plane of S12, surface mark point is (x1,y1), load focal length is f1, visited in load
Survey device coordinate system DCIn, the azimuthal angle beta of surface mark point1And angle of site α1It is calculated as follows：
Above-mentioned satellite Autonomous localization method, wherein, described step S2 is specifically included：
S21, to make surface mark point connect firmly the positional information in coordinate system in the earth's core be (XMark,YMark,ZMark), make satellite exist
Positional information in geocentric inertial coordinate system is (x, y, z), and surface mark dot position information and satellite position information is unified
To geocentric inertial coordinate system；
S22, surface mark point azimuthal angle beta1And angle of site α1It is calculated as follows：
Wherein, RInertia-the earth's core connects firmlyCoordinate system is connected firmly to the transition matrix between inertial coodinate system for the earth's core.
In the present embodiment, described step S3 is specifically included：
S31, establish star sensor coordinate system DS；
The corresponding coordinate in star sensor image plane of S32, fixed star asterism is (x2,y2), star sensor focal length is f2,
Star sensor coordinate system DSIn, the azimuthal angle beta of fixed star starlight2And angle of site α2It is calculated as follows：
In the present embodiment, described step S4 is specifically included：
S41, to make locality information of the fixed star in geocentric inertial coordinate system be (XFixed star direction,YFixed star direction,ZFixed star direction), order is defended
Positional information of the star in geocentric inertial coordinate system is (x, y, z)；
S42, fixed star starlight azimuthal angle beta2And angle of site α2It is calculated as follows：
In the present embodiment, described step S5 is specifically included：
S51, simultaneous equation (1) and (2), are obtained：
In equation (5), f1、(XMark,YMark,ZMark)、(x1,y1) and RInertia-the earth's core connects firmlyBe known quantity, unknown quantity for (x,
Y, z)；
S52, simultaneous equation (3) and (4), are obtained：
In equation (6), f2、(XFixed star direction,YFixed star direction,ZFixed star direction) and (x2,y2) be known quantity, unknown quantity for (x, y,
z)；
S53, joint equation (5) and equation (6), solve the positional information (x, y, z) of common unknown quantity satellite.
The invention also provides a kind of autonomous navigation of satellite method, it is comprised the steps of：
S1, pass through optics load detector acquisition surface mark point direction vector observation information entrained by satellite；
S2, the equilibrium relationships established between surface mark point direction vector observation information and satellite position；
S3, pass through star sensor acquisition fixed star starlight direction vector observation information entrained by satellite；
S4, the equilibrium relationships established between fixed star starlight direction vector observation information and satellite position；
S5, step S2 and the equilibrium relationships in S4 are solved, obtain satellite position information, and realize that space remote sensing is defended
The independent navigation of star.
Although present disclosure is discussed in detail by above preferred embodiment, but it should be appreciated that above-mentioned
Description is not considered as limitation of the present invention.After those skilled in the art have read the above, for the present invention's
A variety of modifications and substitutions all will be apparent.Therefore, protection scope of the present invention should be limited to the appended claims.
Claims (7)
1. a kind of satellite Autonomous localization method, it is characterised in that comprise the steps of：
S1, pass through optics load detector acquisition surface mark point direction vector observation information entrained by satellite；
S2, the equilibrium relationships established between surface mark point direction vector observation information and satellite position；
S3, pass through star sensor acquisition fixed star starlight direction vector observation information entrained by satellite；
S4, the equilibrium relationships established between fixed star starlight direction vector observation information and satellite position；
S5, step S2 and the equilibrium relationships in S4 are solved, obtain satellite position information.
2. satellite Autonomous localization method as claimed in claim 1, it is characterised in that described step S1 is specifically included：
S11, establish load detector coordinate system DCAnd satellite body coordinate system Db；
The corresponding coordinate in load image plane of S12, surface mark point is (x1,y1), load focal length is f1, in load detector
Coordinate system DCIn, the azimuthal angle beta of surface mark point1And angle of site α1It is calculated as follows：
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3. satellite Autonomous localization method as claimed in claim 2, it is characterised in that described step S2 is specifically included：
S21, to make surface mark point connect firmly the positional information in coordinate system in the earth's core be (XMark,YMark,ZMark), satellite is made in the earth's core
Positional information in inertial coodinate system is (x, y, z), and surface mark dot position information and satellite position information is unified to ground
Under heart inertial coodinate system；
S22, surface mark point azimuthal angle beta1And angle of site α1It is calculated as follows：
Wherein, RInertia-the earth's core connects firmlyCoordinate system is connected firmly to the transition matrix between inertial coodinate system for the earth's core.
4. satellite Autonomous localization method as claimed in claim 3, it is characterised in that described step S3 is specifically included：
S31, establish star sensor coordinate system DS；
The corresponding coordinate in star sensor image plane of S32, fixed star asterism is (x2,y2), star sensor focal length is f2, it is quick in star
Sensor coordinate system DSIn, the azimuthal angle beta of fixed star starlight2And angle of site α2It is calculated as follows：
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5. satellite Autonomous localization method as claimed in claim 4, it is characterised in that described step S4 is specifically included：
S41, to make locality information of the fixed star in geocentric inertial coordinate system be (XFixed star direction,YFixed star direction,ZFixed star direction), make satellite exist
Positional information in geocentric inertial coordinate system is (x, y, z)；
S42, fixed star starlight azimuthal angle beta2And angle of site α2It is calculated as follows：
6. satellite Autonomous localization method as claimed in claim 5, it is characterised in that described step S5 is specifically included：
S51, simultaneous equation (1) and (2), are obtained：
In equation (5), f1、(XMark,YMark,ZMark)、(x1,y1) and RInertia-the earth's core connects firmlyIt is known quantity, unknown quantity is (x, y, z)；
S52, simultaneous equation (3) and (4), are obtained：
In equation (6), f2、(XFixed star direction,YFixed star direction,ZFixed star direction) and (x2,y2) it is known quantity, unknown quantity is (x, y, z)；
S53, joint equation (5) and equation (6), solve the positional information (x, y, z) of common unknown quantity satellite.
A kind of 7. autonomous navigation of satellite method, it is characterised in that comprise the steps of：
S1, pass through optics load detector acquisition surface mark point direction vector observation information entrained by satellite；
S2, the equilibrium relationships established between surface mark point direction vector observation information and satellite position；
S3, pass through star sensor acquisition fixed star starlight direction vector observation information entrained by satellite；
S4, the equilibrium relationships established between fixed star starlight direction vector observation information and satellite position；
S5, step S2 and the equilibrium relationships in S4 are solved, obtain satellite position information, and realize space remote sensing satellite
Independent navigation.
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| CN109459042A (en) * | 2018-12-07 | 2019-03-12 | 上海航天控制技术研究所 | A kind of spacecraft multi-mode autonomous navigation system based on world image |
| CN110017829A (en) * | 2019-03-21 | 2019-07-16 | 惠州工程职业学院 | A kind of satellite Autonomous localization method and autonomous navigation of satellite method |
| CN113029132A (en) * | 2021-02-22 | 2021-06-25 | 上海航天控制技术研究所 | Spacecraft navigation method combining ground image and astrolabe measurement |
| CN113984069A (en) * | 2021-04-30 | 2022-01-28 | 北京临近空间飞行器系统工程研究所 | Satellite positioning navigation method based on artificial satellite |
| CN115326061A (en) * | 2022-10-17 | 2022-11-11 | 中国人民解放军国防科技大学 | Autonomous navigation method based on ordered space target sequential observation |
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| CN115326061A (en) * | 2022-10-17 | 2022-11-11 | 中国人民解放军国防科技大学 | Autonomous navigation method based on ordered space target sequential observation |
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| CN107478234B (en) | 2019-08-30 |
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