CN109141394A - A kind of high-precision Satellite Attitude Determination method based on many attitude sensor - Google Patents
A kind of high-precision Satellite Attitude Determination method based on many attitude sensor Download PDFInfo
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- CN109141394A CN109141394A CN201810735178.9A CN201810735178A CN109141394A CN 109141394 A CN109141394 A CN 109141394A CN 201810735178 A CN201810735178 A CN 201810735178A CN 109141394 A CN109141394 A CN 109141394A
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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
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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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
- G01C21/20—Instruments for performing navigational calculations
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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
- G01C21/24—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for cosmonautical navigation
Abstract
The high-precision Satellite Attitude Determination method based on many attitude sensor that the invention discloses a kind of the steps include: to calculate optical axis vector of each star sensor in inertial system；By installation parameter of the multiple groups optical axis vector sum optical axis in body coordinate system system, attitude data of the celestial body in inertial system is calculated；Calculate the gyro angular velocity information of inertial system；To attitude of satellite data and gyro data combined treatment；Calculate the angular displacement data under inertial system；Diagonal displacement data and celestial body attitude data carry out FFT transform, obtain frequency domain information；The frequency domain of diagonal displacement carries out high-pass filtering；Low-pass filtering is carried out to the frequency domain of celestial body posture；Two kinds of frequency informations are combined using wiener filtering, optimal frequency domain information is obtained, and FFT inverse transformation is carried out to it, obtains attitude data.The present invention determines appearance strategy by multi sensor combination, in conjunction with each type of sensor, learns from other's strong points to offset one's weaknesses, can obtain optimal posture information, to significantly improve accuracy of attitude determination.
Description
Technical field
The present invention relates to a kind of Satellite Attitude Determination method more particularly to a kind of high-precision satellites based on many attitude sensor
Method for determining posture.
Background technique
High accuracy positioning is the demand of high-resolution satellite image processing and application, and remote sensing image, which is not only, requires resolution ratio
Etc. picture qualities raising, also exigent geometry accuracy of attitude determination.
In order to improve geometry accuracy of attitude determination, subsequent high score satellite increases or to improve stellar camera, high precision star quick, high-precision
Spend the load such as gyro.The use of a variety of spaceborne load of high-precision fixed appearance determines appearance for satellite high-precision and provides the foundation.With space
The raising of resolution ratio and positioning accuracy, in previous negligible some factors, as attitude sensor installation error it is calibrated after
Quick low frequency aberration of remaining residual error, star etc., it is necessary to determine in filter design procedure and account in posture.So in order to send out
Wave these spaceborne efficiency for determining appearance sensor, it is necessary to carry out the high-precision fixed appearance Study on Data Processing Techniques of satellite borne sensor, it is right
Correlated error factor is analyzed in attitude measurement and attitude data processing, and using star integrated means improve posture and determine essence
Degree, the raising for high score satellite data localization process precision provide support, are the development of high score satellite earth observation technology and application
Basis, while again be improve and expand satellite application level key factor.
Summary of the invention
In order to solve shortcoming present in above-mentioned technology, the present invention provides a kind of based on many attitude sensor
High-precision Satellite Attitude Determination method.
In order to solve the above technical problems, the technical solution adopted by the present invention is that: it is a kind of based on many attitude sensor
High-precision Satellite Attitude Determination method, overall step are as follows:
S1, it pre-processes first to passing star sensor data under satellite, makes rough error in the quick data of star, interval, carry
These abnormal conditions of error are detected and are corrected；Calculate optical axis vector of each star sensor in inertial system；
S2, the installation parameter by multiple groups optical axis vector sum optical axis in body coordinate system system, are calculated using Quest algorithm
Attitude data of the celestial body in inertial system；
S3, the gyro data that satellite passes down is pre-processed, carries out elimination of rough difference, coordinate system transformation processing, obtains inertial system
Gyro angular velocity information；
S4, under inertial system, using UKF algorithm to attitude of satellite data and gyro data combined treatment, obtain instantaneous essence
Spend higher celestial body posture；
S5, it then pre-processes to passing angular displacement data under satellite, obtains these abnormal conditions of rough error, carry errors
Detection and amendment, obtain the angular displacement data under inertial system；
S6, diagonal displacement data and celestial body attitude data carry out FFT transform, obtain its frequency domain information；
The frequency domain progress high-pass filtering of S7, diagonal displacement, obtain its high-frequency information；Low pass is carried out to the frequency domain of celestial body posture
Filtering, obtains its low-frequency information；
S8, two kinds of frequency informations are combined using wiener filtering, obtain optimal frequency domain information, and carry out to it
FFT inverse transformation, obtains attitude data.
The angular displacement sensor of present invention combination ultra-high frequency, obtains and analyzes the correct high-frequency information of posture, then adopts
With wiener filter it is this based on minimum mean square error criterion, to the optimal estimation device of stationary process, can extract by noise institute
The attitude signal of pollution, to significantly improve accuracy of attitude determination；Multi sensor combination determines appearance strategy, in conjunction with each type of sensing
Device is learnt from other's strong points to offset one's weaknesses, and optimal posture information can be obtained.
Detailed description of the invention
Fig. 1 is overall flow schematic diagram of the invention.
Specific embodiment
The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.
A kind of high-precision Satellite Attitude Determination method based on many attitude sensor shown in FIG. 1, the specific steps are that:
S1, it pre-processes first to passing star sensor data under satellite, makes rough error in the quick data of star, interval, carry
The abnormal conditions such as error are detected and are corrected；In satellite sensor operational process, due to detection exception or transmission abnormality, meeting
Down-transmitting data is caused there are apparent abnormal conditions, preprocessing process is exactly to remove or correct these feelings before data use
Condition；Then optical axis vector of each star sensor in inertial system is calculated；
The step requires star sensor at least more than being equal to 2, and when installation makes the angle between optical axis two-by-two close to 90 °；
S2, the installation parameter by multiple groups optical axis vector sum optical axis in body coordinate system system, are calculated using Quest algorithm
Attitude data of the celestial body in inertial system；QUEST (Quaternion Estimation) algorithm is under a kind of least square meaning
Optimal quaternary number estimation method；
S3, the gyro data that satellite passes down is pre-processed, carries out elimination of rough difference, coordinate system transformation processing, obtains inertial system
Gyro angular velocity information；
S4, under inertial system, using UKF algorithm to attitude of satellite data and gyro data combined treatment, obtain instantaneous essence
Spend higher celestial body posture；UKF algorithm, i.e. Unscented kalman filtering algorithm are a kind of approximate by the progress of posterior probability density
And obtain the filtering algorithm of suboptimum；
S5, it then pre-processes to passing angular displacement data under satellite, examines the abnormal conditions such as rough error, carry errors
It surveys and corrects, obtain the angular displacement data under inertial system；
S6, diagonal displacement data and celestial body attitude data carry out FFT (Fast Fourier Transform) transformation, obtain
Its frequency domain information；FFT transform, that is, Fast Fourier Transform (FFT), be in signal processing and data analysis field most important algorithm it
One；
The frequency domain progress high-pass filtering of S7, diagonal displacement, obtain its high-frequency information；Low pass is carried out to the frequency domain of celestial body posture
Filtering, obtains its low-frequency information；High-pass filtering, low-pass filtering are mature filter types, the former rule is high-frequency signal energy
Normal through, and the low frequency signal lower than setting critical value is then blocked, weakens；The latter's rule is that low frequency signal can positive normal open
It crosses, and the high-frequency signal more than setting critical value is then blocked, weakens；
S8, two kinds of frequency informations are combined using wiener filtering, obtain most reasonable frequency domain information, and to its into
Row FFT inverse transformation, obtains attitude data.Wiener filtering (i.e. Wiener filtering) be it is a kind of based on minimum mean square error criterion, it is right
The optimal estimation device of stationary process, for extracting the signal polluted by stationary noise.
In the prior art, the processing of remote sensing satellite posture mostly uses that star is quick plus gyro joint determines the mode of appearance, this mode for
There is no effective solution and inhibitory effects for the high frequency flutter of satellite, and three quick angle direction essences of single star
Degree disunity is also the major reason for influencing attitude accuracy.And the present invention passes through multiple groups star sensor integrated attitude determination, it can be effective
Inhibit high frequency flutter and single star sensor in the problem of non-optical axis direction attitude accuracy difference, so as to solve prior art item
Under part, three angular pose low precisions of Satellite Attitude Determination are away from the problems such as big, posture high frequency accuracy is undesirable.
Above embodiment is not limitation of the present invention, and the present invention is also not limited to the example above, this technology neck
The variations, modifications, additions or substitutions that the technical staff in domain is made within the scope of technical solution of the present invention, also belong to this hair
Bright protection scope.
Claims (1)
1. a kind of high-precision Satellite Attitude Determination method based on many attitude sensor, it is characterised in that: the whole step of the method
Suddenly are as follows:
S1, it pre-processes first to passing star sensor data under satellite, makes rough error in the quick data of star, interval, carry errors
These abnormal conditions are detected and are corrected；Calculate optical axis vector of each star sensor in inertial system；
S2, the installation parameter by multiple groups optical axis vector sum optical axis in body coordinate system system, calculate celestial body using Quest algorithm
Attitude data in inertial system；
S3, the gyro data that satellite passes down is pre-processed, carries out elimination of rough difference, coordinate system transformation processing, obtains the top of inertial system
Spiral shell angular velocity information；
S4, under inertial system, using UKF algorithm to attitude of satellite data and gyro data combined treatment, obtain instantaneous precision more
High celestial body posture；
S5, it then pre-processes to passing angular displacement data under satellite, detects these abnormal conditions of rough error, carry errors
And amendment, obtain the angular displacement data under inertial system；
S6, diagonal displacement data and celestial body attitude data carry out FFT transform, obtain its frequency domain information；
The frequency domain progress high-pass filtering of S7, diagonal displacement, obtain its high-frequency information；Low pass filtered is carried out to the frequency domain of celestial body posture
Wave obtains its low-frequency information；
S8, two kinds of frequency informations are combined using wiener filtering, obtain optimal frequency domain information, and FFT is carried out to it
Inverse transformation obtains attitude data.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113091732A (en) * | 2021-03-12 | 2021-07-09 | 上海卫星工程研究所 | Fixed star capturing method and system for satellite performance index on-orbit evaluation |
| CN114088112A (en) * | 2021-10-27 | 2022-02-25 | 中国空间技术研究院 | Satellite attitude determination precision evaluation method and system |
| CN114396934A (en) * | 2022-01-24 | 2022-04-26 | 自然资源部国土卫星遥感应用中心 | Attitude optimization method considering satellite period error |
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| CN113091732A (en) * | 2021-03-12 | 2021-07-09 | 上海卫星工程研究所 | Fixed star capturing method and system for satellite performance index on-orbit evaluation |
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| CN114396934A (en) * | 2022-01-24 | 2022-04-26 | 自然资源部国土卫星遥感应用中心 | Attitude optimization method considering satellite period error |
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Inventor after: Wu Fangcai Inventor after: Zhang Difei Inventor after: Bai Xiaohui Inventor after: Zhou Xin Inventor after: Niu Dong Inventor before: Wu Fangcai Inventor before: Bai Xiaohui Inventor before: Zhou Xin Inventor before: Niu Dong |
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