CN107747946B - On-line identification compensation method for error of inter-satellite-sensitive orbit periodic system - Google Patents
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Abstract
The invention discloses an on-line identification and compensation method for an error of an inter-satellite-sensitive orbit periodic system, which comprises the following steps: s1, equally dividing the track into N parts and obtaining N +1 sampling points; s2, if the current position of the spacecraft is at a sampling point, calculating an attitude transfer quaternion between the satellite sensor to be compensated and the reference satellite sensor at the current moment, and calculating the deviation of the attitude transfer matrix and the nominal attitude transfer quaternion to obtain the system error of the satellite sensor to be compensated and the reference satellite sensor; and S3, based on the N +1 sampling points, performing inversion by adopting a linear interpolation algorithm to obtain the system errors of the satellite sensitivity to be compensated and the reference satellite sensitivity at any position of the track, and performing compensation.
Description
Technical Field
The invention relates to the field of spacecraft attitude and orbit control, in particular to an on-line identification and compensation method for an inter-satellite-sensitive orbit periodic system error.
Background
The star sensor is used as a key measuring component of a spacecraft attitude and orbit control system and is used as an attitude measuring reference of a satellite, and 2 to 4 star sensors are generally configured on the satellite. Due to the influence of factors such as an on-orbit thermal environment and the like, a system error between the satellite sensitive sensor and the satellite sensitive sensor is often represented as a periodic characteristic of an orbit, and the deformation magnitude is generally not more than 0.1 degree.
When the satellite attitude measurement precision needs to be improved by adopting multi-satellite sensitive data fusion, the system error between satellite sensitive data needs to be eliminated in real time. The traditional method for solving the thermal deformation between the star sensors mainly comprises two methods:
the first method is to adopt a low-pass filtering principle to calculate and compensate the system error between two satellite sensors in real time, and can solve the problem of attitude jump caused by satellite-sensor reference switching under normal conditions.
The second method is that deformation parameters between the whole orbit star sensors are calculated on the ground, the parameters are fitted in a mode of a multi-order polynomial or a trigonometric function, and the defects of the first method can be overcome by annotating the parameters on the planet. However, along with the slow evolution of the orbit and the illumination condition, the system error between the satellite sensors also changes slowly, and in order to ensure the accuracy of the system error compensation between the satellite sensors, on-orbit data needs to be acquired periodically, processed, and parameters are generated and annotated, so that a large workload is brought to ground measurement and control personnel. In addition, the system error compensation precision is limited by the upper injection frequency, and the compensation effect is not ideal.
In order to solve the defects of the method, the invention provides an on-line identification and compensation method for system errors between star sensors.
Disclosure of Invention
The invention aims to provide an on-line identification and compensation method for errors of a track period system between satellite sensors, and solves the problems that the traditional method is not good enough in autonomous degree and not high enough in precision.
In order to achieve the purpose, the invention is realized by the following technical scheme:
an on-line identification compensation method for errors of an inter-satellite-sensitive orbit periodic system is characterized by comprising the following steps:
s1, equally dividing the track into N parts and obtaining N +1 sampling points;
s2, if the current position of the spacecraft is at a sampling point, calculating an attitude transfer quaternion between the satellite sensor to be compensated and the reference satellite sensor at the current moment, and calculating the deviation of the attitude transfer quaternion and the nominal attitude transfer quaternion to obtain the system error of the satellite sensor to be compensated and the reference satellite sensor;
and S3, based on the N +1 sampling points, performing inversion by adopting a linear interpolation algorithm to obtain the system errors of the satellite sensitivity to be compensated and the reference satellite sensitivity at any position of the track, and performing compensation.
The step S1 specifically includes:
according to the principle of equal division, a column vector with compensation dimension N +1 is established, the vector number is 0,1 … N, and represents a compensation table consisting of N +1 sampling points, wherein the 0 th sampling point and the Nth sampling point are at the same position of the track, and the track amplitude ut corresponding to the position is set to be 0.
The step S2 includes:
s2.1, calculating K _ integer and K _ remainder, wherein the K _ integer is an integer part of ut/(360/N), and the K _ remainder is a remainder part of ut/(360/N);
s2.2, judging whether the K _ remainder is [0, a ], wherein a is smaller than 72/N, and if yes, executing step S2.3.1;
s2.3.1, setting a reference star sensor to be a first star sensor and a star sensor to be compensated to be a second star sensor, and calculating a conversion quaternion from the first star sensor to the second star sensor:
wherein: q. q.sis1 -1Is qis1Quaternion inversion, qis1And q isis2The measured values of the first and second star sensitivities;
s2.3.2, calculating an installation quaternion offset for the second star sensor based on the theoretical and measured conversion quaternion between the first and second star sensors:
wherein q iss'2s'1To be driven fromThe theory of the second star sensor to the first star sensor converts the quaternion into a known constant value;
s2.3.3, quaterning q the second satellite sensitive mounting errors'2s2Adding, to be used for the second satellite sensitive installation error quaternion qs'2s2Is accumulated by the counter Cnt _ q _ jf;
s2.3.4, clearing the zone bit bz for judging whether the deviation of the second satellite sensitive installation quaternion is updated; bz is 0, the compensation table is not updated, and the system continues to collect data samples for identification; bz is 1, which means that the compensation table is updated, and the system does not need to be updated repeatedly.
In step S2.2, if K _ remainder is [ b, c ], where b is greater than a and c is less than 360/N, step S2.4 is executed:
s2.4, judging whether the zone bit bz is 1, if so, ending the process and exiting, otherwise, skipping to the step S2.5;
s2.5, updating sampling points corresponding to the serial numbers in the compensation table: q(K _ integer)/(n)＝ηQs'2s2+(1-η)Q(K _ integer)/(n-1)Wherein Q iss'2s2＝qs'2s2/Cnt _ q _ jf, Cnt _ q _ jf is cleared, η ∈ [0,1 ∈]Characterizing the update coefficient; and bz is set to 1;
s2.6, judging that the first element is in a compensation table, and if so, jumping to S2.7;
and S2.7, assigning the content of the 0 th point compensation table to the Nth point, ending the process and exiting.
6. The method according to claim 1, wherein the step S3 comprises:
s3.1, calculating the installation error quaternion of the second star sensor at the current moment by adopting an interpolation method:
s3.2, compensating the quaternion of the second star sensor 2 measurement:
Compared with the prior art, the invention has the following advantages:
1. by means of a sampling point online recording mode, the error evolution condition of the satellite sensitive relative system on the full orbit is obtained, and the problem that the reference between the satellite sensitive systems is not matched under the condition that a certain satellite sensitive system is invalid for a long time is solved.
2. By adopting a real-time and autonomous sampling point updating mode, the on-line identification of relative deformation between the star sensors is realized, and the problems that parameters need to be regularly injected and the precision is low are solved.
Drawings
FIG. 1 is a flow chart of an on-line identification compensation method for an error of an inter-satellite-sensor orbit period system according to the present invention;
FIG. 2 is a flow chart of a second on-line satellite sensitivity error identification method according to the present invention;
FIG. 3 is a second star sensor error compensation flow chart of the present invention.
Detailed Description
The present invention will now be further described by way of the following detailed description of a preferred embodiment thereof, taken in conjunction with the accompanying drawings.
As shown in fig. 1 to 3, an on-line identification compensation method for an error of an inter-satellite-sensor orbit period system includes:
s1, equally dividing the track into N parts and obtaining N +1 sampling points;
s2, if the current position of the spacecraft is at a sampling point, calculating an attitude transfer quaternion between the satellite sensor to be compensated and the reference satellite sensor at the current moment, and calculating the deviation of the attitude transfer quaternion and the nominal attitude transfer quaternion to obtain the system error of the satellite sensor to be compensated and the reference satellite sensor;
and S3, based on the N +1 sampling points, performing inversion by adopting a linear interpolation algorithm to obtain the system errors of the satellite sensitivity to be compensated and the reference satellite sensitivity at any position of the track, and performing compensation.
In a specific embodiment, the step S1 is specifically as follows:
according to an equal division principle, a column vector with a compensation dimension of N +1 is established, the vector is numbered 0,1 … N and represents a compensation table consisting of N +1 sampling points, the compensation table is used for recording system deviation information between two satellite sensors, wherein the 1 st sampling point and the Nth sampling point are located at the same position of a track, an orbit amplitude ut corresponding to the position is set to be 0, in the embodiment, the N is 90, the satellite orbit amplitude ut ranges from [0,360 degrees ], a sampling point is taken every 4 degrees on the orbit amplitude, the total number of 91 sampling points is sequentially 0 and 1 … 90, wherein the 0 th sampling point and the 90 th sampling point are located at the same position on the track, and the ut is 0.
Two-star sensitive system deviation sample point meter (compensation meter)
The step S2 includes:
s2.1, calculating K _ whole, K _ remainder, where K _ whole is an integer part of ut/(360/N), and K _ remainder is a remainder part of ut/(360/N), and in this embodiment, K _ whole is an integer part of ut/4, and its value range is [0,89] (dimensionless); k _ remainder is the remainder portion of ut/4, with a value range of [0,4) (in °);
s2.2, judging whether K _ remainder is [0, a ], wherein a is smaller than 72/N, the default value of a is 0.5 (unit degree), the variation range can be set to be 0.1-0.5, and if yes, executing step S2.3.1;
s2.3.1, setting a reference star sensor to be a first star sensor and a star sensor to be compensated to be a second star sensor, and calculating a conversion quaternion from the first star sensor to the second star sensor:
wherein: q. q.sis1 -1Is qis1Quaternion inversion, qis1And q isis2The measured values of the first and second star sensitivities;
s2.3.2, calculating an installation quaternion offset for the second star sensor based on the theoretical and measured conversion quaternion between the first and second star sensors:
wherein q iss'2s'1A quaternion is converted for a theory from the second star sensor to the first star sensor, and is a known constant value;
s2.3.3, quaterning q the second satellite sensitive mounting errors'2s2Adding, to be used for the second satellite sensitive installation error quaternion qs'2s2Is accumulated by the counter Cnt _ q _ jf;
s2.3.4, resetting a flag bz for judging whether the deviation of the second satellite sensitive installation quaternion is updated, wherein bz is 0 to indicate that the current compensation table is not updated, and the system continuously acquires data samples for identification; bz is 1, which means that the compensation table is updated, and the system does not need to be updated repeatedly.
In step S2.2, if K _ remaining is [ b, c ], where b is 0.6 and c is 0.7, step S2.4 is executed:
s2.4, judging whether the zone bit bz is 1, if so, ending the process and exiting, otherwise, skipping to the step S2.5;
s2.5, updating sampling points corresponding to the serial numbers in the compensation table: q(K _ integer)/(n)＝ηQs'2s2+(1-η)Q(K _ integer)/(n-1)Wherein Q iss'2s2＝qs'2s2/cnt_q_jf，η∈[0,1]Representing an updating coefficient, (the default value is 1, the number of notes can be changed, and the value range is 0-1); subscripts n-1 and n are only used for expressing the same variable, and the upper beat and the current beat are different in software and have no other address meanings; setting the flag bit bz as 1;
s2.6, judging that the first element is in a compensation table, and if so, jumping to S2.7;
and S2.7, assigning the content of the 0 th point compensation table to the 90 th point, and ending the process and exiting.
In a specific implementation, the step S3 specifically includes:
s3.1, calculating the installation error quaternion of the second star sensor at the current moment by adopting an interpolation method:
S3.2, compensating the quaternion of the second star sensor 2 measurement:
qs'2s2Calculating a second satellite sensitive installation error quaternion for a certain beat; q(K _ Whole)For a certain compensation table sample point nearby, beat qs'2s2After averaging, the identified second star sensor installation error quaternion is stored in a table; q appearing here: after all elements of the compensation table are identified, the system passes through two adjacent sampling points Q(K _ Whole)And Q(K _ integer +1)And through a linear interpolation algorithm, a second star sensitive installation error quaternion of all the points of the arc section is inverted.
In conclusion, the on-line identification and compensation method for the orbit periodic system errors among the satellite sensors solves the problems that the traditional method is not good enough in autonomous degree and not high enough in precision.
While the present invention has been described in detail with reference to the preferred embodiments, it should be understood that the above description should not be taken as limiting the invention. Various modifications and alterations to this invention will become apparent to those skilled in the art upon reading the foregoing description. Accordingly, the scope of the invention should be determined from the following claims.
Claims (1)
1. An on-line identification compensation method for errors of an inter-satellite-sensitive orbit periodic system is characterized by comprising the following steps:
s1, equally dividing the track into N parts and obtaining N +1 sampling points;
s2, if the current position of the spacecraft is at a sampling point, calculating an attitude transfer quaternion between the satellite sensor to be compensated and the reference satellite sensor at the current moment, and calculating the deviation of the attitude transfer quaternion and the nominal attitude transfer quaternion to obtain the system error of the satellite sensor to be compensated and the reference satellite sensor;
s3, based on the N +1 sampling points, a linear interpolation algorithm is adopted to obtain system errors of the satellite sensitivity to be compensated and the reference satellite sensitivity at any arbitrary position of the track through inversion, and compensation is carried out; the step S1 specifically includes:
establishing a column vector with a compensation dimension of N +1 according to an equal division principle, wherein the vector number is 0,1 … N and represents a compensation table consisting of N +1 sampling points, wherein the 0 th sampling point and the Nth sampling point are positioned at the same position of a track, and the track amplitude ut corresponding to the position is set to be 0;
the step S2 includes:
s2.1, calculating K _ integer and K _ remainder, wherein the K _ integer is an integer part of ut/(360/N), and the K _ remainder is a remainder part of ut/(360/N);
s2.2, judging whether the K _ remainder is [0, a ], wherein a is smaller than 72/N, and if yes, executing step S2.3.1;
s2.3.1, setting a reference star sensor to be a first star sensor and a star sensor to be compensated to be a second star sensor, and calculating a conversion quaternion from the first star sensor to the second star sensor:
wherein: q. q.sis1 -1Is qis1Quaternion inversion, qis1And q isis2The measured values of the first and second star sensitivities;
s2.3.2, calculating an installation quaternion offset for the second star sensor based on the theoretical and measured conversion quaternion between the first and second star sensors:
wherein q iss'2s'1A quaternion is converted for a theory from the second star sensor to the first star sensor, and is a known constant value;
s2.3.3, quaterning q the second satellite sensitive mounting errors'2s2Adding, to be used for the second satellite sensitive installation error quaternion qs'2s2Is accumulated by the counter Cnt _ q _ jf;
s2.3.4, clearing the zone bit bz for judging whether the deviation of the second satellite sensitive installation quaternion is updated; bz is 0, the compensation table is not updated, and the system continues to collect data samples for identification; bz is 1, which means that the compensation table is updated, and the system does not need to be updated repeatedly;
in step S2.2, if K _ remainder is [ b, c ], where b is greater than a and c is less than 360/N, step S2.4 is executed:
s2.4, judging whether the zone bit bz is 1, if so, ending the process and exiting, otherwise, skipping to the step S2.5;
s2.5, updating sampling points corresponding to the serial numbers in the compensation table: q(K _ integer)/(n)＝ηQs'2s2+(1-η)Q(K _ integer)/(n-1)Wherein Q iss'2s2＝qs'2s2Cnt _ q _ jf, Cnt _ q _ jf is cleared, and eta belongs to [0,1 ]]Characterizing the update coefficient; and bz is set to 1;
s2.6, judging that the first element is in a compensation table, and if so, jumping to S2.7;
s2.7, assigning the content of the 0 th point compensation table to the Nth point, and ending the process and exiting;
the step S3 specifically includes:
s3.1, calculating the installation error quaternion of the second star sensor at the current moment by adopting an interpolation method:
s3.2, compensating the quaternion of the second star sensor measurement:
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