CN108382608A - It is a kind of freely to reconstruct and the earth observation Nano satellite group system of synergistic observation - Google Patents
It is a kind of freely to reconstruct and the earth observation Nano satellite group system of synergistic observation Download PDFInfo
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- CN108382608A CN108382608A CN201810098095.3A CN201810098095A CN108382608A CN 108382608 A CN108382608 A CN 108382608A CN 201810098095 A CN201810098095 A CN 201810098095A CN 108382608 A CN108382608 A CN 108382608A
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- 230000000007 visual effect Effects 0.000 claims abstract description 35
- 230000015572 biosynthetic process Effects 0.000 claims abstract description 26
- 230000002776 aggregation Effects 0.000 claims abstract description 10
- 238000004220 aggregation Methods 0.000 claims abstract description 10
- 238000003032 molecular docking Methods 0.000 claims description 36
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- 230000007246 mechanism Effects 0.000 description 25
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/64—Systems for coupling or separating cosmonautic vehicles or parts thereof, e.g. docking arrangements
- B64G1/646—Docking or rendezvous systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/10—Artificial satellites; Systems of such satellites; Interplanetary vehicles
- B64G1/1085—Swarms and constellations
Abstract
It is freely reconstructed and the earth observation Nano satellite group system of synergistic observation the present invention provides a kind of.The system includes four identical Nano satellites, has two kinds of grown forms of dispersed and state of aggregation.Under dispersity, by the intelligent coordinated of four stars, it can be achieved that five kinds under three kinds of formation configurations collaboration earth observations, including the rail that hangs down splice observation, Multiple targets observation, stare observation and with target multi-angle observation along mark splicing observation, relay.In the collected state, four stars freely dock the different structure for realizeing combination body, to complete the splicing and superposition of observation visual field.The intelligent coordinated and state of aggregation of dispersed freely reconstructs the task dexterity for greatly improving Nano satellite system, it is made more to adapt to the application demands such as wide area observation and data fusion.It is poor that the present invention solves traditional earth observation systems flexibility, it is of high cost the problems such as, can be applied to the earth observation of multitask requirement.
Description
Technical field
The present invention relates to the present invention relates to Nano satellite docking and formation flight technology.Belong to satellite system overall design technique
Field.
Background technology
Satellites formation technology has obtained the attention of domestic and foreign scholars at present, has obtained in the task of validating in orbit,
Most of is Double Satellite, is realized with flying, being diversion, hover, satellite cluster verify only authenticated simple chip satellite with
Fly, satellite does not have the ability of orbits controlling and gesture stability, cannot achieve complicated space tasks, cannot achieve more yet
Switching between business.
Invention content
The technology of the present invention solves the problems, such as：It has overcome the deficiencies of the prior art and provide and a kind of freely having reconstructed and cooperate with sight
The earth observation Nano satellite group system of survey solves the spatio-temporal restriction of traditional large satellite observation and regarding for moonlet observation
Field stability and task dexterity.
Technical solution of the invention is：It is a kind of freely to reconstruct and the earth observation Nano satellite cluster system of synergistic observation
System, which includes four Nano satellites, wherein satellite is primary, in addition three satellites be from star, be denoted as respectively first from
Star, second are from star and third from star；
Primary receives the control instruction that ground control station is sent and working state of system is arranged, and the working state of system includes
Dispersed；When system is operated in dispersed, four star dispersed placements, primary receives the pattern switching instruction that ground control station is sent
It is arranged and sends collaboration earth observation pattern to from star, obtain itself position, posture information, according to collaboration earth observation pattern
The image information of ground target is obtained, it is each to cooperate under earth observation pattern, from star according to pattern switching instruction and primary position, appearance
State information adjusts self-position and posture in real time, after being adjusted in place, the image letter of collaboration acquisition ground target together with primary
Breath；Target image information, posture information and relative position information are forwarded to ground control station by four stars by primary, are controlled by ground
Image information is melted according to different collaboration earth observation patterns, the posture information and relative position information of four stars at system station
Conjunction handles to obtain observed result.
The collaboration earth observation pattern includes：Multiple targets observation pattern is observed along mark splicing observation mode, rail splicing of hanging down
Pattern, relay stare observation mode and with target multi-angle observation patterns.
It hangs down under rail splicing observation mode, distance is spaced the first pre-determined distance, each starlight axis along track successively between each satellite
Rotate by a certain angle along satellite wobble shaft, then desired position, posture information are sent to it is specified from star, from star according to
Desired position, posture information adjustment relative position and posture, are observed the target in visual field under the posture, and will shooting
Image feedback to primary.
The certain angle is 5 ° or 7.5 °.
Under Multiple targets observation pattern, distance is spaced identical second pre-determined distance along track successively between each satellite, respectively defends
Star is directed at different targets and is observed, and primary solves the desired locations and posture that each to be reached from star, it would be desirable to position
Set and be sent to respectively from star with posture, from star it is motor-driven on desired position, make itself at a distance from primary to meet first it is default away from
From, further according to the position of object to be measured, adjust posture, optical axis made to be directed toward object to be measured, to the target in visual field under the posture into
Row observation, and by the image feedback of shooting to primary.
Splice under observation mode along mark, distance is spaced third pre-determined distance, each starlight axis along track successively between each satellite
Stablize and be directed toward the earth's core direction, desired position, posture information are sent to each from star by primary, from star according to desired position,
The position of the opposite primary of posture information adjustment and posture, are observed the target in visual field under the posture, and by the figure of shooting
As feeding back to primary.
With under target multi-angle observation pattern, primary resolves operating mode, and distance is along rail between obtaining each satellite
Road is spaced the 4th pre-determined distance successively, and each starlight axis is directed toward same ground target, and primary sends desired position, posture information
To respectively from star, from star according to desired position, posture information, adjust track and posture, to the target in visual field under the posture into
Row observation, and by the image feedback of shooting to primary.
Relay is stared under observation mode, and primary sending mode is given after star, and each satellite adjusts the position of itself and enters sight
Track is surveyed, is spaced the 5th pre-determined distance successively along track between each star, primary adjusts itself attitude tracking target being observed and starts
Observation, while attitude angle adjust instruction is sent to first from star, first after star receives attitude angle adjust instruction, start of evolution
Attitude tracking target is adjusted, the direction tracking of optical axis is carried out, carries out observation and prepare, until moving to target being observed overhead,
Start to observe, and image information is sent to ground control station by primary in real time, while attitude angle adjust instruction being sent to
Second from star, and so on, second since star when observing, and sends attitude angle adjust instruction to third from star, third is done from star
Good observation prepares, and until moving to target being observed overhead, starts to observe, and by the image feedback of shooting to primary, in real time
It is sent to ground control station by primary.
The working condition further includes state of aggregation, and when system is operated in state of aggregation, four stars are formed by docking axis connection
Assembly, primary receives the configuration switching command that ground control station is sent and different formation configurations is arranged, from star according to difference
Formation configurations adjustment position and posture, complete docking, four stars are at assembly of different shapes, to realize that observation regards
The splicing and superposition of field.
The formation configurations include：1 × 4 combination configuration, 2 × 2 combination configurations and Z-shaped combination configuration：
1 × 4 combines under configuration, four satellite tandem compounds, and certain docking angle is kept between adjacent two satellites,
Realize the superposition and splicing of visual field；When four satellites are combined with sector, 1 × 4 visual field is obtained；When the Nano satellite on both sides is not to
When equidirectional rotation, 1 × 3 visual field is obtained；When both sides Nano satellite to the same direction rotate, can be obtained 1 × 2 visual field；
Under 2 × 2 combination configurations, four satellites constitute the sphere of movements for the elephants combination of 2 rows 2 row so that the visual field base of four Nano satellites
This coincidence.
Compared with the prior art, the invention has the advantages that：
(1), the present invention passes through gesture stability, formation reconfiguration and intersection due to formation and combination using four Nano satellites
The methods of docking, realizes a variety of earth observation patterns, under the premise of meeting fuel abundance so that space tasks have various
Property, complexity.
(2), a variety of little Wei have also been devised other than satellite formation flying realizes the operational mode of self-determination cooperation in the present invention
Star forms the working method of assembly by spacecrafts rendezvous, realizes stable multi-angle, the observation of big breadth, ensure that earth observation
The precision and stability of imaging.
(3), the operational mode of self-determination cooperation of the present invention have higher performance, lower expense, and preferably fault-tolerance, can
By property, reconfigurability and upgradability.
Description of the drawings
Fig. 1 is single Nano satellite appearance schematic diagram；
Fig. 2 is the close rail splicing observation schematic diagram that hangs down of forming into columns；
Fig. 3 is close formation Multiple targets observation schematic diagram；
Fig. 4 is closely to form into columns to splice observation schematic diagram along mark；
Fig. 5 is remote formation multi-angle observation schematic diagram；
Fig. 6 is that observation schematic diagram is stared in remote formation relay；
Fig. 7 is 1 × 4 visual field combination schematic diagram；
Fig. 8 is 2 × 2 visual field combination schematic diagrames；
Fig. 9 is Z-type visual field combination schematic diagram.
Specific implementation mode
Below in conjunction with the drawings and specific embodiments, the present invention is described in detail.
The present invention provides a kind of freely reconstruct to include with the earth observation Nano satellite group system of synergistic observation, the system
Four Nano satellites, wherein satellite is primary, in addition three satellites be from star, be denoted as respectively first from star, second from star and
Third is from star.
It is illustrated in terms of single Nano satellite design and cluster Nano satellite system two below：
(1), single Nano satellite design
In Nano satellite group system single Nano satellite outline drawing as shown in Figure 1, its size be 130mm × 130mm ×
450mm increases the camera lens outer framework of 130mm × 130mm × 110mm in the 3U satellite frame foundations of standard.The outline border
Frame is mounted with that number passes antenna, TT＆C antenna, GPS antenna other than playing the role of protecting camera lens, in frame upper surface, in side
Face is mounted with magnetometer, makes it away from magnetic torquer, and to ensure that magnetometer works normally, the single machine of other uses has spaceborne calculating
Machine, micro star, GPS receiver, magnetic torquer, miniature three axis flywheel, navigation camera, miniature docking mechanism, solar energy
Cell piece, power module, load camera and propeller unit.
Primary carries the stronger spaceborne computer of computing capability, is used for the Comprehensive Control of group system, and three carry from star
The weaker spaceborne computer of identical computing capability；Posture of the micro star for satellite determines, obtains the posture of satellite
Information is sent to spaceborne computer；GPS receiver and magnetometer are used for the absolute navigation of satellite, obtain the absolute orbit of satellite
Information is sent to spaceborne computer；Camera navigate for the Relative Navigation between satellite, obtains the opposite position between two satellites
Confidence ceases, and is sent to spaceborne computer；Number passes antenna, TT＆C antenna for the data between satellite and earth station, satellite, instruction
The electric energy conversion and management of transmission, solar battery sheet and power module for satellite, load camera are used for the bat of ground image
It takes the photograph, propeller unit is used for gesture stability for track and gesture stability, miniature three axis flywheel and magnetic torquer.
Miniature docking mechanism includes two pairs of docking mechanisms, and the docking mechanism is rotatable Nano satellite electromagnetism pair after docking
Connection device, including the anode docking mechanism and cathode docking mechanism that are mutually matched, the two is back-to-back to be mounted on satellite both sides, each
Docking mechanism is controlled by corresponding controller.
Specific docking operation：
When two Nano satellites dock, by primary with first for star docks, primary will be equipped with passive docking
The side of mechanism (cathode) will be equipped with the side of active mating mechanism (anode) towards master from star, first towards first from star
Star, first from star be masters, primary is passive side.First first carries out position school from star by the navigation camera on side plate
Just so that the passive docking mechanism on the first active mating mechanism alignment primary from star, after alignment, the first master from star
Dynamic docking mechanism slowly enters the passive docking mechanism on primary, after entering 3-5cm, active mating mechanism and passive docking machine
Electromagnet on structure is initially powered up, and using the principle of electromagnet " identical charges repel each other, and there is a natural attraction between the sexes ", control sense of current makes two
The electromagnet opposite sex on docking mechanism attracts each other, when active mating mechanism enters the preset distance in passive docking mechanism
When range (about 1cm) is interior, changing current direction so that identical charges repel each other for the electromagnet on two docking mechanisms, controls the size of electric current,
Make the size of repulsion to can play a buffer role in, realize the floated docking of non-contact magnetically, when active mating mechanism and passive right
After the opposing teeth fitting of connection mechanism, by sensor detection, situation, primary are issued to bit instruction on passive docking mechanism in place
By movement controller, received by movement controller and begin to send out locking signal after signal and give electromagnet locking releasing device, should
Device starts to execute locking action.If the Nano satellite after docking needs to change angle earth observation, in active mating mechanism
Active controller sends out rotation instruction, and permanent magnet synchronous motor starts to generate the torque of a rotation, and rotary shaft drives active mating
The opposing teeth of mechanism rotates by a certain angle, to realize multi-angle earth observation.Combination satellite after docking for two needs to divide
From when, electromagnet passes to sufficiently large reverse current, and identical charges repel each other for electromagnet, and electromagnetic locking release device starts to discharge, to
Two Nano satellites of realization freely discharge.
(2), cluster Nano satellite system
Primary receives the control instruction that ground control station is sent and working state of system is arranged, according to different mission requirements,
The working state of system includes dispersed and state of aggregation.
(2.1) dispersed operating mode
The dispersity of system, that is, formation flight state, difference is realized by the configuration of satellites formation, holding and reconstruct
The earth observation task of pattern.
When system is operated in dispersed, four star dispersed placements, primary receives the pattern switching that ground control station is sent and refers to
It enables setting and sends collaboration earth observation pattern to from star, itself position, posture information are obtained, according to collaboration earth observation mould
Formula obtains the image information of ground target, each to cooperate under earth observation pattern, from star according to pattern switching instruction and primary position,
Posture information adjusts self-position and posture in real time, after being adjusted in place, the image of collaboration acquisition ground target together with primary
Information；Target image information, posture information and relative position information are forwarded to ground control station by four stars by primary, by ground
Control station carries out image information according to different collaboration earth observation patterns, the posture information and relative position information of four stars
Fusion treatment obtains observed result.Relative position information is primarily referred to as the coordinate for primary from astrology, and origin is where primary
Position, X-axis be main star orbital road directional velocity, Z against barycenter downward, Y-axis right-handed helix.
Under dispersed working condition, formation configuration mainly has close serially formation, closely serially forms into columns and go here and there at a distance
Row is formed into columns.Under close serial formation configuration, four Nano satellites splice observation mode and Multiple targets observation pattern using the rail that hangs down；
Closely under serial formation configuration, four Nano satellites are used splices observation mode along mark；Under remote serial formation configuration, four
Nano satellite stares observation mode using multi-angle observation pattern and relay.
(a) rail that hangs down splices observation mode
It hangs down under rail splicing observation mode, distance is spaced the first pre-determined distance, each starlight axis along track successively between each satellite
Rotate by a certain angle (5 ° or 7.5 °) along satellite wobble shaft, then by desired position, posture information be sent to it is specified from
Star sees the target in visual field under the posture from star according to desired position, posture information adjustment relative position and posture
It surveys, and by the image feedback of shooting to primary.
As shown in Fig. 2, four Nano satellite compositions are closely serially formed into columns with track, spacing 50m between every satellite, single is defended
The observation area that star is formed on ground is 22.0km × 15.0km.Every satellite is certain along x-axis (directional velocity) each spinning
Angle, ground formed 88.0km × 15.0km observation area, increase the observation area of single satellite.
(b) Multiple targets observation pattern
Under Multiple targets observation pattern, distance is spaced identical second pre-determined distance along track successively between each satellite, respectively defends
Star is directed at different targets and is observed, and primary solves the desired locations and posture that each to be reached from star, it would be desirable to position
Set and be sent to respectively from star with posture, from star it is motor-driven on desired position, make itself at a distance from primary to meet first it is default away from
From, further according to the position of object to be measured, adjust posture, optical axis made to be directed toward object to be measured, to the target in visual field under the posture into
Row observation, and by the image feedback of shooting to primary.
As shown in figure 3, for being divided into 50m between each star, primary sending mode, desired locations and posture to respectively from
Star, first received from star adjust after the desired locations and posture that primary is sent the position of oneself to 50 meters of primary interval
On position, second position that 150 meters are adjusted to from star, third is from the position that star is adjusted to 200 meters.
(b) splice observation mode along mark
Splice under observation mode along mark, distance is spaced third pre-determined distance (16km) along track successively between each satellite, respectively
Star optical axis stable is directed toward the earth's core direction, and desired position, posture information are sent to each from star, from star according to desired by primary
Position, the position of the opposite primary of posture information adjustment and posture, are observed the target in visual field under the posture, and will shooting
Image feedback to primary.
As shown in figure 4, four Nano satellite spacing 16km, camera optical axis difference face the earth's core of four stars is realized downward
22km × 60km's splices observation area along mark.This pattern lower railway height is determined in ground design, in track
On only adjust primary with respectively from the relative position of star time.Relative position information is primarily referred to as believing the position of primary from astrology
Breath, for origin in primary, X-direction is the directional velocity in main star orbital road, Z against barycenter downward, Y-axis right-handed helix.
(d) with target multi-angle observation pattern
With under target multi-angle observation pattern, primary resolves operating mode, and distance is along rail between obtaining each satellite
Road is spaced the 4th pre-determined distance successively, and each starlight axis is directed toward same ground target, and primary sends desired position, posture information
To respectively from star, from star according to desired position, posture information, adjust track and posture, to the target in visual field under the posture into
Row observation, and by the image feedback of shooting to primary.Four independent satellites, can be according to different mission requirements, while to not
Same target is observed.
It,, can be with by the attitude maneuver of satellite to same target as shown in figure 5, spacing is larger between four stars under the pattern
Realize the observation of multiple angles.Processing by the later stage to same target different angle image, obtains the depth information of target, can
To realize that 3 D stereo is observed.
(e) observation mode is stared in relay
Relay is stared under observation mode, and primary sending mode is given after star, and each satellite adjusts the position of itself and enters sight
Track is surveyed, is spaced the 5th pre-determined distance successively along track between each star, primary adjusts itself attitude tracking target being observed and starts
Observation, while attitude angle adjust instruction is sent to first from star, first after star receives attitude angle adjust instruction, start of evolution
Attitude tracking target is adjusted, the direction tracking of optical axis is carried out, carries out observation and prepare, until moving to target being observed overhead,
Start to observe, and image information is sent to ground control station by primary in real time, while attitude angle adjust instruction being sent to
Second from star, and so on, second since star when observing, and sends attitude angle adjust instruction to third from star, third is done from star
Good observation prepares, and until moving to target being observed overhead, starts to observe, and by the image feedback of shooting to primary, in real time
It is sent to ground control station by primary.
As shown in fig. 6, four star compositions are serially formed into columns at a distance with track, for the track that height is 504km, spacing
228km can also realize that observation is stared in the same above relays of substar 120s, it can be achieved that same target multi-angle observation.
To ensure the image quality of load camera, by camera optical axis and the control of the angle of radial vector at -15 °~15 °, it is
Four Nano satellites are carried out relay to same target and stare observation by the duration for reaching single large satellite staring imaging.First
Satellite stares 30s on a surface target, and after first satellite stares end, and then second satellite starts to stare, whole
A process continues 120s in total.
(2.2) state of aggregation operating mode
When system is operated in state of aggregation, four stars form assembly by docking axis connection, and primary receives ground control station
Different formation configurations are arranged in the configuration switching command of transmission, from star according to different formation configurations adjustment positions and appearance
State completes docking, and four stars are at assembly of different shapes, to realize the splicing and superposition of observation visual field.Concrete implementation
For：
Primary sends out the active control that control instruction is given in the active mating mechanism for having completed docking on each satellite
Device, active controller send out rotation instruction, and the electric rotating machine being given on docking mechanism, motor rotates to specified angle, makes adjacent
Two satellites between generate certain docking angle, pass through control rotation angle realize visual field superposition and splicing.It is described
Control instruction includes position and posture information, docking structure working signal expected from star.
The formation configurations include under state of aggregation：1 × 4 combination configuration, 2 × 2 combination configurations and Z-shaped combination configuration,
In coherent condition, composite unit structure can be converted freely system.
(1) 1 × 4 combination
As shown in fig. 7, under 1 × 4 combination configuration, four satellite tandem compounds are kept between adjacent two satellites certain
Docking angle, realize the superposition and splicing of visual field；When four satellites are combined with sector, 1 × 4 visual field is obtained；Work as both sides
Nano satellite when being rotated to different directions, obtain 1 × 3 visual field；When both sides Nano satellite to the same direction rotate, can be obtained 1
× 2 visual field.
(2) 2 × 2 combinations
Under 2 × 2 combination configurations, four satellites constitute the sphere of movements for the elephants combination of 2 rows 2 row so that the visual field base of four Nano satellites
This coincidence after image information transfers back to ground, can obtain than one moonscope more fully information, such as by data fusion
Shown in Fig. 8.Under this combination, No. 1 satellite, No. 2 satellites first splice, No. 3 satellites, the splicing of No. 4 satellites, then, No. 1 satellite, No. 3
Satellite and No. 2 satellites, No. 4 satellites splice simultaneously.
(3) Z-type combines
Under Z-shaped combination configuration, four satellites constitute the combination of " Z " word, and the rotational angle by controlling abutment shaft changes visual field
Shape and superposition and splicing mode, as shown in Figure 9.
It is not described in detail in specification and partly belongs to common sense well known to those skilled in the art.
Claims (10)
1. a kind of freely reconstruct and the earth observation Nano satellite group system of synergistic observation, it is characterised in that including four Na Wei
Star, wherein satellite is primary, in addition three satellites are to be denoted as first respectively from star, second from star and third from star from star；
Primary receives the control instruction that ground control station is sent and working state of system is arranged, and the working state of system includes dispersion
State；When system is operated in dispersed, four star dispersed placements, primary receives the pattern switching instruction setting that ground control station is sent
And collaboration earth observation pattern is sent to from star, itself position, posture information are obtained, according to collaboration earth observation pattern acquiring
The image information of ground target, it is each to cooperate under earth observation pattern, believe from star according to pattern switching instruction and primary position, posture
Breath adjusts self-position and posture in real time, after being adjusted in place, the image information of collaboration acquisition ground target together with primary；
Target image information, posture information and relative position information are forwarded to ground control station by four stars by primary, are controlled by ground
The posture information and relative position information stood according to different collaboration earth observation patterns, four stars, merge image information
Processing obtains observed result.
2. it is according to claim 1 it is a kind of freely reconstruct and the earth observation Nano satellite group system of synergistic observation, it is special
Sign is：The collaboration earth observation pattern includes：Multiple targets observation pattern is observed along mark splicing observation mode, rail splicing of hanging down
Pattern, relay stare observation mode and with target multi-angle observation patterns.
3. it is according to claim 2 it is a kind of freely reconstruct and the earth observation Nano satellite group system of synergistic observation, it is special
Sign is：
Hang down under rail splicing observation mode, distance is spaced the first pre-determined distance along track successively between each satellite, each starlight axis along
Satellite wobble shaft rotates by a certain angle, then desired position, posture information are sent to it is specified from star, from star according to expectation
Position, posture information adjustment relative position and posture, the target in visual field under the posture is observed, and by the figure of shooting
As feeding back to primary.
4. it is according to claim 3 it is a kind of freely reconstruct and the earth observation Nano satellite group system of synergistic observation, it is special
Sign is：The certain angle is 5 ° or 7.5 °.
5. it is according to claim 2 it is a kind of freely reconstruct and the earth observation Nano satellite group system of synergistic observation, it is special
Sign is：Under Multiple targets observation pattern, distance is spaced identical second pre-determined distance, each satellite along track successively between each satellite
It is directed at different targets to be observed, primary solves the desired locations and posture that each to be reached from star, it would be desirable to position
It is sent to respectively from star with posture, makes itself to meet the first pre-determined distance at a distance from primary on desired position from star is motor-driven,
Further according to the position of object to be measured, posture is adjusted, so that optical axis is directed toward object to be measured, the target in visual field under the posture is seen
It surveys, and by the image feedback of shooting to primary.
6. it is according to claim 2 it is a kind of freely reconstruct and the earth observation Nano satellite group system of synergistic observation, it is special
Sign is：Splice under observation mode along mark, distance is spaced third pre-determined distance along track successively between each satellite, and each starlight axis is steady
Surely it is directed toward the earth's core direction, desired position, posture information are sent to each from star, from star according to desired position, appearance by primary
The position of the opposite primary of state information adjustment and posture, are observed the target in visual field under the posture, and by the image of shooting
Feed back to primary.
7. it is according to claim 2 it is a kind of freely reconstruct and the earth observation Nano satellite group system of synergistic observation, it is special
Sign is：
With under target multi-angle observation pattern, primary resolves operating mode, obtain between each satellite distance along track according to
The 4th pre-determined distance of minor tick, each starlight axis are directed toward same ground target, and desired position, posture information are sent to respectively by primary
Track and posture are adjusted, the target in visual field under the posture is seen from star from star according to desired position, posture information
It surveys, and by the image feedback of shooting to primary.
8. it is according to claim 2 it is a kind of freely reconstruct and the earth observation Nano satellite group system of synergistic observation, it is special
Sign is：
Relay is stared under observation mode, and primary sending mode is given after star, and each satellite adjusts the position of itself and enters observation rail
Road is spaced the 5th pre-determined distance along track between each star successively, and primary adjusts itself attitude tracking target being observed and starts to observe,
Attitude angle adjust instruction is sent to first from star simultaneously, and first after star receives attitude angle adjust instruction, start of evolution adjustment
Attitude tracking target carries out the direction tracking of optical axis, carries out observation and prepare, until moving to target being observed overhead, starts
Observation, and image information is sent to ground control station by primary in real time, while attitude angle adjust instruction is sent to second
From star, and so on, second since star when observing, and sends attitude angle adjust instruction to third from star, third carries out sight from star
It surveys and prepares, until moving to target being observed overhead, start to observe, and by the image feedback of shooting to primary, in real time pass through
Primary is sent to ground control station.
9. it is according to claim 1 it is a kind of freely reconstruct and the earth observation Nano satellite group system of synergistic observation, it is special
Sign is that the working condition further includes state of aggregation, and when system is operated in state of aggregation, four stars are by docking axis connection formation group
Zoarium, primary receives the configuration switching command that ground control station is sent and different formation configurations is arranged, from star according to different
Formation configurations adjust position and posture, complete docking, four stars are at assembly of different shapes, to realize observation visual field
Splicing and superposition.
10. it is according to claim 9 it is a kind of freely reconstruct and the earth observation Nano satellite group system of synergistic observation, it is special
Sign is that the formation configurations include：1 × 4 combination configuration, 2 × 2 combination configurations and Z-shaped combination configuration：
1 × 4 combines under configuration, four satellite tandem compounds, keeps certain docking angle between adjacent two satellites, realizes
The superposition and splicing of visual field；When four satellites are combined with sector, 1 × 4 visual field is obtained；When the Nano satellite on both sides is to not Tongfang
To when rotation, 1 × 3 visual field is obtained；When both sides Nano satellite to the same direction rotate, can be obtained 1 × 2 visual field；
Under 2 × 2 combination configurations, four satellites constitute the sphere of movements for the elephants combination of 2 rows 2 row so that the visual field of four Nano satellites weighs substantially
It closes.
Priority Applications (1)
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