CN109018441A - A kind of satellite any attitude mobile process drift angle tracking and controlling method - Google Patents
A kind of satellite any attitude mobile process drift angle tracking and controlling method Download PDFInfo
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Abstract
The invention discloses a kind of satellite any attitude mobile process drift angle tracking and controlling methods, and the control method is the following steps are included: step 1: calculating the nominal attitude quaternion of attitude maneuver process；Step 2: considering that drift angle recalculates targeted attitude quaternary number；Step 3: real-time iterative calculating turns over the targeted attitude quaternary number after nominal drift angle；Step 4: calculating attitude maneuver control law.The present invention uses quaternion representation camera drift angle control problem, avoids the limitation of Eulerian angles；Allow to specify any motorised rotating shaft and motor-driven angular speed, be planned by real-time perfoming dynamic posture autonomous on star；The planning of dynamic posture is carried out based on iteration thought, improves drift angle computational accuracy；High dynamic attitude maneuver control algolithm is designed based on angular acceleration feedforward thought, improves drift angle tracing control precision.A whole set of algorithm is calculated in real time by autonomous on star, improves the flexibility of practical application.
Description
Technical field
The present invention relates to satellite gravity anomaly technical fields, and in particular to a kind of satellite any attitude mobile process drift angle
Tracking and controlling method.
Background technique
Previous satellite attitude control system mostly uses push-scanning image operating mode.Satellite bias posture is set, in this base
Camera drift angle is calculated on plinth, and on the basis of biasing posture, turns over the drift angle around satellite yaw axis.Camera load is with defending
To flight before star, realize to the passive push-scanning image of ground point.
And attitude of satellite agility control technology is utilized, several typical camera imaging patterns may be implemented, mainly include same rail
Multi-target imaging mode, with rail multi-ribbon joining image-forming mode, with rail three-dimensional imaging mode and dynamic scan imaging pattern etc..It is dynamic
State imaging technique refers to satellite in three-axis attitude mobile process, opens camera and carries out " clapping in dynamic " imaging, and in imaging process
In adjust optical axis in real time and be directed toward over the ground, to realize that posture is directed toward continually changing imaging mode over the ground.Dynamic imaging mode, benefit
It is motor-driven wide with high-resolution contradiction to solve wide cut with the attitude of satellite, have comparable energy on Attitude control stability
After power, during attitude maneuver by the way of push-scanning image, to greatly improve image covering power.Wherein attitude maneuver angle
Speed, it is possible to along heading may also vertical flight direction, therefore it is required that satellite any attitude mobile process can be real
Existing drift angle high precision tracking control (as shown in Figure 1).
Under attitude maneuver process imaging pattern, consider that camera drift angle will substantially change original posture planning, new rule
Draw posture and the drift angle calculated result that correspondence is new, therefore to the planning of the dynamic posture of attitude control system and high dynamic target
Attitude Tracking ability proposes requirements at the higher level.
Existing research has derived the thick Europe for swinging imaging process only to camera optical axis along the ideal situation of celestial body Z axis
Angle posture is drawn, can tentatively be controlled in drift angle, but is not suitable for the imaging of any direction sweeping and drift angle bigger error.In addition,
In view of situations such as camera optical axis and celestial body main shaft are not parallel (as shown in Figure 1), traditional Eulerian angles method is no longer appropriate for describing
Drift angle tracking control problem.
Summary of the invention
The object of the present invention is to provide a kind of satellite any attitude mobile process drift angle tracking and controlling methods, greatly to mention
While high camera load areas imaging, guarantee camera imaging quality.
In order to achieve the above objectives, the present invention provides a kind of satellite any attitude mobile process drift angle tracing control sides
Method comprising following steps:
Step 1: calculating the nominal attitude quaternion of attitude maneuver process: according to given celestial body relative orbit system's sweeping angle speed
Spend the component in track system oWith initial attitude quaternary number qor0, the nominal angular speed of sweeping process is calculated in real timeAnd mark
Claim attitude quaternion qor；
Step 2: considering that drift angle recalculates targeted attitude quaternary number: according to nominal attitude quaternion qorWith nominal angle speed
DegreeNominal drift angle β is calculated, in nominal attitude quaternion qorOn the basis of, around camera optical axis unit vector in satellite body
Component e turns over nominal drift angle β, in this, as imaging pattern targeted attitude quaternary number qorβ；
Step 3: real-time iterative calculating turns over the targeted attitude quaternary number after nominal drift angle: each control period counts again
Targeted attitude quaternary number and the corresponding nominal drift angle of targeted attitude quaternary number are calculated, and in the targeted attitude in next control period
The nominal drift angle is turned over, until final goal attitude quaternion and the corresponding nominal drift angle of target angular velocity are close to 0；
Step 4: calculate attitude maneuver control law: on the basis of PD control rule, feedover celestial body gyroscopic couple, flywheel gyro power
Square and angular acceleration disturbance torque, obtain final attitude control law.
Above-mentioned satellite any attitude mobile process drift angle tracking and controlling method, wherein in step 1, nominal angular speedWith nominal attitude quaternion qorIt is calculated using following formula:
Wherein, AroFor the track system o that calculates in real time to nominal coordinate system r transition matrix.
Above-mentioned satellite any attitude mobile process drift angle tracking and controlling method, wherein in step 2, targeted attitude four
First number qorβIt is calculated using following formula:
Above-mentioned satellite any attitude mobile process drift angle tracking and controlling method, wherein be θ for back angle, be free of
Put the camera of mirror:
E=[0 cos (θ) of-sin (θ)].
Above-mentioned satellite any attitude mobile process drift angle tracking and controlling method, wherein in step 3, using following formula into
Row iteration calculates:
Wherein, T is the control period, and k indicates k-th of control period, qorβ_kThe targeted attitude quaternary in period is controlled for k-th
Number, qorβ_k-1The targeted attitude quaternary number in period, β are controlled for kth -1k-1The nominal drift angle in period is controlled for kth -1,The target angular velocity in period is controlled for k-th.
Above-mentioned satellite any attitude mobile process drift angle tracking and controlling method, wherein step 4 specifically includes following step
It is rapid:
The deviation quaternary number q of satellite relative target posture is calculated first with following formularbWith deviation angular speed in this system b
Component
WhereinFor gyro to measure angular speed, qobFor track system o to this system b attitude quaternion, AboExtremely for track system o
This system b pose transformation matrix, AbrβFor nominal coordinate system r to this system b transition matrix, ω0For orbit angular velocity；
On the basis of PD control rule, feedover celestial body gyroscopic coupleFlywheel gyroscopic coupleWith
Angular acceleration item disturbance torqueFinal attitude control law are as follows:
Wherein, qeFor deviation quaternary number qrbVector section, McVector, K are instructed for control momentpFor proportionality coefficient matrix,
KdDifferential term coefficient matrix, I are satellite rotary inertia, and h is flywheel angular momentum,For Satellite Targets angular speed derivative this
The component of system b.
Compared with the existing technology, the invention has the following advantages:
The present invention devises a kind of satellite any attitude mobile process drift angle tracking and controlling method, guarantees satellite wide-angle
Camera imaging quality during attitude maneuver.It (can be with satellite flight direction at random angle by setting attitude maneuver angular speed
Degree), sweeping plan posture on the basis of, control celestial body around camera optical axis turn over the drift angle through iterating to calculate as finally
Gesture stability benchmark, and provide high dynamic attitude maneuver control algolithm.
Using quaternion representation camera drift angle control problem, the limitation of Eulerian angles is avoided；Allow to specify any machine
Turn axis and motor-driven angular speed are planned by real-time perfoming dynamic posture autonomous on star；Dynamic posture rule are carried out based on iteration thought
It draws, improves drift angle computational accuracy；High dynamic attitude maneuver control algolithm is designed based on angular acceleration feedforward thought, is improved
Drift angle tracing control precision.A whole set of algorithm is calculated in real time by autonomous on star, improves the flexibility of practical application.
Detailed description of the invention
Fig. 1 is off-axis camera back angle schematic diagram；
Fig. 2 is satellite mobile process imaging pattern schematic diagram；
Fig. 3 is that band (latitude and longitude information) instance graph is imaged in mobile process.
Specific embodiment
Below in conjunction with attached drawing, by specific embodiment, the invention will be further described, these embodiments are merely to illustrate
The present invention is not limiting the scope of the invention.
As depicted in figs. 1 and 2, the present invention provides a kind of satellite any attitude mobile process drift angle tracing control sides
Method comprising following steps:
Step 1: calculate the nominal attitude quaternion of attitude maneuver process:
According to component of the given celestial body relative orbit system sweeping angular speed in track system oWith initial attitude quaternary number
qor0, the nominal angular speed of sweeping process can be calculated in real time(component of the swing angular velocity in nominal coordinate system r) and nominal seat
The derivative of the attitude quaternion of relative orbit system of mark systemAnd then nominal attitude quaternion can be calculated in real time by integral algorithm
qor；The angular speed that sweeping process celestial body relative orbit system can arbitrarily be set, by the nominal appearance for calculating sweeping process on star in real time
State.Both can it is motor-driven around the celestial body axis of rolling, pitch axis is motor-driven, nominal attitude maneuver can also be carried out around other axis, can be achieved
Mobile process high precision tracking camera drift angle.
Nominal angular speedWith nominal attitude quaternion qorIt is calculated using following formula:
Wherein, AroFor the track system o that calculates in real time to nominal coordinate system r transition matrix.
By celestial body around track system X-axis by 1 °/s by -50 ° of sweepings to for+50 °, set nominal attitude angular velocityDirection is swept along satellite flight direction, for celestial body around rolling since camera default pushes away
Axis sweeping problem, initial attitude should also turn over 90 ° about the z axis, and by taking 1-2-3 turns sequence as an example, initial attitude may be set to [- 50090] °
Corresponding quaternary number qor0。
Step 2: consider that drift angle recalculates targeted attitude quaternary number:
According to nominal attitude quaternion qorWith nominal angular speedCalculating nominal drift angle β, (β that takes a drift has general
Calculation method, the application are limited by length and are not described in detail), in nominal attitude quaternion qorOn the basis of, around camera optical axis list
Bit vector turns over nominal drift angle β in the component e of satellite body, in this, as imaging pattern targeted attitude quaternary number qorβ；
Targeted attitude quaternary number qor β is calculated using following formula:
It is θ (constant parameter provided by camera development side) for back angle, the camera without pendulum mirror:
E=[0 cos (θ) of-sin (θ)].
It should be noted that after turning over nominal drift angle, the celestial body new posture drift angle that correspondence is new, although at this time
The real-time calculated result of drift angle has been a small amount of, but for high dynamic imaging process, which be can not ignore.
Step 3: real-time iterative calculating turns over the targeted attitude quaternary number after nominal drift angle:
Precision is controlled to further increase drift angle, using iteration thought, each control period recalculates targeted attitude
Quaternary number and the corresponding nominal drift angle of targeted attitude quaternary number, and this is turned over nominally in the targeted attitude in next control period
Drift angle, until final goal attitude quaternion and the corresponding nominal drift angle of target angular velocity are close to 0, i.e., progressive alternate is with reality
Now optimal objective posture is approached, has reached the target of high-precision attitude planning；
Calculating is iterated using following formula:
Wherein, T is the control period, and k indicates k-th of control period, qorβ_kThe targeted attitude quaternary in period is controlled for k-th
Number, qorβ_k-1The targeted attitude quaternary number in period, β are controlled for kth -1k-1The nominal drift angle in period is controlled for kth -1,The target angular velocity in period is controlled for k-th.
So far, dynamic imaging processes are given and consider targeted attitude qor β _ k and target angular velocity after bias current angle tracking
Step 4: calculate attitude maneuver control law:
On the basis of PD control rule, feedforward celestial body gyroscopic couple, flywheel gyroscopic couple and angular acceleration disturbance torque are obtained
Final attitude control law.
Specifically includes the following steps:
The deviation quaternary number q of satellite relative target posture is calculated first with following formularbWith deviation angular speed in this system b
Component
WhereinFor gyro to measure angular speed, qobFor track system o to this system b attitude quaternion, AboExtremely for track system o
This system b pose transformation matrix, AbrβIt (can be according to q for nominal coordinate system r to this system b transition matrixrbIt is converted to), ω0For
Orbit angular velocity；
Since during sweeping imaging, celestial body relative orbit system angular speed, angular acceleration change are rapid, to realize to dynamic mesh
The high precision tracking for marking posture, needs angular acceleration item disturbance torque to feedover.On the basis of PD control rule, feedover celestial body top
Spiral shell torqueFlywheel gyroscopic coupleWith angular acceleration item disturbance torqueFinal posture
Control law are as follows:
Wherein, qeFor deviation quaternary number qrbVector section, McVector, K are instructed for control momentpFor proportionality coefficient matrix,
KdDifferential term coefficient matrix, I are satellite rotary inertia, and h is flywheel angular momentum,For Satellite Targets angular speed derivative this
The component of system b.
Star loaded camera system is smaller to reduce its field angle of difficulty while realizing high-resolution, leads to covered ground
Width is often smaller.Therefore using the attitude maneuver ability of satellite high speed, quickly change the direction over the ground of camera, and by defending
Star gesture stability tracks camera drift angle, and then non-substar target remotely-sensed data needed for efficient, high-precision acquisition.
In a variety of agile satellite imagery operating modes, the operating mode of attitude of satellite mobile process imaging is the most efficient.
Existing research has derived the thick Eulerian angles posture for swinging imaging process only to camera optical axis along the ideal situation of celestial body Z axis,
It can tentatively be controlled in drift angle, but not be suitable for the imaging of any direction sweeping and drift angle bigger error.In addition, it is contemplated that camera
Situations such as optical axis and celestial body main shaft are not parallel, traditional Eulerian angles method are no longer appropriate for description drift angle tracking control problem.
In view of the deficienciess of the prior art, the present invention devises in the satellite any attitude mobile process based on quaternary number
Drift angle tracking and controlling method, by set attitude maneuver angular speed (can be with satellite flight direction at any angle), putting
On the basis of sweeping planning posture, celestial body is controlled around camera optical axis and turns over the drift angle through iterating to calculate as final gesture stability
Benchmark, and provide high dynamic attitude maneuver control algolithm.
This method whole algorithm, can be while being greatly improved camera load areas imaging (such as by independently realizing on star
Shown in Fig. 3), guarantee camera imaging quality.
It is discussed in detail although the contents of the present invention have passed through above preferred embodiment, but it should be appreciated that above-mentioned
Description is not considered as limitation of the present invention.After those skilled in the art have read above content, for of the invention
A variety of modifications and substitutions all will be apparent.Therefore, protection scope of the present invention should be limited to the appended claims.
Claims (6)
1. a kind of satellite any attitude mobile process drift angle tracking and controlling method, which comprises the following steps:
Step 1: calculating the nominal attitude quaternion of attitude maneuver process: being existed according to given celestial body relative orbit system sweeping angular speed
Component in track system oWith initial attitude quaternary number qor0, the nominal angular speed of sweeping process is calculated in real timeWith nominal appearance
State quaternary number qor；
Step 2: considering that drift angle recalculates targeted attitude quaternary number: according to nominal attitude quaternion qorWith nominal angular speedNominal drift angle β is calculated, in nominal attitude quaternion qorOn the basis of, around camera optical axis unit vector dividing in satellite body
Amount e turns over nominal drift angle β, in this, as imaging pattern targeted attitude quaternary number qorβ；
Step 3: real-time iterative calculating turns over the targeted attitude quaternary number after nominal drift angle: each control period recalculates mesh
Attitude quaternion and the corresponding nominal drift angle of targeted attitude quaternary number are marked, and is turned in the targeted attitude in next control period
The nominal drift angle, until final goal attitude quaternion and the corresponding nominal drift angle of target angular velocity are close to 0；
Step 4: calculate attitude maneuver control law: PD control rule on the basis of, feedforward celestial body gyroscopic couple, flywheel gyroscopic couple and
Angular acceleration disturbance torque obtains final attitude control law.
2. satellite any attitude mobile process drift angle tracking and controlling method as described in claim 1, which is characterized in that step
In 1, nominal angular speedWith nominal attitude quaternion qorIt is calculated using following formula:
Wherein, AroFor the track system o that calculates in real time to nominal coordinate system r transition matrix.
3. satellite any attitude mobile process drift angle tracking and controlling method as described in claim 1, which is characterized in that step
In 2, targeted attitude quaternary number qorβIt is calculated using following formula:
4. satellite any attitude mobile process drift angle tracking and controlling method as claimed in claim 3, which is characterized in that for
Back angle is θ, without the camera for putting mirror:
E=[0 cos (θ) of-sin (θ)].
5. satellite any attitude mobile process drift angle tracking and controlling method as described in claim 1, which is characterized in that step
In 3, calculating is iterated using following formula:
Wherein, T is the control period, and k indicates k-th of control period, qorβ_kThe targeted attitude quaternary number in period is controlled for k-th,
qorβ_k-1The targeted attitude quaternary number in period, β are controlled for kth -1k-1The nominal drift angle in period is controlled for kth -1,The target angular velocity in period is controlled for k-th.
6. satellite any attitude mobile process drift angle tracking and controlling method as described in claim 1, which is characterized in that step
4 specifically includes the following steps:
The deviation quaternary number q of satellite relative target posture is calculated first with following formularbWith point of the deviation angular speed in this system b
Amount
WhereinFor gyro to measure angular speed, qobFor track system o to this system b attitude quaternion, AboFor track system o to ontology
It is b pose transformation matrix, AbrβFor nominal coordinate system r to this system b transition matrix, ω0For orbit angular velocity；
On the basis of PD control rule, feedover celestial body gyroscopic coupleFlywheel gyroscopic coupleAccelerate with angle
Spend item disturbance torqueFinal attitude control law are as follows:
Wherein, qeFor deviation quaternary number qrbVector section, McVector, K are instructed for control momentpFor proportionality coefficient matrix, KdIt is micro-
Partial safety factor matrix, I are satellite rotary inertia, and h is flywheel angular momentum,For Satellite Targets angular speed derivative in this system
The component of b.
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| CN109724566A (en) * | 2018-12-31 | 2019-05-07 | 中国科学院长春光学精密机械与物理研究所 | A kind of method of the satellite dynamic time-varying sweeping multiplication time of integration |
| CN109823571A (en) * | 2019-01-23 | 2019-05-31 | 清华大学 | A kind of multistage attitude control method of remote sensing micro-nano satellite |
| CN110608724A (en) * | 2019-09-10 | 2019-12-24 | 上海航天控制技术研究所 | Direct solving method for drift-free attitude in satellite maneuvering imaging process |
| CN112061424A (en) * | 2020-07-16 | 2020-12-11 | 北京控制工程研究所 | Maneuvering process energy angle dynamic tracking method based on fusion target attitude |
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| CN113466483A (en) * | 2021-06-17 | 2021-10-01 | 北京控制工程研究所 | On-line intelligent diagnosis method for satellite angular velocity abnormal fault under condition of no gyroscope |
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| CN110608724A (en) * | 2019-09-10 | 2019-12-24 | 上海航天控制技术研究所 | Direct solving method for drift-free attitude in satellite maneuvering imaging process |
| CN110608724B (en) * | 2019-09-10 | 2021-12-24 | 上海航天控制技术研究所 | Direct solving method for drift-free attitude in satellite maneuvering imaging process |
| CN112061424A (en) * | 2020-07-16 | 2020-12-11 | 北京控制工程研究所 | Maneuvering process energy angle dynamic tracking method based on fusion target attitude |
| CN112173173A (en) * | 2020-09-14 | 2021-01-05 | 北京空间飞行器总体设计部 | Target visible arc segment determination method for imaging satellite |
| CN112319857A (en) * | 2020-10-12 | 2021-02-05 | 中山大学 | Combined attitude control method and system for remote distributed satellite |
| CN112498743A (en) * | 2020-10-23 | 2021-03-16 | 中国人民解放军战略支援部队航天工程大学 | Satellite attitude tracking controller based on feedforward and feedback |
| CN112455726A (en) * | 2020-12-10 | 2021-03-09 | 长光卫星技术有限公司 | Low-orbit optical remote sensing satellite multi-point imaging rapid maneuvering control method |
| CN113466483A (en) * | 2021-06-17 | 2021-10-01 | 北京控制工程研究所 | On-line intelligent diagnosis method for satellite angular velocity abnormal fault under condition of no gyroscope |
| CN115717884A (en) * | 2022-11-18 | 2023-02-28 | 中国科学院长春光学精密机械与物理研究所 | Bias flow angular velocity measurement, calculation and verification system of bias flow mechanism |
| CN115808164A (en) * | 2022-11-18 | 2023-03-17 | 中国科学院长春光学精密机械与物理研究所 | Method for measuring angular speed and adjusting drift angle of drift mechanism under rotary platform in real time |
| CN115717884B (en) * | 2022-11-18 | 2023-08-22 | 中国科学院长春光学精密机械与物理研究所 | Bias angular velocity measurement, calculation and verification system of bias mechanism |
| CN115808164B (en) * | 2022-11-18 | 2023-09-15 | 中国科学院长春光学精密机械与物理研究所 | Method for measuring angular speed of bias flow mechanism under rotary platform and adjusting bias flow angle in real time |
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