CN108759818A - A kind of method that superhigh precision guiding sensor posture determines - Google Patents
A kind of method that superhigh precision guiding sensor posture determines Download PDFInfo
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- CN108759818A CN108759818A CN201810386171.0A CN201810386171A CN108759818A CN 108759818 A CN108759818 A CN 108759818A CN 201810386171 A CN201810386171 A CN 201810386171A CN 108759818 A CN108759818 A CN 108759818A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/02—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by astronomical means
Abstract
This application involves a kind of methods that superhigh precision guiding sensor posture determines comprising following steps：Fixed star picture point centroid position on FGSCCD is mapped in VT coordinate systems；Calculate the attitude misalignment of tri- axis direction of x, y and z under VT coordinate systems；Calculate relative attitude deviation quaternary number；With calculating absolute pose.
Description
Technical field
This application involves defend a kind of aerospace measurement and control method, and in particular to a kind of superhigh precision guiding sensor determines
The method of posture
Background technology
Star sensor (Fine Guidance Sensor) be a kind of high-precision widely used in current aerospace craft,
The attitude measurement component of high reliability.Star sensor works in real time dynamic measurement pattern, and usual measurement accuracy is about 3 jiaos
Second.However, in order to realize sub- rad grade, that is, it is less than 1 rad of posture and determines that traditional star sensor cannot be satisfied its measurement
Required precision.
The prior art can realize guiding sensor (Fine Guidance Sensor, the abbreviation of sub- rad measurement accuracy
FGS), then need to have previously been stored in the huge catalogue data library in guiding sensor by calling to complete.Due in universe
The fixed star that magnitude is waited higher than 18 is hundreds of millions of, arranges star catalogue and carries out data cutting and necessarily expends a large amount of manpower and time；Together
Shi Xingbiao data volumes are often beyond 40G；If be stored in advance in guiding sensor, and examined in so huge database
Rope, matching star place, then export superhigh precision attitude data, are necessarily required to the complicated star pattern matching algorithm of design, simultaneously
High processing capacity requirement is proposed to processor, not only increases algorithm complexity, is increased and is calculated the time, and data update
Rate is difficult to improve, and can not adapt to the requirement of current satellite high-precision high stability and the output of high frequency posture information.
In order to meet spacecraft it is higher and higher determine appearance and attitude stability requirement, while saving resource on star, avoid star
Figure matching complicated algorithm, improves data updating rate, and there is an urgent need in the art to a kind of without prestore star catalogue and star pattern matching algorithm
The method that superhigh precision guiding sensor models and posture determines.
Invention content
The application's is designed to provide a kind of method that superhigh precision guiding sensor posture determines.
To achieve the goals above, the application provides following technical proposals.
Fixed star picture point centroid position on FGS CCD is mapped in VT coordinate systems by the present invention；Then VT coordinate systems are calculated
The attitude misalignment of lower tri- axis direction of x, y and z；Subsequently calculate relative attitude deviation quaternary number；Absolute pose is calculated with last.
Compared with prior art, the advantageous effect of the application is the provision of a kind of without star catalogue and the star pattern matching calculation of prestoring
The method that the superhigh precision guiding sensor of method models and posture determines.
Description of the drawings
Fig. 1 is CCD installations and the schematic diagram of corresponding coordinate system of the application.
Fig. 2 is the schematic diagram of fixed star imaging spot on CCD.
Fig. 3 is the schematic diagram of spacecraft this system and VT coordinate system relationships.
Specific implementation mode
Below in conjunction with attached drawing and embodiments herein, carries out clear to the technical solution of the application and completely retouch
It states.
As shown in Figure 1, in optical telescope (Visible Telescope, abbreviation VT) optically coupled device (Charge-
Coupled Device, abbreviation CCD) both sides separately design the detection of guiding sensor optically coupled device to detector (VT CCD) up and down
Device 1 (FGS CCD1) and guiding sensor optically coupled device detector 2 (FGS CCD2).
VT coordinate systems define：Using the center of optical telescope optically coupled device detector (VT CCD) as origin O, its row
It is respectively x and y-axis direction with column direction, z-axis direction is determined by the right-hand rule.
One fixed star Star by optical lens on FGS CCD1 at picture point be S1, B, C are respectively picture point S1In x, y
Mapping on axis；It is θ to be directed toward the vector of optical lens center O ' and z-axis angle by B, and the arrow of optical lens center O ' is directed toward by C
It measures with z-axis angle and isLens focus f=OO '.
FGS CCD1 coordinate systems define：Using the center of FGS CCD1 as origin O1, its row and column direction is respectively x1And y1
Axis direction, z1Axis direction is determined by the right-hand rule.O1Coordinate in VT coordinate systems is (Lx1,Ly1, 0), reference axis y1With coordinate
The angle of axis y is γ1。
FGS CCD2 coordinate systems define：Using the center of FGS CCD2 as origin O2, its row and column direction is respectively x2And y2
Axis direction, z2Axis direction is determined by the right-hand rule.O2Coordinate in VT coordinate systems is reference axis y2Angle with reference axis y is
γ2。
Attitude algorithm flow：
(1) the fixed star picture point centroid position on FGS CCD is mapped in VT coordinate systems
If fixed star picture point centroid position is S in FGS CCD1 coordinate system internal coordinates on FGS CCD11(xFGS1,yFGS1), FGS
The upper fixed star picture point centroid positions of CCD2 are S in FGS CCD2 coordinate system internal coordinates2(xFGS2,yFGS2), wherein 1,2 indicate CCD1 and
CCD2。
Define S'1(xVT1,yVT1) and S'2(xVT2,yVT2) it is fixed star picture point S on FGS CCD respectively1(xFGS1,yFGS1) and S2
(xFGS2,yFGS2) projection in VT coordinate systems, fixed star picture point centroid position on FGS CCD is transformed into VT with following formula and is sat
In mark system：
Wherein, i=1,2 (formula 1)
Wherein, lxpixelFor the length in the directions x in fixed star picture point region, lypixelIt is fixed star picture point region in the directions y
Length；
(2) x under VT coordinate systems, the attitude misalignment of tri- axis direction of y, z are calculated
The 1st frame image point position coordinate of fixed star is identified with subscript 1, and n-th frame image point position coordinate is identified with subscript n.
The position of fixed star n-th frame picture point and the position of the 1st frame picture point exist with ShiShimonoseki in the x of VT coordinate systems on y-axis coordinate
System：
Wherein, Δ Ψ is the attitude misalignment in z-axis direction in VT coordinate systems, and calculation formula is as follows：
Wherein, (xVTi,yVTi) i=1,2 be coordinate of two fixed star picture points in VT coordinate systems, is converted by formula 1
It obtains；
Wherein, the transposition of subscript T representing matrixes.
Matrix transposition defines：If A is m * n matrix, the element of the i-th row jth row is a (i, j), i.e. A=a (i, j) defines A
Transposition be n × m matrix B, meet B=a (j, i), be denoted as AT=B.
It can be derived by above-mentioned formula 2, the calculation formula of the displacement of fixed star n-th frame picture point and the 1st frame image point position is such as
Under：
Wherein, the transposition of subscript T representing matrixes.
The calculation formula of x and the attitude misalignment in y-axis direction is as follows under VT coordinate systems：
(unit radian)
And its matrix transposition under VT coordinate systemsIt is then the attitude misalignment under tri- axis of VT coordinate systems xyz
Angle.Error minimum between the actual value and measured value at the attitude misalignment angle being calculated by above-mentioned formula is up to 0.3 jiao
Second (being determined by FGS hardware performances).
(3) relative attitude deviation quaternary number is calculated
Eulerian angles are rotated by " 3-1-2 " and turn quaternary number, calculate its corresponding attitude misalignment quaternary number dQFGS；
" 3-1-2 " rotation Eulerian angles turn quaternary number formula：
Spacecraft body coordinate system defines：Using spacecraft centroid as origin Ob, Xb is upward perpendicular to bottom plate, and Zb is parallel to bottom
Plate is directed toward H01 by origin Ob, and Yb is determined by the right-hand rule.
VT coordinate systems and spacecraft body coordinate system relationship are as shown in Figure 3.
Guiding attitude misalignment quaternary number under spacecraft this system is calculated with following formulaIt is indicated with subscript b：
Wherein, AVTIt is VT in spaceborne installation matrix,Q(AVT) it is AVTCorresponding installation four
First number, Q (AVT)=[- 0.5-0.5-0.5 0.5]T。
By installation matrix to the calculating of installation quaternary number：
If installation matrix isQuaternary number Q=[q are installed1 q2 q3 q4]T
Then
Q is determined by following formula1, q2, q3Symbol
Wherein
For quaternary number multiplication, it is defined as follows：
Assuming that q=[q1,q2,q3,q4]T, q=[q1′,q2′,q3′,q4′]T, then
(4) absolute pose calculates
The absolute pose that n-th frame is exported based on FGSIt is obtained by following formula：
Wherein,For the absolute quaternary number that the 1st frame measurement of star sensor obtains, and the error of measured value and actual value is about
It is 3 rads；Conversion quaternary number between FGS and star sensor, i.e.,
This algorithm only uses foundation of the 1st frame data of star sensor as absolute pose, and error is being counted in rad magnitude
It can be deducted when calculating relative stability, therefore posture determines that error level is determined by FGS, an amount is improved than star sensor
Grade, reaches 0.3 rad (3 σ).Meanwhile star pattern matching is not used in the design, greatly simplifies algorithm and operand, is suitable for absolute
It is directed toward and requires loosely, relative stability requires high spacecraft.
The above-mentioned description to embodiment is that this Shen can be understood and applied for the ease of those skilled in the art
Please.Person skilled in the art obviously easily can make various modifications to these embodiments, and described herein
General Principle is applied in other embodiments without paying performing creative labour.Therefore, the application is not limited to implementation here
Example, those skilled in the art make according to herein disclosed content in the case where not departing from the application scope and spirit
It improves and changes within all scope of the present application.
Claims (8)
1. a kind of method that superhigh precision guiding sensor posture determines, which is characterized in that include the following steps：
(1) the fixed star picture point centroid position on FGS CCD is mapped in VT coordinate systems；
(2) attitude misalignment of tri- axis direction of x, y and z under VT coordinate systems is calculated；
(3) relative attitude deviation quaternary number is calculated；With
(4) absolute pose is calculated.
2. the method as described in claim 1, which is characterized in that the calculation formula of the mapping of the step (1) is as follows：
Wherein, i=1,2 (formula 1)
Wherein, lxpixelFor the length in the directions x in fixed star picture point region, lypixelLength for fixed star picture point region in the directions y；
LxiAnd LyiXs and y-axis coordinate of the respectively center origin O of FGS CCD coordinate systems in VT coordinate systems；γiFor FGS CCD coordinates
The angle of the y-axis of system and the y-axis of VT coordinate systems.
3. the method as described in claim 1, which is characterized in that the step (2) includes the following steps：
A) assume that the 1st frame image point position coordinate is identified with subscript 1, n-th frame image point position coordinate is identified with subscript n, then fixed star n-th
The position of frame picture point and the position of the 1st frame picture point are in the x of VT coordinate systems, and there are following relationships on y-axis coordinate：
Wherein, Δ Ψ is the attitude misalignment in z-axis direction in VT coordinate systems, and calculation formula is as follows：
Wherein, (xVTi,yVTi) i=1,2 be coordinate of two fixed star picture points in VT coordinate systems, is obtained by the conversion of formula 1；
Wherein, the transposition of subscript T representing matrixes；
B) it is derived by above-mentioned formula 2, fixed star n-th frame picture point and the calculation formula of the displacement of the 1st frame image point position are as follows：
Wherein, the transposition of subscript T representing matrixes；
C) attitude misalignment of x and y-axis direction under VT coordinate systems are calculated according to following calculation formula：
(unit radian)；Wherein, f is lens focus, i.e. f=OO ', i.e. the center origin O of VT CCD and optics
The distance of optical center O '；With
D) matrix transposition of the attitude misalignment under VT coordinate systemsIt is then under tri- axis of VT coordinate systems x, y and z
Attitude misalignment angle.
4. the method as described in claim 1, which is characterized in that steps are as follows for the calculating of the step (3):
A) Eulerian angles are rotated by " 3-1-2 " and turns quaternary number, calculate its corresponding attitude misalignment quaternary number dQFGS；With
B) guiding attitude misalignment quaternary number under spacecraft this system is calculated with following formula
Wherein, AVTIt is VT installation matrixes；Q(AVT) it is AVTCorresponding installation quaternary number；For quaternary number multiplication.
5. method as claimed in claim 4, which is characterized in that describedWith it is described
6. method as claimed in claim 4, which is characterized in that quaternary number multiplicationIt is defined as follows：Assuming that q=[q1,q2,q3,
q4]T, q '=[q1′,q2′,q3′,q4′]T, then
7. the method as described in claim 1, which is characterized in that steps are as follows for the calculating of the step (4)：
A) it is calculate by the following formula the absolute pose that n-th frame is exported based on FGS
Wherein,The absolute quaternary number obtained for the 1st frame measurement of star sensor；Conversion between FGS and star sensor
Quaternary number.
8. the method for claim 7, which is characterized in that described
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| CN113360735A (en) * | 2021-05-20 | 2021-09-07 | 深圳市魔方卫星科技有限公司 | Method and device for automatically searching and tracking astronomical target by astronomical telescope |
| CN113720330A (en) * | 2021-11-01 | 2021-11-30 | 武汉大学 | Sub-arc-second-level high-precision attitude determination design and implementation method for remote sensing satellite |
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| CN113360735A (en) * | 2021-05-20 | 2021-09-07 | 深圳市魔方卫星科技有限公司 | Method and device for automatically searching and tracking astronomical target by astronomical telescope |
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