CN108519109A - A kind of in-orbit demonstration installation parameter of space non-cooperative target Relative Navigation determines method - Google Patents
A kind of in-orbit demonstration installation parameter of space non-cooperative target Relative Navigation determines method Download PDFInfo
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- CN108519109A CN108519109A CN201810359564.2A CN201810359564A CN108519109A CN 108519109 A CN108519109 A CN 108519109A CN 201810359564 A CN201810359564 A CN 201810359564A CN 108519109 A CN108519109 A CN 108519109A
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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
Abstract
The invention discloses a kind of in-orbit demonstration installation parameters of space non-cooperative target Relative Navigation to determine method, for in in-orbit demonstration and verification using spaceborne target as observation object, the observation requirement with Relative Navigation is measured according to observation camera parameter and to the perception of noncooperative target, the installation position, discrete pulse and observation camera installation position for designing spaceborne target, form relative motion track of the spaceborne target relative to observation satellite that can meet in-orbit demonstration and verification mission requirements.This method not only obtains the optimal solution of observation time, and can guarantee the safety of the observability degree, observation satellite and spaceborne target of Relative Navigation task.
Description
Technical field
The present invention relates to a kind of in-orbit demonstration installation parameters of space non-cooperative target Relative Navigation to determine method, belongs to satellite
Track desigh field.
Background technology
Space non-cooperative target, feature are exactly without specific identifier, unresponsive device, can not execute action cooperation, and
Often it is in failure rolling condition.Accordingly, it is determined that the position of this kind of noncooperative target and state are to carry out in-orbit service to it
Premise.Noncooperative target perception is measured and is recognized in in-orbit demonstration and verification experiment, and in-orbit perception identification system is mainly by standing
Body vision system, Intellisense and the subsystems such as identification processing unit, spaceborne target and target applying mechanism form.Observation satellite
After discharging spaceborne target, spaceborne target is perceived, reconstructs spaceborne target shape profile, identifying position, speed, angular speed etc.
Parameter.
In the in-orbit demonstration and verification task of noncooperative target perception measurement and Relative Navigation, in observation camera regarding wide, survey
Under indicator conditions, build rational relative motion track away from distance etc., be both ranging, test the speed, the measurement tasks such as angle measurement provide foot
Enough observation times and good observation degree, and meet the security requirement that observation satellite does not bump against with spaceborne target, there is weight
The engineering application value wanted.
It is ripe currently based on the Relative Navigation Technical comparing of cooperative target, due to cooperative target relative motion track
Know, in cooperative target, there are the movements that can also cooperate under conditions of maneuverability, and observation condition is good, and observation time is abundant,
These features are different from the Relative Navigation of noncooperative target.About the Relative Navigation of noncooperative target, in-orbit experiment there is no
The determination method of key parameter.
Invention content
The technology of the present invention solves the problems, such as：It is opposite to overcome the deficiencies of the prior art and provide a kind of space non-cooperative target
The in-orbit demonstration installation parameter that navigates determines method, observation viewing field of camera, observed range, observation shortest time, Relative Navigation can
Under the constraintss such as observation degree, it is desirable that not only met the Functional Requirement of validation task, but also met security requirement.
Technical solution of the invention is：A kind of in-orbit demonstration installation parameter determination of space non-cooperative target Relative Navigation
Method, the installation separation parameter determine that method includes the installation direction offset angle Δ α of spaceborne targetT, spaceborne target separation
Initial velocity Δ v, observation camera mounting shift angle Δ β, described method includes following steps：
(1), using observation satellite barycenter as coordinate origin O, it is X-axis positive direction that observation satellite barycenter direction is directed toward in the earth's core, is seen
The normal direction for surveying satellite flight track is Z axis positive direction, determines Y-axis according to the principle for meeting the right-hand rule with X-axis, Z axis, establishes and see
Survey centroid of satellite orbital coordinate system；
(2), the initial makeup location for determining spaceborne target makes its separating rate direction in observation satellite barycenter orbit coordinate
In YOZ planes under system, the installation direction bias Δ α of spaceborne target is definedTIt is defended with observation for spaceborne target separating rate direction
Angle between the normal direction of star flight track；The initial makeup location for determining observation camera, makes its boresight direction in XOZ planes
Interior, definition observation camera mounting shift angle Δ β is the folder observed between camera boresight direction and the normal direction of observation satellite flight track
Angle；
(3), relative motion model of the spaceborne target after separation under observation satellite Centroid orbit coordinate system is established；
(4), the relative motion model according to spaceborne target under observation satellite Centroid orbit coordinate system, simulation detached
Journey obtains longest observation time JmaxWith the correspondence of installation separation parameter；
(5), with longest observation time JmaxIt is following using the installation separation parameter as design parameter for optimization object function
Condition is constraint function, according to longest observation time JmaxWith the correspondence of installation separation parameter, calculated most using genetic algorithm
Long observation time JmaxCorresponding installation separation parameter；The constraint function is：
Δv≥Δvmin
0≤ΔαT≤θ1/2
Wherein, Δ vminFor the minimum separation speed that observation satellite separating mechanism can be provided, θ1For observation camera long side side
To visual field width angle, θ2For observation camera short side direction visual field width angle, θEBe the earth to observe camera half angle.
Relative motion model of the spaceborne target under observation satellite Centroid orbit coordinate system be：
Wherein, t is the flight time after the separation of spaceborne target, x0、y0And z0It is spaceborne target in observation satellite barycenter track
The position of coordinate system,WithFor movement velocity of the spaceborne target under observation satellite Centroid orbit coordinate system, n is observation
The orbit angular velocity of satellite.
Step (2) are implemented as：
(4.1), the installation site for changing spaceborne target, obtains spaceborne target under observation satellite Centroid orbit coordinate system
Initial position (x0,y0,z0)；
(4.2), change the installation direction bias Δ α of spaceborne targetT, spaceborne target separation initial velocity Δ v, calculate star
Carry initial velocity of the target under observation satellite Centroid orbit coordinate system：
(4.3), it is transported in observation satellite Centroid orbit coordinate system and the opposite of observation satellite according to the spaceborne target after separation
Movable model calculates flight path of the spaceborne target relative to observation camera, and is converted into spherical coordinates in real time, acquires spaceborne mesh
Target azimuth angle alpha, pitch angle β, specific conversion formula are as follows：
In formula, ρ is spaceborne target at a distance from observation satellite；
(4.4), change installation separation parameter, repeat step (4.1)~step (4.4), judge the azimuth of spaceborne target
α, pitch angle β sizes, willOrOr ρ>dmaxWhen it is corresponding at the time of be determined as observe camera to longest
Observation time Jmax, to obtain longest observation time JmaxThe correspondence of corresponding installation separation parameter, wherein dmaxFor
Observe the maximum Observable distance of camera.
The initial value of the separation initial velocity Δ v of spaceborne target is determined as in the step (4)：
Δ v=4dmax/T
In formula, T is the observation satellite flight track period.
The installation direction bias Δ α of spaceborne target in the step (4)TIt is determined as：
ΔαT=θ1/4。
The initial value of observation camera mounting shift angle Δ β is determined as 0 in the step (4).
The step (3) is using the spaceborne target after the separation of C-W establishing equations under observation satellite Centroid orbit coordinate system
Relative motion model.
The advantages of the present invention over the prior art are that：
(1), the present invention specifies the installation separation key parameter of noncooperative target Relative Navigation, establish observation time with
The relationship for installing separation key parameter, gives relevant constraint；
(2), relative motion model of the present invention is calculated using the parsing of C-W equations, for the relative motion meter in 10 meters
It calculates precision and not only meets mission requirements, but also meet the calculating speed requirement that optimization calculates；
(3), The present invention gives observation cameras to the time optimal calculating process of spaceborne target observation, the computational methods stream
Journey initial value determines that simply constraints is clear, is conducive to seeking for optimal observation time；
(4), the spaceborne target of the present invention and observation camera initial makeup location are in the normal direction of satellite flight track, in this base
The installation position of spaceborne target and observation camera is optimized on plinth, not only obtains the optimal solution of observation time, completely again
It can guarantee the safety of the observability degree, observation satellite and spaceborne target of Relative Navigation task.
Description of the drawings
Fig. 1 is that the in-orbit demonstration installation separation parameter of space non-cooperative target Relative Navigation of the present invention determines method flow diagram；
Fig. 2 is observation satellite Centroid orbit coordinate system and and its definition of spherical coordinate system accordingly.
Specific implementation mode
Below in conjunction with the drawings and specific embodiments, the present invention is described in detail.
As shown in Figure 1, the in-orbit demonstration installation parameter of a kind of space non-cooperative target Relative Navigation provided by the invention determines
Method, the installation separation parameter determine that method includes the installation direction bias Δ α of spaceborne targetT, spaceborne target separation at the beginning of
Beginning speed Δ v, observation camera mounting shift angle Δ β, this method comprises the following steps：
(1), using observation satellite barycenter as coordinate origin O, it is X-axis positive direction that observation satellite barycenter direction is directed toward in the earth's core, is seen
The normal direction for surveying satellite flight track is Z axis positive direction, determines Y-axis according to the principle for meeting the right-hand rule with X-axis, Z axis, establishes and see
Survey centroid of satellite orbital coordinate system；
(2), the initial makeup location for determining spaceborne target makes its separating rate direction in observation satellite barycenter orbit coordinate
In YOZ planes under system, the installation direction bias Δ α of spaceborne target is definedTIt is defended with observation for spaceborne target separating rate direction
Angle between the normal direction of star flight track；The initial makeup location for determining observation camera, makes its boresight direction in XOZ planes
Interior, definition observation camera mounting shift angle Δ β is the folder observed between camera boresight direction and the normal direction of observation satellite flight track
Angle；
The initial makeup location of camera is observed, observation viewing field of camera long side is flat with observation satellite Centroid orbit coordinate system Y-axis
Row, initial observation mounting shift angle Δ β are 0.The installation position of spaceborne target and observation camera is optimized on this basis and is set
Meter, not only obtains the optimal solution of observation time, the full observability degree, observation satellite and spaceborne mesh that can guarantee Relative Navigation task again
Target safety.
(3), relative motion model of the spaceborne target after separation under observation satellite Centroid orbit coordinate system is established；
Specific embodiments of the present invention are sat using the spaceborne target after the separation of C-W establishing equations in observation satellite barycenter track
Relative motion model under mark system.Reference orbit is bowlder relative motion, and according to C-W equations, spaceborne target is without outer force effect
Under relative to observation satellite relative motion analytic solutions in observation satellite Centroid orbit coordinate system expression formula, i.e., the described spaceborne mesh
The relative motion model being marked under observation satellite Centroid orbit coordinate system is：
Wherein, t is the flight time after the separation of spaceborne target, x0、y0And z0It is spaceborne target in observation satellite barycenter track
The position of coordinate system, i.e., spaceborne target and observation satellite relative position,WithIt is spaceborne target in observation satellite barycenter
Movement velocity under orbital coordinate system, i.e., spaceborne target and observation satellite speed of related movement；N indicates the track angle of observation satellite
Speed utilizes observation satellite semi-major axis of orbit a0It can be written as with Gravitational coefficient of the Earth μ, n：
C-W equation accuracy is relatively high, and the relative motion computational accuracy in 10 meters not only meets mission requirements, but also meets iteration
The calculating speed requirement of calculating.
(4), the relative motion model according to spaceborne target under observation satellite Centroid orbit coordinate system, simulation detached
Journey obtains longest observation time JmaxWith the correspondence of installation separation parameter；It is implemented as：
(4.1), the installation site for changing spaceborne target, obtains spaceborne target under observation satellite Centroid orbit coordinate system
Initial position (x0,y0,z0)；
(4.2), change the installation direction bias Δ α of spaceborne targetT, spaceborne target separation initial velocity Δ v, calculate star
Carry initial velocity of the target under observation satellite Centroid orbit coordinate system：
According to the semi-major axis a of the reference orbit of observation satellite0, it is T that can obtain the observation satellite flight track period
Since observation camera observes the 1/2 of the time up to observation satellite flight track cycle T of spaceborne target, compromise
Consider that the time for taking observation camera to observe spaceborne target is the 1/4 of observation satellite flight track cycle T, according to observation camera
Maximum Observable distance dmax, the separation initial velocity that spaceborne target is calculated is：
Δ v=4dmax/T
In formula, dmaxTo observe the maximum Observable distance of camera, T is the observation satellite flight track period.
In order to allow the spaceborne target after separation to be located in observation viewing field of camera, the installation direction bias Δ of the spaceborne target
αTIt is determined as：
ΔαT=θ1/4。
(4.3), it is transported in observation satellite Centroid orbit coordinate system and the opposite of observation satellite according to the spaceborne target after separation
Movable model calculates flight path of the spaceborne target relative to observation camera, and is converted into spherical coordinates in real time, acquires spaceborne mesh
Target azimuth angle alpha, pitch angle β, specific conversion formula are as follows：
In formula, ρ is spaceborne target at a distance from observation satellite；
The corresponding spherical coordinates definition of observation satellite Centroid orbit coordinate system is as shown in Figure 2.
(4.4), change installation separation parameter, repeat step (4.1)~step (4.4), judge the azimuth of spaceborne target
α, pitch angle β sizes, willOrOr ρ>dmaxWhen it is corresponding at the time of be determined as observe camera to longest
Observation time Jmax, to obtain longest observation time JmaxThe correspondence of corresponding installation separation parameter, wherein dmaxFor
Observe the maximum Observable distance of camera.
(5), with longest observation time JmaxIt is following using the installation separation parameter as design parameter for optimization object function
Condition is constraint function, according to longest observation time JmaxWith the correspondence of installation separation parameter, calculated most using genetic algorithm
Long observation time JmaxCorresponding installation separation parameter；The constraint function is：
Δv≥Δvmin
0≤ΔαT≤θ1/2
Wherein, Δ vminFor the minimum separation speed that observation satellite separating mechanism can be provided, θ1For observation camera long side side
To visual field width angle, θ2For observation camera short side direction visual field width angle, θEBe the earth to observe camera half angle：
θE=arcsin (a0/RE)；
In formula, REFor earth radius.
The content that description in the present invention is not described in detail belongs to the known technology of those skilled in the art.
Claims (7)
1. a kind of in-orbit demonstration installation parameter of space non-cooperative target Relative Navigation determines that method, the installation separation parameter determine
Method includes the installation direction offset angle Δ α of spaceborne targetT, the separation initial velocity Δ v of spaceborne target, observation camera installation it is inclined
Angle Δ β, step are to include the following steps：
(1), using observation satellite barycenter as coordinate origin O, it is X-axis positive direction that observation satellite barycenter direction is directed toward in the earth's core, and observation is defended
The normal direction of star flight track is Z axis positive direction, and Y-axis is determined according to the principle for meeting the right-hand rule with X-axis, Z axis, establishes observation and defends
Star Centroid orbit coordinate system；
(2), the initial makeup location for determining spaceborne target makes its separating rate direction under observation satellite Centroid orbit coordinate system
YOZ planes in, define the installation direction bias Δ α of spaceborne targetTFly for spaceborne target separating rate direction and observation satellite
Angle between the normal direction of row track；The initial makeup location for determining observation camera, makes its boresight direction in XOZ planes, fixed
Justice observation camera mounting shift angle Δ β is the angle observed between camera boresight direction and the normal direction of observation satellite flight track；
(3), relative motion model of the spaceborne target after separation under observation satellite Centroid orbit coordinate system is established；
(4), the relative motion model according to spaceborne target under observation satellite Centroid orbit coordinate system is simulated separation process, is obtained
To longest observation time JmaxWith the correspondence of installation separation parameter；
(5), with longest observation time JmaxFor optimization object function, using the installation separation parameter as design parameter, following conditions
For constraint function, according to longest observation time JmaxWith the correspondence of installation separation parameter, longest is calculated using genetic algorithm and is seen
Survey time JmaxCorresponding installation separation parameter；The constraint function is：
Δv≥Δvmin
0≤ΔαT≤θ1/2
Wherein, Δ vminFor the minimum separation speed that observation satellite separating mechanism can be provided, θ1It is regarded for observation camera long side direction
Field width angle, θ2For observation camera short side direction visual field width angle, θEBe the earth to observe camera half angle.
2. the in-orbit demonstration installation parameter of a kind of space non-cooperative target Relative Navigation according to claim 1 determines method,
It is characterized in that relative motion model of the spaceborne target under observation satellite Centroid orbit coordinate system is：
Wherein, t is the flight time after the separation of spaceborne target, x0、y0And z0It is spaceborne target in observation satellite barycenter orbit coordinate
The position of system,WithFor movement velocity of the spaceborne target under observation satellite Centroid orbit coordinate system, n is that observation is defended
The orbit angular velocity of star.
3. the in-orbit demonstration installation parameter of a kind of space non-cooperative target Relative Navigation according to claim 2 determines method,
It is characterized in that step (2) are implemented as：
(4.1), the installation site for changing spaceborne target, it is initial under observation satellite Centroid orbit coordinate system to obtain spaceborne target
Position (x0,y0,z0)；
(4.2), change the installation direction bias Δ α of spaceborne targetT, spaceborne target separation initial velocity Δ v, calculate spaceborne mesh
The initial velocity being marked under observation satellite Centroid orbit coordinate system：
(4.3), according to the spaceborne target after separation observation satellite Centroid orbit coordinate system and observation satellite relative motion mould
Type calculates flight path of the spaceborne target relative to observation camera, and is converted into spherical coordinates in real time, acquires spaceborne target
Azimuth angle alpha, pitch angle β, specific conversion formula are as follows：
In formula, ρ is spaceborne target at a distance from observation satellite；
(4.4), change installation separation parameter, repeat step (4.1)~step (4.4), judge the azimuth angle alpha of spaceborne target, bow
Elevation angle β sizes, willOrOr ρ>dmaxWhen it is corresponding at the time of be determined as observe camera to longest observe
Time Jmax, to obtain longest observation time JmaxThe correspondence of corresponding installation separation parameter, wherein dmaxFor observation
The maximum Observable distance of camera.
4. the in-orbit demonstration installation parameter of a kind of space non-cooperative target Relative Navigation according to claim 1 determines method,
It is characterized in that the initial value of the separation initial velocity Δ v of spaceborne target is determined as in the step (4)：
Δ v=4dmax/T
In formula, T is the observation satellite flight track period.
5. the in-orbit demonstration installation parameter of a kind of space non-cooperative target Relative Navigation according to claim 1 determines method,
It is characterized in that in the step (4) spaceborne target installation direction bias Δ αTIt is determined as：
ΔαT=θ1/4。
6. the in-orbit demonstration installation parameter of a kind of space non-cooperative target Relative Navigation according to claim 1 determines method,
It is characterized in that the initial value of observation camera mounting shift angle Δ β is determined as 0 in the step (4).
7. the in-orbit demonstration installation parameter of a kind of space non-cooperative target Relative Navigation according to claim 1 determines method,
It is characterized in that the step (3) uses the spaceborne target after the separation of C-W establishing equations in observation satellite Centroid orbit coordinate system
Under relative motion model.
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