CN108195403A - Method and device for constructing star sensor on-orbit attitude measurement data comprehensive error model - Google Patents
Method and device for constructing star sensor on-orbit attitude measurement data comprehensive error model Download PDFInfo
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- CN108195403A CN108195403A CN201711459218.3A CN201711459218A CN108195403A CN 108195403 A CN108195403 A CN 108195403A CN 201711459218 A CN201711459218 A CN 201711459218A CN 108195403 A CN108195403 A CN 108195403A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
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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
Abstract
The invention relates to the field of satellite analysis, in particular to a method and a device for constructing a star sensor in-orbit attitude measurement data comprehensive error model, wherein the method comprises the following steps: excavating error factors of the star sensor on-orbit attitude measurement according to the whole process of the star sensor on-orbit attitude measurement; analyzing the influence of each error factor on the attitude measurement data of the star sensor, and constructing each error factor model; designing a parameter space of each error factor model according to the precision influence mechanism of each error factor; and establishing a star sensor on-orbit attitude measurement data comprehensive error model by combining the error factors and the error factor models with the parameter space. The method fully considers the conditions of multiple influence factors, complex relation and mutual coupling of the star sensor on-orbit attitude measurement precision, and realizes the construction of the star sensor on-orbit attitude measurement data comprehensive error model.
Description
Technical field
The present invention relates to satellite analysis field more particularly to the in-orbit attitude measurement aggregation of data error models of star sensor
Construction method and device.
Background technology
Earth observation satellite is that the artificial earth for implementing to observe to earth land, air and ocean by Space Remote Sensors is defended
The general name of star, including cartographic satellite, landsat, seasat and meteorological satellite etc., application field is related to ground mapping, state
Native generaI investigation, urban planning, geological prospecting, marine management, weather forecast, disaster monitoring and military surveillance, missile warning and war
The many aspects such as field assessment.The information obtained by earth observation is the basic strategic resource of country, to ensureing economic development
It plays an important role with safeguarding national security.
In recent years, demand of the user to high-definition remote sensing information is increasingly urgent, the resolution ratio of Space Remote Sensors is improved
It is the trend of earth observation systems future development.China has established the space flight developing goal for realizing high-resolution earth observation,
And conducting a research high-resolution imaging and the earth observation satellite of High Precision Stereo mapping.High-resolution imaging and high-precision
The realization of the design objectives such as stereo mapping requires high-precision satellite attitude measurement precision.High-precision attitude measurement is to realize height
The basis of precision attitude determination and control, satellite high-precision attitude determination and control are to realize the overstable operation of satellite and high-precision
The basis of direction, to ensureing that satellite realizes that the earth observations performance such as high-resolution imaging and High Precision Stereo mapping has important meaning
Justice.
Star sensor is the highest satellite attitude measurement sensor of measurement accuracy in current AEROSPACE APPLICATION.The attitude of satellite determines
The inevitable also higher of the requirement to attitude measurement sensor, especially star sensor of raising with control accuracy requirement.Star sensor
The performance indicators such as precision, stability it is higher, more can meet such as high-resolution imaging and High Precision Stereo surveys and draws Satellite Attitude
The requirement of state control.But China is still in the magnitude of 10 rads or tens rads (3 σ).The in-orbit attitude measurement requirement of star sensor
Reach the precision better than 1 rad, it is meant that influence the error of the links of the in-orbit attitude measurement system precision of star sensor
It is intended to close to zero.
It is studied for " supple-settlement " for improving the in-orbit attitude measurement system precision of star sensor, work at present is concentrated mainly on
Refine the in-orbit attitude measurement error model of star sensor, design is improved or novel calibrate for error or Orbital detection, calibration and
Backoff algorithm reaches high-precision attitude measurement request to adapt to different working environments, i.e., research work collection both domestic and external
In " direct problem " research.For " indirect problem " --- reach the in-orbit attitude measurement accuracy index of star sensor of setting
(such as 1 rad of precision index), the analysis and research work of limitation and boundary condition to each influence factor or system there is not yet
It arrives.Research to " indirect problem " is exactly the in-orbit attitude measurement accuracy index ownership factorial analysis of star sensor and assessment, it has
Conducive to the in-orbit attitude measurement system design of star sensor and error processing method selection is instructed, attitude measurement technology can be played
Feedback effect.
The acquisition of the in-orbit attitude measurement aggregation of data error model of star sensor is the key link of precision analysis and assessment,
It is also the basis of the in-orbit attitude measurement accuracy evaluation test of star sensor.So in-orbit attitude measurement aggregation of data of star sensor
The structure of error model is the premise and key link for solving " indirect problem ", but the in-orbit attitude measurement accuracy of star sensor influences
Factor is more, and relationship is complicated and intercouples so that the structure of accuracy synthesis analysis model is very difficult.
Invention content
The construction method and device of the in-orbit attitude measurement aggregation of data error model of star sensor provided by the invention, fully
The situation that the in-orbit attitude measurement accuracy influence factor of star sensor is more, relationship is complicated and intercouples is considered, it is quick to realize star
The structure of the in-orbit attitude measurement aggregation of data error model of sensor.
On the one hand, the construction method of the in-orbit attitude measurement aggregation of data error model of star sensor provided by the invention, packet
It includes：
According to the overall process of the in-orbit attitude measurement of star sensor, each error component of the in-orbit attitude measurement of star sensor is excavated；
Influence of each error component to star sensor attitude measure data is analyzed, builds each error component model；
According to the precision Influencing Mechanism of each error component, the parameter space of each error component model is designed；
By each error component, each error component model, with reference to the parameter space, the in-orbit attitude measurement of star sensor is established
Aggregation of data error model.
On the other hand, the construction device of the in-orbit attitude measurement aggregation of data error model of star sensor provided by the invention,
Including：
Factor excavates unit, for the overall process according to the in-orbit attitude measurement of star sensor, excavates the in-orbit appearance of star sensor
State measures each error component；
Model construction unit for analyzing influence of each error component to star sensor attitude measure data, builds each mistake
Poor factor Model；
Parameter space acquiring unit for the precision Influencing Mechanism according to each error component, designs each error component model
Parameter space；
Collective model unit is established, for by each error component, each error component model, with reference to the parameter space, building
The in-orbit attitude measurement aggregation of data error model of vertical star sensor.
In the present invention, the engineering background of the in-orbit attitude measurement of star sensor and in-orbit environment is mutually tied with mathematical technique
It closes, to star sensor, each error carries out the Influencing Mechanism of star sensor measurement accuracy deeply entirely in in-orbit attitude measurement overall process
The analysis in face, so as to establish the in-orbit attitude measurement aggregation of data error model of star sensor.For the in-orbit attitude measurement of star sensor
Data precision is analyzed provides basis with assessment, and foundation is provided to solve " indirect problem ".
Description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention, for those of ordinary skill in the art, without creative efforts, can be with
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is the method flow diagram of the embodiment of the present invention；
Fig. 2 is the apparatus structure schematic diagram of the embodiment of the present invention；
Fig. 3 is the model construction cellular construction schematic diagram of the embodiment of the present invention；
Fig. 4 is the parameter space acquiring unit structure diagram of the embodiment of the present invention；
Fig. 5 establishes collective model cellular construction schematic diagram for the embodiment of the present invention；
Fig. 6 is the step analysis figure of the in-orbit attitude measurement process influence factor of star sensor.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other without making creative work
Embodiment shall fall within the protection scope of the present invention.
As shown in Figure 1, the construction method of the in-orbit attitude measurement aggregation of data error model of star sensor provided by the invention,
Including：
101st, according to the overall process of the in-orbit attitude measurement of star sensor, excavate each error of the in-orbit attitude measurement of star sensor because
Element；
102nd, influence of each error component to star sensor attitude measure data is analyzed, builds each error component model；
103rd, according to the precision Influencing Mechanism of each error component, the parameter space of each error component model is designed；
104th, by each error component, each error component model, with reference to the parameter space, the in-orbit posture of star sensor is established
Measurement data composition error model.
Further, the error component of the in-orbit attitude measurement of the star sensor includes internal error influence factor and outside
Error influence factor；
The internal error influence factor includes, but are not limited to：Aberration effects, heat affecting, asterism extraction influences, photoelectricity is adopted
Sample influence of noise；
The external error influence factor includes, but are not limited to：Celestial body shake vibration, benchmark deformation, with respect to installation error,
Temperature scene changes, noise filtering influence.
Further, influence of each error component of analysis to star sensor attitude measure data, builds each error
Factor Model specifically includes：
Analyze influence of each error component to star sensor attitude measure data, obtain between each error component it is progressive with
Syncretic relation；
According to the progressive and syncretic relation between each error component, with reference to physical modeling and multivariate statistical method, establish each
Error component model；Wherein：
If for error current factor, it is known that functional form then obtains error current factor mould by parameter model method
Type；
If for error current factor, unknown function form is then obtained currently by nonparametric or half parameter model method
Error component model；
The parameter model method is：Modeling method is combined with historical data；The modeling method includes, but unlimited
In：Maximum entropy method (MEM), marginal distribution, without prior information distribution；
The nonparametric or half parameter model method are：Constraint information is obtained by historical data, so as to obtain nonparametric or
Semi-parametric regression model；The constraint information includes, but are not limited to：Monotonicity, slickness and convexity constraint information and, respectively
Order derivative and each rank square constraint information.
Still further, the precision Influencing Mechanism according to each error component, the parameter of each error component model is designed
Space specifically includes：
According to the precision Influencing Mechanism of each error component, the constraint of star sensor attitude measure precision and design parameter is obtained
Relationship, and obtain the range of design parameter；
By restriction relation described in Analysis of Optimal Model and the range of design parameter, design parameter space is obtained；
The design parameter includes, but are not limited to：Satellite orbit period, shake vibration frequency, amplitude, temperature change ladder
Degree.
In the above-mentioned technical solutions, it is described by each error component, each error component model, with reference to the parameter space, build
The in-orbit attitude measurement aggregation of data error model of vertical star sensor, specifically includes：
According to the in-orbit attitude measurement historical data of star sensor, Joint Distribution is obtained using nonparametric technique, so as to obtain
The coupled relation of each error component in itself；
The coupled relation of each error component model is obtained by analysis method；The analysis method includes, but are not limited to：Become
Measure screening, correlation analysis, sparse component analysis；
According to each error component coupled relation in itself, the coupled relation and design parameter space of each error component model,
Establish the in-orbit attitude measurement aggregation of data error model of star sensor.
As shown in Fig. 2, the construction device of the in-orbit attitude measurement aggregation of data error model of star sensor provided by the invention,
Including：
Factor excavates unit 11, and for the overall process according to the in-orbit attitude measurement of star sensor, it is in-orbit to excavate star sensor
Each error component of attitude measurement；
Model construction unit 12, for analyzing influence of each error component to star sensor attitude measure data, structure is each
Error component model；
Parameter space acquiring unit 13 for the precision Influencing Mechanism according to each error component, designs each error component mould
The parameter space of type；
Collective model unit 14 is established, for by each error component, each error component model, with reference to the parameter space,
Establish the in-orbit attitude measurement aggregation of data error model of star sensor.
The error component of the in-orbit attitude measurement of star sensor, which includes internal error influence factor and external error, to be influenced
Factor；
The internal error influence factor includes, but are not limited to：Aberration effects, heat affecting, asterism extraction influences, photoelectricity is adopted
Sample influence of noise；
The external error influence factor includes, but are not limited to：Celestial body shake vibration, benchmark deformation, with respect to installation error,
Temperature scene changes, noise filtering influence.
As shown in figure 3, as a kind of possible structure, the model construction unit 12, including：
Analysis module 121 for analyzing influence of each error component to star sensor attitude measure data, obtains each error
Progressive and syncretic relation between factor；
Establish module 122, for according to the progressive and syncretic relation between each error component, with reference to physical modeling with it is polynary
Statistical method establishes each error component model；Wherein：
If for error current factor, it is known that functional form then obtains error current factor mould by parameter model method
Type；
If for error current factor, unknown function form is then obtained currently by nonparametric or half parameter model method
Error component model；
The parameter model method is：Modeling method is combined with historical data；The modeling method includes, but unlimited
In：Maximum entropy method (MEM), marginal distribution, without prior information distribution；
The nonparametric or half parameter model method are：Constraint information is obtained by historical data, so as to obtain nonparametric or
Semi-parametric regression model；The constraint information includes, but are not limited to：Monotonicity, slickness and convexity constraint information and, respectively
Order derivative and each rank square constraint information.
As shown in figure 4, as a kind of possible structure, the parameter space acquiring unit 13, including：
Relation acquisition module 131 for the precision Influencing Mechanism according to each error component, obtains star sensor attitude measure
The restriction relation of precision and design parameter, and obtain the range of design parameter；
Space acquisition module 132 for passing through the range of restriction relation described in Analysis of Optimal Model and design parameter, obtains
Design parameter space；
The design parameter includes, but are not limited to：Satellite orbit period, shake vibration frequency, amplitude, temperature change ladder
Degree.
As shown in figure 5, as a kind of possible structure, it is described to establish collective model unit 14, including：
First coupled relation obtains module 141, for according to the in-orbit attitude measurement historical data of star sensor, utilizing non-ginseng
Counting method obtains Joint Distribution, so as to obtain the coupled relation of each error component in itself；
Second coupled relation obtains module 142, for passing through the coupled relation that analysis method obtains each error component model；
The analysis method includes, but are not limited to：Variable Selection, correlation analysis, sparse component analysis；
Collective model establishes module 143, for according to each error component coupled relation in itself, each error component model
Coupled relation and design parameter space establish the in-orbit attitude measurement aggregation of data error model of star sensor.
Below with example in detail technical solutions according to the invention：
101st, according to the overall process of the in-orbit attitude measurement of star sensor, excavate each error of the in-orbit attitude measurement of star sensor because
Element；
The error component of the in-orbit attitude measurement of star sensor, which includes internal error influence factor and external error, to be influenced
Factor；
The internal error influence factor includes, but are not limited to：Aberration effects, heat affecting, asterism extraction influences, photoelectricity is adopted
Sample influence of noise；
The external error influence factor includes, but are not limited to：Celestial body shake vibration, benchmark deformation, with respect to installation error,
Temperature scene changes, noise filtering influence.
As shown in fig. 6, the in-orbit attitude measurement accuracy of star sensor is better than 1 rad, it is meant that during attitude measurement
Each error influence will be close to the limit of error physically.The in-orbit attitude measurement error factor of star sensor is divided into two big layers
It is secondary, when the internal error related with Star-Sensor Design, second is that the external error related with in-orbit environment, condition etc..
The in-orbit attitude measurement accuracy analysis space of star sensor and precision are established in terms of internal error and external error two
The level and system of influence factor.Analysis calculating is carried out to the margin of error size of links, forms star sensor composition error
The range of model parameter design, the structure for the in-orbit attitude measurement accuracy Comprehensive Analysis Model of Unit of star sensor lay the foundation.
102nd, influence of each error component to star sensor attitude measure data is analyzed, builds each error component model；
Influence of a variety of different factors to star sensor attitude measure data is studied, analyses in depth attitude measurement overall process
Progressive and syncretic relation between each error component with reference to the modeling methods such as physical modeling and multi-variate statistical analysis, establishes each mistake
The mathematical model of poor factor.For a certain error, know its functional form if based on Physical Mechanism or experience accumulation, then it can be with
It is configured to parameterized model.It is a kind of by establishing if functional form is unclear or imperfectly understands for a certain error
Suitable nonparametric or semi-parameter model describe, and extract about shape informations such as error model slickness, monotonicities and
The information such as all-order derivative, each rank square.
1021st, the influence of each error component to star sensor attitude measure data is analyzed, is obtained between each error component
Progressive and syncretic relation；
In comprehensive analysis attitude measurement overall process by different level on the basis of each error component, a variety of different factors are studied
The in-orbit attitude measurement data to star sensor (including train diagram adjustings such as data precision, data stability and output frequencies)
It influences, analyses in depth the progressive and syncretic relation between each error component of attitude measurement overall process.
For example, for the heat affecting in internal error influence factor, influence main table of the heat to star sensor attitude measure
Now when different temperatures field distribution, influence of the star sensor for asterism image space deviation, so as to influence star sensor
Precision.To analyze the heat affecting of star sensor, optical system of star sensor temperature distributing rule under analysis space radiation condition is built
Vertical temperature distribution model, and different Temperature Distributions is studied on the influence of asterism extraction accuracy；
Celestial body shake/vibration in being influenced for external error, the star sensor posture studied under shake/vibration condition are surveyed
Data processing technique is measured, with reference to shake amplitude versus frequency characte, the amplitude-frequency separation that shake causes error, analysis are handled by finding
The influence to star sensor attitude measure precision is shaken, and combines satellite attitude measurement estimation process, provides star under jitter conditions
The processing method of sensor attitude measurement data.
1022nd, it according to the progressive and syncretic relation between each error component, with reference to physical modeling and multivariate statistical method, builds
Found each error component model；Wherein：
If for error current factor, it is known that functional form then obtains error current factor mould by parameter model method
Type；
If for error current factor, unknown function form is then obtained currently by nonparametric or half parameter model method
Error component model；
The parameter model method is：Modeling method is combined with historical data；The modeling method includes, but unlimited
In：Maximum entropy method (MEM), marginal distribution, without prior information distribution；
The nonparametric or half parameter model method are：Constraint information is obtained by historical data, so as to obtain nonparametric or
Semi-parametric regression model；The constraint information includes, but are not limited to：Monotonicity, slickness and convexity constraint information and, respectively
Order derivative and each rank square constraint information.
Modeling for each error component, what is had can directly give according to intrinsic physics law, for physics law
It is unconspicuous, data analysing method is relied primarily on to obtain, at this point, intending using more during the in-orbit attitude measurement of star sensor
The historical test data of class test data or similar model, the method for taking parameter model and Non-parameter modeling respectively are come
It arrives.The prior distribution of parameter need using maximum entropy method (MEM), marginal distribution, be distributed without prior information the methods of with reference to historical data
Construction；Monotonicity, slickness, convex is included by the constraint information about nonparametric, semi-parametric regression model that historical data obtains
The shape constrainings information such as property, including constraint informations such as all-order derivative, each rank squares about model.
103rd, according to the precision Influencing Mechanism of each error component, the parameter space of each error component model is designed；
The precision Influencing Mechanism Analyses and design parameters analysis of each error component is combined, is analyzed by model optimization
Obtain rational design parameter space.
1031st, according to the precision Influencing Mechanism of each error component, star sensor attitude measure precision and design parameter are obtained
Restriction relation, and obtain the range of design parameter；
1032nd, by restriction relation described in Analysis of Optimal Model and the range of design parameter, design parameter space is obtained；
The design parameter includes, but are not limited to：Satellite orbit period, shake vibration frequency, amplitude, temperature change ladder
Degree.
When establishing the in-orbit attitude measurement accuracy Comprehensive Analysis Model of Unit of star sensor, the design of systematic parameter is crucial institute
It determines the correctness and accuracy of accuracy synthesis analysis model.Therefore consider from precision of star sensor design aspect,
The precision Influencing Mechanism Analyses and design parameters analysis of each error component combines, to illustrate that star sensor attitude measure integrates
The relationship of the design parameters such as error and satellite orbit period, shake vibration frequency, amplitude, temperature rate of change, and provide these
The range of design parameter is analyzed to obtain rational design parameter space by model optimization.
104th, by each error component, each error component model, with reference to the parameter space, the in-orbit posture of star sensor is established
Measurement data composition error model；
Coupled relation between being influenced with reference to each error, the methods of using Variable Selection in regression analysis, from each error
Factor classification and precision estimation relationship are set out, and establish the in-orbit attitude measurement aggregation of data error model of star sensor.
Each error component is numerous during the in-orbit attitude measurement of star sensor, and there are coupled relation, to each error component
Coupling relationship analysis include following two parts：First, the coupling analysis of error in itself, that is, the joint for obtaining each error are general
Rate is distributed；Second is that the Coupling Analysis of error model.
For the former, will be obtained by using the in-orbit attitude measurement historical data of a large amount of star sensors with reference to means such as emulation
Big-sample data is obtained, nonparametric technique is utilized to obtain Joint Distribution on this basis；For the latter, mainly by Variable Selection,
The methods of correlation analysis, sparse component analysis, is realized.
1041st, according to the in-orbit attitude measurement historical data of star sensor, Joint Distribution is obtained using nonparametric technique, so as to
Obtain the coupled relation of each error component in itself；
1042nd, the coupled relation of each error component model is obtained by analysis method；The analysis method includes, but unlimited
In：Variable Selection, correlation analysis, sparse component analysis；
1043rd, according to each error component coupled relation in itself, the coupled relation and design parameter of each error component model
The in-orbit attitude measurement aggregation of data error model of star sensor is established in space.
The in-orbit attitude measurement aggregation of data error model of star sensor also needs the dynamic change according to in-orbit environment, in model
Structure, variables choice etc. are constantly adjusted and are improved.Therefore, the in-orbit attitude measurement aggregation of data error model of star sensor
Structure be a newer process of continuous iteration, be a closed loop research mode in the research process of " indirect problem ".
The acquisition of the in-orbit attitude measurement aggregation of data error model of star sensor is the key link of precision analysis and assessment,
It is also the basis of the in-orbit attitude measurement accuracy evaluation test of star sensor.The in-orbit attitude measurement accuracy influence factor of star sensor
More, relationship is complicated and intercouples so that the structure of accuracy synthesis analysis model is very difficult, it is necessary to which star sensor posture is surveyed
The engineering background of amount and in-orbit environment is combined with mathematical technique, is analyzed by step analysis, error coupler, parametrization is built
The approach such as the parameter model of mould, nonparametric/half are realized.
It, can be with an embodiment of the present invention provides the construction device of the in-orbit attitude measurement aggregation of data error model of star sensor
Realize the embodiment of the method for above-mentioned offer, concrete function realization refers to the explanation in embodiment of the method, and details are not described herein.
It should be understood that the particular order or level of the step of during disclosed are the examples of illustrative methods.Based on setting
Count preference, it should be appreciated that in the process the step of particular order or level can be in the feelings for the protection domain for not departing from the disclosure
It is rearranged under condition.Appended claim to a method is not illustratively sequentially to give the element of various steps, and not
It is to be limited to the particular order or level.
In above-mentioned detailed description, various features are combined together in single embodiment, to simplify the disclosure.No
This open method should be construed to reflect such intention, that is, the embodiment of theme claimed needs to compare
The more features of feature clearly stated in each claim.On the contrary, as appended claims is reflected
Like that, the present invention is in the state fewer than whole features of disclosed single embodiment.Therefore, appended claims
It is hereby expressly incorporated into detailed description, wherein each claim is alone as the individual preferred embodiment of the present invention.
For any technical staff in the art is enable to realize or using the present invention, above to disclosed embodiment into
Description is gone.To those skilled in the art；The various modifications mode of these embodiments will be apparent from, and this
The General Principle of text definition can also be suitable for other embodiments on the basis of the spirit and scope for not departing from the disclosure.
Therefore, the disclosure is not limited to embodiments set forth herein, but most wide with principle disclosed in the present application and novel features
Range is consistent.
Described above includes the citing of one or more embodiments.Certainly, in order to above-described embodiment is described and description portion
The all possible combination of part or method is impossible, but it will be appreciated by one of ordinary skill in the art that each implementation
Example can do further combinations and permutations.Therefore, embodiment described herein is intended to cover fall into the appended claims
Protection domain in all such changes, modifications and variations.In addition, with regard to the term used in specification or claims
"comprising", the mode that covers of the word are similar to term " comprising ", just as " including, " solved in the claims as link word
As releasing.In addition, the use of any one of specification in claims term "or" is to represent " non-exclusionism
Or ".
Above-described specific embodiment has carried out the purpose of the present invention, technical solution and advantageous effect further
It is described in detail, it should be understood that the foregoing is merely the specific embodiment of the present invention, is not intended to limit the present invention
Protection domain, all within the spirits and principles of the present invention, any modification, equivalent substitution, improvement and etc. done should all include
Within protection scope of the present invention.
Claims (10)
- A kind of 1. construction method of the in-orbit attitude measurement aggregation of data error model of star sensor, which is characterized in that the method Including：According to the overall process of the in-orbit attitude measurement of star sensor, each error component of the in-orbit attitude measurement of star sensor is excavated；Influence of each error component to star sensor attitude measure data is analyzed, builds each error component model；According to the precision Influencing Mechanism of each error component, the parameter space of each error component model is designed；By each error component, each error component model, with reference to the parameter space, the in-orbit attitude measurement of star sensor is established Aggregation of data error model.
- 2. the construction method of the in-orbit attitude measurement aggregation of data error model of star sensor according to claim 1, special Sign is, the error component of the in-orbit attitude measurement of star sensor includes internal error influence factor and external error influence because Element；The internal error influence factor includes, but are not limited to：Aberration effects, heat affecting, asterism extraction influences, photoelectricity sampling is made an uproar Sound shadow is rung；The external error influence factor includes, but are not limited to：Celestial body shake vibration, benchmark deformation, opposite installation error, temperature Scene changes, noise filtering influence.
- 3. the construction method of the in-orbit attitude measurement aggregation of data error model of star sensor according to claim 1, special Sign is that influence of each error component of analysis to star sensor attitude measure data builds each error component model, specifically Including：Influence of each error component to star sensor attitude measure data is analyzed, is obtained progressive with merging between each error component Relationship；According to the progressive and syncretic relation between each error component, with reference to physical modeling and multivariate statistical method, each error is established Factor Model；Wherein：If for error current factor, it is known that functional form then obtains error current factor Model by parameter model method；If for error current factor, unknown function form then obtains error current by nonparametric or half parameter model method Factor Model；The parameter model method is：Modeling method is combined with historical data；The modeling method includes, but are not limited to：Most Big entropy method, marginal distribution, without prior information distribution；The nonparametric or half parameter model method are：Constraint information is obtained by historical data, nonparametric is obtained or half parameter is returned Return model；The constraint information includes, but are not limited to：Monotonicity, slickness and convexity constraint information and, all-order derivative and Each rank square constraint information.
- 4. the construction method of the in-orbit attitude measurement aggregation of data error model of star sensor according to claim 1, special Sign is that the precision Influencing Mechanism according to each error component designs the parameter space of each error component model, specific to wrap It includes：According to the precision Influencing Mechanism of each error component, the constraint for obtaining star sensor attitude measure precision and design parameter is closed System, and obtain the range of design parameter；By restriction relation described in Analysis of Optimal Model and the range of design parameter, design parameter space is obtained；The design parameter includes, but are not limited to：Satellite orbit period, shake vibration frequency, amplitude, temperature rate of change.
- 5. the construction method of the in-orbit attitude measurement aggregation of data error model of star sensor according to claim 1, special Sign is, described by each error component, each error component model, with reference to the parameter space, establishes the in-orbit posture of star sensor Measurement data composition error model, specifically includes：According to the in-orbit attitude measurement historical data of star sensor, Joint Distribution is obtained using nonparametric technique, so as to obtain each mistake The coupled relation of poor factor in itself；The coupled relation of each error component model is obtained by analysis method；The analysis method includes, but are not limited to：Variable sieves Choosing, correlation analysis, sparse component analysis；According to each error component coupled relation in itself, the coupled relation and design parameter space of each error component model, establish The in-orbit attitude measurement aggregation of data error model of star sensor.
- A kind of 6. construction device of the in-orbit attitude measurement aggregation of data error model of star sensor, which is characterized in that described device Including：Factor excavates unit, for the overall process according to the in-orbit attitude measurement of star sensor, excavates the in-orbit posture of star sensor and surveys Measure each error component；Model construction unit for analyzing influence of each error component to star sensor attitude measure data, builds each mistake Poor factor Model；Parameter space acquiring unit for the precision Influencing Mechanism according to each error component, designs each error component model Parameter space；Collective model unit is established, for by each error component, each error component model, with reference to the parameter space, building The in-orbit attitude measurement aggregation of data error model of vertical star sensor.
- 7. the construction device of the in-orbit attitude measurement aggregation of data error model of star sensor according to claim 6, special Sign is, the error component of the in-orbit attitude measurement of star sensor includes internal error influence factor and external error influence because Element；The internal error influence factor includes, but are not limited to：Aberration effects, heat affecting, asterism extraction influences, photoelectricity sampling is made an uproar Sound shadow is rung；The external error influence factor includes, but are not limited to：Celestial body shake vibration, benchmark deformation, opposite installation error, temperature Scene changes, noise filtering influence.
- 8. the construction device of the in-orbit attitude measurement aggregation of data error model of star sensor according to claim 6, special Sign is, the model construction unit, including：Analysis module, for analyzing influence of each error component to star sensor attitude measure data, obtain each error component it Between progressive and syncretic relation；Module is established, for according to the progressive and syncretic relation between each error component, with reference to physical modeling and multivariate statistics side Method establishes each error component model；Wherein：If for error current factor, it is known that functional form then obtains error current factor Model by parameter model method；If for error current factor, unknown function form then obtains error current by nonparametric or half parameter model method Factor Model；The parameter model method is：Modeling method is combined with historical data；The modeling method includes, but are not limited to：Most Big entropy method, marginal distribution, without prior information distribution；The nonparametric or half parameter model method are：Constraint information is obtained by historical data, so as to obtain nonparametric or half ginseng Number regression model；The constraint information includes, but are not limited to：Monotonicity, slickness and convexity constraint information and, each rank is led Number and each rank square constraint information.
- 9. the construction device of the in-orbit attitude measurement aggregation of data error model of star sensor according to claim 6, special Sign is, the parameter space acquiring unit, including：Relation acquisition module, for the precision Influencing Mechanism according to each error component, obtain star sensor attitude measure precision with The restriction relation of design parameter, and obtain the range of design parameter；Space acquisition module for passing through the range of restriction relation described in Analysis of Optimal Model and design parameter, obtains design ginseng Number space；The design parameter includes, but are not limited to：Satellite orbit period, shake vibration frequency, amplitude, temperature rate of change.
- 10. the construction device of the in-orbit attitude measurement aggregation of data error model of star sensor according to claim 6, special Sign is, described to establish collective model unit, including：First coupled relation obtains module, for according to the in-orbit attitude measurement historical data of star sensor, utilizing nonparametric technique Joint Distribution is obtained, so as to obtain the coupled relation of each error component in itself；Second coupled relation obtains module, for passing through the coupled relation that analysis method obtains each error component model；Described point Analysis method includes, but are not limited to：Variable Selection, correlation analysis, sparse component analysis；Collective model establishes module, and the coupling for coupled relation, each error component model according to each error component in itself is closed System and design parameter space, establish the in-orbit attitude measurement aggregation of data error model of star sensor.
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