CN108508918B - High-precision real-time ground pointing control method for data transmission antenna of static orbit remote sensing satellite - Google Patents
High-precision real-time ground pointing control method for data transmission antenna of static orbit remote sensing satellite Download PDFInfo
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Abstract
A high-precision real-time ground pointing control method for a data transmission antenna of a static orbit remote sensing satellite relates to the field of high orbit remote sensing satellite system design; the method comprises the following steps: calculating the accurate position of a T point of a ground station in a ground-fixed coordinate system; step two, calculating a transformation matrix C from an inertial coordinate system to an orbit coordinate system at the moment toi(ii) a Step three, calculating an attitude transformation matrix C from the southeast coordinate system to the satellite body coordinate systembd(ii) a Calculating a transformation matrix C from the orbit coordinate system to the southeast coordinate systemdo(ii) a Calculating a transformation matrix C from a ground-fixed coordinate system to an inertial coordinate systemim(ii) a Calculating the position vector T of the ground station under the body coordinate systembm(ii) a Establishing a mapping relation between a satellite antenna direction angle and a ground station longitude and latitude; the satellite-borne data transmission antenna is pointed to the ground station in real time at high precision, so that the ground station can meet the gain requirement for receiving satellite signals, and the high-speed downloading of load data is completed.
Description
Technical Field
The invention relates to the field of high-orbit remote sensing satellite system design, in particular to a high-precision real-time ground pointing control method for a data transmission antenna of a static orbit remote sensing satellite.
Background
With the development of space technology, remote sensing satellites have become important means for acquiring information in operations such as military reconnaissance, disaster prevention and reduction, meteorological survey, environmental monitoring and the like. Meanwhile, the demands of users on high time and high spatial resolution of remote sensing data are increasingly urgent, the low and medium orbit remote sensing satellite is difficult to realize continuous imaging observation tasks with high time resolution, and the high orbit high resolution optical remote sensing satellite can combine higher pixel resolution with extremely high time resolution, can finish imaging observation of wide areas in a short time through flexible pointing control, is an important direction for the development of the international space remote sensing field in future, and is also an important means for improving the earth optical remote sensing observation capability in China.
The earth observation efficiency of the remote sensing satellite is one of important indexes concerned by users, and the earth observation efficiency of the remote sensing satellite can be effectively improved by completing the rapid data downloading of the satellite in the maneuvering process. Because the static orbit optical remote sensing satellite has huge load data volume, in order to realize the high-speed downloading of data in a static orbit, the satellite usually adopts a spot beam data transmission antenna, and because the adopted antenna beam is very narrow, when the satellite downloads the data, a two-dimensional rotating mechanism of the antenna is required to be always pointed to a specific area (such as a ground receiving station) with high precision.
In the current disclosure methods, the pointing control method is mostly a low-orbit remote sensing satellite data transmission antenna or a relay antenna. Because the orbit characteristic difference of the static orbit remote sensing satellite and the low orbit remote sensing satellite is large, besides orbit perturbation, the flat shape of the earth has large influence on the high-precision pointing of the antenna, and meanwhile, the imaging characteristics and the attitude control modes of the two orbits of the remote sensing satellite are greatly different, so that the prior method is difficult to realize that the static orbit remote sensing satellite points to the ground receiving station in real time with high precision in the attitude maneuver process.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provide a high-precision real-time ground pointing control method for a data transmission antenna of a static orbit remote sensing satellite
The above purpose of the invention is realized by the following technical scheme:
a high-precision real-time ground pointing control method for a data transmission antenna of a static orbit remote sensing satellite comprises the following steps:
step one, calculating the accurate position of the T point of the ground station in a ground-fixed coordinate system
The longitude of the T point of the ground station is lambda and the latitude is
Establishing a ground-fixed coordinate system, and calculating the coordinate of the T point of the ground station in the ground-fixed coordinate system
In the formula (I), the compound is shown in the specification,
the local earth radius of the geocentric latitude where the T point of the ground station is located;
in the formula, REIs the equatorial radius of the earth;
fEis the oblateness of the earth;
step two, establishing an inertia coordinate system and an orbit coordinate system, and calculating a transformation matrix C from the inertia coordinate system to the orbit coordinate system at the moment toi；
S1: measuring to obtain the position r and the speed v of the satellite in an inertial coordinate system at the moment t;
s2: under the condition of calculating inertial coordinate systemThree direction vectors u of the satellite in the orbital coordinate systemx、uyAnd uz(ii) a Obtaining a transformation matrix from an inertial coordinate system to an orbital coordinate system
Step three, establishing a satellite body coordinate system and a southeast coordinate system; the offset rolling angle of the satellite at the time t in an east-south coordinate system is measured to be
Angle of pitch thetabd(ii) a Calculating an attitude transformation matrix C from the southeast coordinate system to the satellite body coordinate systembd(ii) a Calculating a transformation matrix C from the orbit coordinate system to the southeast coordinate systemdo(ii) a Calculating a transformation matrix C from a ground-fixed coordinate system to an inertial coordinate systemim(ii) a Calculating the position vector of the ground station under the body coordinate system
Step four, establishing a mapping relation between the direction angle of the satellite antenna and the longitude and latitude of the ground station
S1: establishing a satellite antenna control coordinate system and a satellite antenna coordinate system;
s2: presetting a conversion parameter of an antenna coordinate system under the system as p and a conversion parameter of an antenna rotation control coordinate system relative to the antenna coordinate system as q; according to the longitude of the T point of the ground station in the step (one), the latitude is lambda
Calculating the directive angle of an antenna
And the precise pointing control of the antenna to the ground station in real time is realized.
In the above method for controlling the high-precision real-time pointing to the ground of the data transmission antenna of the static orbit remote sensing satellite, in the step (one), the method for establishing the ground-fixed coordinate system is as follows: the origin O1 is the earth centroid, the X1 axis fixedly points to the Greenwich meridian direction, the Z1 axis is the earth rotation axis and points to the North Pole, and the Y1 axis is determined according to the right-hand rule.
In the above method for controlling the high-precision real-time ground pointing of the data transmission antenna of the static orbit remote sensing satellite, in the step (two), the method for establishing the inertial coordinate system is as follows: an origin O2 is the earth centroid, an X2 axis points to the spring equinox point, a Z2 axis is the earth rotation axis and points to the north pole, and a Y2 axis is determined according to the right-hand rule;
the method for establishing the track coordinate system comprises the following steps: the origin O3 is the satellite centroid, the Z3 axis is the satellite centroid to the geocentric, the X3 axis is the speed direction of the spacecraft, and the Y3 axis is determined according to the right-hand rule.
In the above method for controlling the data transmission antenna of the geostationary orbit remote sensing satellite in a high-precision real-time direction to the ground, in step (ii) S2, the satellite in the inertial coordinate system has a Z3 direction vector in the orbital coordinate system
Y3 direction vector of satellite in inertial coordinate system in orbital coordinate system
X3 direction vector u of satellite in inertial coordinate system in orbit coordinate systemx＝uy×uz。
In the above method for controlling the high-precision real-time ground-pointing of the data transmission antenna of the static orbit remote sensing satellite, in the step (three), the method for establishing the satellite body coordinate system is as follows: the origin O4 is the center of mass of the satellite, and the X4 axis is vertical to the separation surface of the satellite and the arrow and is along the longitudinal axis direction of the satellite; the Z4 axis is in the satellite-rocket separation plane and points to the ground of the satellite, and the Y4 axis, the X4 and the Z4 form a right-hand coordinate system;
the method for establishing the southeast coordinate system comprises the following steps: the origin O5 is the satellite centroid, the Z5 axis is the satellite centroid to geocentric, the X5 axis points in the east-right direction in the orbital plane, and the Y5 axis is determined according to right-hand rules.
In the above high-precision real-time ground-pointing control method for the data transmission antenna of the static orbit remote sensing satellite, in the step (three), the attitude transformation matrix C from the southeast coordinate system to the satellite body coordinate systembdThe calculation method comprises the following steps:
transformation matrix C from orbit coordinate system to southeast coordinate systemdoThe calculation method comprises the following steps:
wherein xi is tan-1(cos (u) tan (i)), u being the latitude argument and i being the track inclination;
conversion matrix C from earth fixed coordinate system to inertial coordinate systemimThe calculation method comprises the following steps:
wherein GST is Greenwich mean sidereal hour angle.
In the above method for controlling the data transmission antenna of the static orbit remote sensing satellite to direct to the ground in real time with high precision, in the step (four), the method for establishing the satellite antenna control coordinate system is as follows: the satellite antenna is driven by two motors; the coordinate origin O6 is the center point of the feed plane, the coordinate system Z6 is the direction of the center line of the antenna beam, the X6 axis is the direction of the rotating shaft of one of the motors, and the Y6 axis is the direction of the rotating shaft of the other motor;
the method for establishing the satellite antenna coordinate system comprises the following steps: the coordinate origin O7 is the mounting point of the antenna on the satellite, the X7 axis is the direction of the antenna unfolding arm, the Z7 axis is perpendicular to the unfolding axis and faces outwards from the mounting surface, and the Y7 axis is determined according to the right-hand rule.
In the above-mentioned method for controlling the high-precision real-time pointing to the ground of the data transmission antenna of the remote sensing satellite with static orbit, in the step (four) S2, the direction angle of the antenna
The calculation method comprises the following steps:
compared with the prior art, the invention has the following advantages:
(1) the calculation method mainly relates to the conversion relation of a plurality of high-precision coordinate systems, considers the influence factors such as the flat shape of the earth, the orbital perturbation and the like, converts the geocentric latitude where the ground station is located into the pointing attitude angle of the satellite data transmission antenna, and avoids the influence on the pointing positioning precision brought in the model conversion process;
(2) according to the invention, the satellite autonomously completes calculation, a user only needs to provide longitude and latitude information of the ground station, the satellite autonomously completes the rotation angle of the data transmission antenna, and meanwhile, the satellite can also realize high-precision pointing of the antenna in the maneuvering process, so that the working efficiency of the satellite is greatly improved, and the workload of personnel flight control is reduced.
Drawings
FIG. 1 is a schematic view of a pointing control process according to the present invention.
Detailed Description
The invention is described in further detail below with reference to the following figures and specific examples:
the invention fully considers the imaging characteristics of the static orbit remote sensing satellite and a plurality of influence factors such as the flat earth, the orbit perturbation and the like, and establishes the high-precision mapping relation between the longitude and latitude information of the ground station and the azimuth angle of the data transmission antenna through a plurality of times of high-precision coordinate system conversion, and the method comprises the following steps:
(1) calculating the accurate position of the ground station under the ground fixing system;
(2) calculating a conversion matrix from an inertia system to a track system at the moment t;
(3) calculating a direction vector of the ground station under the satellite body at the moment t;
(4) establishing mapping relation between antenna direction angle and longitude and latitude of ground station
As shown in fig. 1, which is a schematic view of a pointing control process, it can be known that a method for controlling a data transmission antenna of a static orbit remote sensing satellite to point to the ground in a high-precision real-time manner includes the following steps:
step one, calculating the accurate position of the T point of the ground station in a ground-fixed coordinate system
The longitude of the T point of the ground station is lambda and the latitude is
The method for establishing the ground-fixed coordinate system comprises the following steps: the origin O1 is the earth centroid, the X1 axis fixedly points to the Greenwich meridian direction, the Z1 axis is the earth rotation axis and points to the North Pole, and the Y1 axis is determined according to the right-hand rule.
Calculating the coordinate of the T point of the ground station in the earth-fixed coordinate system
In the formula (I), the compound is shown in the specification,
the local earth radius of the geocentric latitude where the T point of the ground station is located;
in the formula, REIs the equatorial radius of the earth;
fEis the oblateness of the earth;
establishing an inertial coordinate system and a track coordinate system, wherein the establishing method of the inertial coordinate system comprises the following steps: the origin O2 is the earth's centroid, the X2 axis points to the spring equinox point, the Z2 axis is the earth's axis of rotation and points to the North Pole, and the Y2 axis is determined according to the right hand rule.
The method for establishing the track coordinate system comprises the following steps: the origin O3 is the satellite centroid, the Z3 axis is the satellite centroid to the geocentric, the X3 axis is the speed direction of the spacecraft, and the Y3 axis is determined according to the right-hand rule.
Calculating a transformation matrix C from an inertial coordinate system to an orbit coordinate system at the time toi；
S1: measuring to obtain the position r and the speed v of the satellite in an inertial coordinate system at the moment t;
s2: calculating three direction vectors u of the satellite in the orbit coordinate system under the inertial coordinate systemx、uyAnd uz(ii) a Obtaining a transformation matrix from an inertial coordinate system to an orbital coordinate system
Z3 direction vector of satellite in orbit coordinate system under inertial coordinate system
Y3 direction vector of satellite in inertial coordinate system in orbital coordinate system
X3 direction vector u of satellite in inertial coordinate system in orbit coordinate systemx＝uy×uz。
Step three, establishing a satellite body coordinate system and a southeast coordinate system; the method for establishing the satellite body coordinate system comprises the following steps: the origin O4 is the center of mass of the satellite, and the X4 axis is vertical to the separation surface of the satellite and the arrow and is along the longitudinal axis direction of the satellite; the axis Z4 is in the separation plane of the satellite and the arrow and points to the ground of the satellite, and the axis Y4, the axis X4 and the axis Z4 form a right-hand coordinate system.
The static orbit remote sensing satellite adopts a southeast system control mode when in orbit attitude bias, and the yaw angle is not controlled; the method for establishing the southeast coordinate system comprises the following steps: the origin O5 is the satellite centroid, the Z5 axis is the satellite centroid to geocentric, the X5 axis points in the east-right direction in the orbital plane, and the Y5 axis is determined according to right-hand rules.
The offset rolling angle of the satellite at the time t in an east-south coordinate system is measured to be
Angle of pitch thetabd(ii) a Calculating an attitude transformation matrix C from the southeast coordinate system to the satellite body coordinate systembd(ii) a Calculating a transformation matrix C from the orbit coordinate system to the southeast coordinate systemdo(ii) a Calculating a transformation matrix C from a ground-fixed coordinate system to an inertial coordinate systemim(ii) a Calculating the coordinate system of the ground station in the bodyPosition vector of
Attitude transformation matrix C from southeast coordinate system to satellite body coordinate systembdThe calculation method comprises the following steps:
transformation matrix C from orbit coordinate system to southeast coordinate systemdoThe calculation method comprises the following steps:
wherein xi is tan-1(cos (u) tan (i)), u being the latitude argument and i being the track inclination;
conversion matrix C from earth fixed coordinate system to inertial coordinate systemimThe calculation method comprises the following steps:
wherein GST is Greenwich mean sidereal hour angle.
Step four, establishing a mapping relation between the direction angle of the satellite antenna and the longitude and latitude of the ground station
S1: establishing a satellite antenna control coordinate system and a satellite antenna coordinate system;
the antenna design adopts a two-dimensional rotation control mode, namely the antenna and the ground station are not considered, and the control is only carried out in a load view plane. The exact pointing direction of the antenna is closely related to the direction of rotation of the antenna's rotating shaft and the installation of the antenna on the satellite.
The method for establishing the satellite antenna control coordinate system comprises the following steps: the satellite antenna is driven by two motors; the origin of coordinates O6 is the center point of the feed plane, the coordinate system Z6 is the direction of the center line of the antenna beam, the X6 axis is the direction of the rotation axis of one of the motors, and the Y6 axis is the direction of the rotation axis of the other motor.
The method for establishing the satellite antenna coordinate system comprises the following steps: the coordinate origin O7 is the mounting point of the antenna on the satellite, the X7 axis is the direction of the antenna unfolding arm, the Z7 axis is perpendicular to the unfolding axis and faces outwards from the mounting surface, and the Y7 axis is determined according to the right-hand rule.
S2: presetting a conversion parameter of an antenna coordinate system under the system as p and a conversion parameter of an antenna rotation control coordinate system relative to the antenna coordinate system as q; according to the longitude of the T point of the ground station in the step (one), the latitude is lambda
Calculating the directive angle of an antenna
Antenna direction angle
The calculation method comprises the following steps:
and the precise pointing control of the antenna to the ground station in real time is realized.
Those skilled in the art will appreciate that those matters not described in detail in the present specification are well known in the art.
Claims (1)
1. A high-precision real-time ground pointing control method for a data transmission antenna of a static orbit remote sensing satellite is characterized by comprising the following steps: the method comprises the following steps:
step one, calculating the accurate position of the T point of the ground station in a ground-fixed coordinate system
The longitude of the T point of the ground station is lambda and the latitude is
Establishing a ground-fixed coordinate system, and calculating the coordinate of the T point of the ground station in the ground-fixed coordinate system
In the formula (I), the compound is shown in the specification,
the local earth radius of the geocentric latitude where the T point of the ground station is located;
in the formula, REIs the equatorial radius of the earth;
fEis the oblateness of the earth;
step two, establishing an inertia coordinate system and an orbit coordinate system, and calculating a transformation matrix C from the inertia coordinate system to the orbit coordinate system at the moment toi；
S21: measuring to obtain the position r and the speed v of the satellite in an inertial coordinate system at the moment t;
s22: calculating three direction vectors u of the satellite in the orbit coordinate system under the inertial coordinate systemx、uyAnd uz(ii) a Obtaining a transformation matrix from an inertial coordinate system to an orbital coordinate system
Step three, establishing a satellite body coordinate system and a southeast coordinate system; the offset rolling angle of the satellite at the time t in an east-south coordinate system is measured to be
Angle of pitch thetabd(ii) a Calculating an attitude transformation matrix C from the southeast coordinate system to the satellite body coordinate systembd(ii) a Calculating a transformation matrix C from the orbit coordinate system to the southeast coordinate systemdo(ii) a Calculating the earth-fixed to inertial frameConversion matrix Cim(ii) a Calculating the position vector of the T point of the ground station under the body coordinate system
Step four, establishing a mapping relation between the direction angle of the satellite antenna and the longitude and latitude of the ground station
S41: establishing a satellite antenna control coordinate system and a satellite antenna coordinate system;
s42: presetting a conversion parameter of an antenna coordinate system under the system as p and a conversion parameter of an antenna rotation control coordinate system relative to the antenna coordinate system as q; according to the longitude of the T point of the ground station in the step (one), the latitude is lambda
Calculating the directive angle of an antenna
The precise pointing control of the antenna to the ground station in real time is realized;
in the step (one), the method for establishing the earth-fixed coordinate system comprises the following steps: an origin O1 is the earth centroid, an X1 axis fixedly points to the Greenwich meridian direction, a Z1 axis is the earth rotation axis and points to the north pole, and a Y1 axis is determined according to the right-hand rule;
in the step (two), the method for establishing the inertial coordinate system comprises the following steps: an origin O2 is the earth centroid, an X2 axis points to the spring equinox point, a Z2 axis is the earth rotation axis and points to the north pole, and a Y2 axis is determined according to the right-hand rule;
the method for establishing the track coordinate system comprises the following steps: an origin O3 is a satellite centroid, a Z3 axis is the satellite centroid to the geocentric, an X3 axis is the speed direction of the spacecraft, and a Y3 axis is determined according to a right-hand rule;
in the second step S22, the satellite in the inertial coordinate system has a vector in the Z3 direction in the orbital coordinate system
Y3 direction vector of satellite in inertial coordinate system in orbital coordinate system
X3 direction vector u of satellite in inertial coordinate system in orbit coordinate systemx＝uy×uz；
In the step (iii), the method for establishing the satellite body coordinate system includes: the origin O4 is the center of mass of the satellite, and the X4 axis is vertical to the separation surface of the satellite and the arrow and is along the longitudinal axis direction of the satellite; the Z4 axis is in the satellite-rocket separation plane and points to the ground of the satellite, and the Y4 axis, the X4 and the Z4 form a right-hand coordinate system;
the method for establishing the southeast coordinate system comprises the following steps: an origin O5 is a satellite centroid, a Z5 axis is the satellite centroid to the geocentric, an X5 axis points to the east-righting direction in the orbital plane, and a Y5 axis is determined according to the right-hand rule;
in the step (III), the attitude transformation matrix C from the southeast coordinate system to the satellite body coordinate systembdThe calculation method comprises the following steps:
transformation matrix C from orbit coordinate system to southeast coordinate systemdoThe calculation method comprises the following steps:
wherein xi is tan-1(cos (u) tan (i)), u being the latitude argument and i being the track inclination;
conversion matrix C from earth fixed coordinate system to inertial coordinate systemimThe calculation method comprises the following steps:
wherein GST is Greenwich mean sidereal hour angle;
in the step (IV), the method for establishing the satellite antenna control coordinate system comprises the following steps: the satellite antenna is driven by two motors; the coordinate origin O6 is the center point of the feed plane, the coordinate system Z6 is the direction of the center line of the antenna beam, the X6 axis is the direction of the rotating shaft of one of the motors, and the Y6 axis is the direction of the rotating shaft of the other motor;
the method for establishing the satellite antenna coordinate system comprises the following steps: the coordinate origin O7 is the mounting point of the antenna on the satellite, the X7 axis of the antenna is in the direction of the unfolding arm, the Z7 axis is perpendicular to the unfolding axis and the mounting surface is outward, and the Y7 axis is determined according to the right-hand rule;
in step four, in S42, the antenna direction angle
The calculation method comprises the following steps:
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