CN109373903A - Posture relationship determines system and method between spacecraft component - Google Patents
Posture relationship determines system and method between spacecraft component Download PDFInfo
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- CN109373903A CN109373903A CN201811492055.3A CN201811492055A CN109373903A CN 109373903 A CN109373903 A CN 109373903A CN 201811492055 A CN201811492055 A CN 201811492055A CN 109373903 A CN109373903 A CN 109373903A
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- posture
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- benchmark prism
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
Abstract
A kind of posture relationship between spacecraft component determines system, may include the first angular instrument group, the second angular instrument group and processor.The first angular instrument group can be used for measuring the spatial attitude of the benchmark prism of spacecraft.The second angular instrument group can be used for measuring the spatial attitude of the benchmark prism of the component of spacecraft.The processor can determine the posture relationship of the spacecraft Yu the component according to the spatial attitude of the benchmark prism of the spatial attitude and component of the spacecraft benchmark prism.Posture relationship provided by the present application determines that system is automatically measured the posture of spacecraft and its component by angular instrument group, and artificial constructed relationship between the two is substituted by processor, working efficiency can be greatly improved, the reduction of human factor bring operating error and reliability is reduced.
Description
Technical field
The present invention relates to the system of posture relationship and sides between spacecraft field more particularly to a kind of determining spacecraft component
Method.
Background technique
The spacecrafts such as such as satellite in orbit when, internal each component is (including spacecraft itself, and each
Class high-precision is directed toward rotation stand-alone device etc.) it is likely to be at multiple and different frames of reference.Needed between variant component by
The respective frame of reference connects, the shared or mutually work such as conversion being just able to achieve between each parts data.Therefore, it needs
Will the relationship between the frame of reference to each component demarcated or established in advance between transformational relation, boat is completed
State control, single machine rotation, the foundation of tracking benchmark relation of its device in-orbit period.The foundation of this relationship is in-orbit to spacecraft
It completes over the ground, to star, to cooperative target, the pointing accuracy of noncooperative target is most important.
Mostly in the prior art is the relationship that the frame of reference of manual measurement difference component is carried out using more theodolites.This
There are inefficiency, artificial measurement errors to lead to the disadvantages of data are unstable, data are unreliable for kind method
It would therefore be desirable between a kind of new spacecraft component posture relationship system and method, to solve above-mentioned skill
Art problem.
Summary of the invention
The application be designed to provide a kind of new spacecraft component between posture relationship determine method, to solve existing skill
The problems such as posture relationship determines the inefficiency of method between the spacecraft component of art, and error is big and unreliable.
The one side of the application proposes that the posture relationship between a kind of spacecraft component determines system, may include the first angle measurement
Instrument group, the second angular instrument group and processor.The first angular instrument group can be used for sending out to the first benchmark prism of spacecraft
The first light beam group is penetrated, and receives the first the reflected beams group of the first benchmark prismatic reflection.The second angular instrument group can be with
The second benchmark prism for the first component to the spacecraft emits the second light beam group, and receives the second benchmark prism
Second the reflected beams group of reflection.The processor can be used for: described first received according to the first angular instrument group
The reflected beams group determines the first posture of the first benchmark prism；Described second received according to the second angular instrument group
The reflected beams group determines the second posture of the second benchmark prism；And it is true according to first posture and second posture
The posture relationship of the fixed spacecraft and the first component.
The posture of spacecraft and its component is measured automatically by angular instrument group, and is substituted by processor artificial constructed
Relationship between the two can greatly improve working efficiency, reduce the reduction of human factor bring operating error and reliability.
In some embodiments, the first benchmark prism and the second benchmark prism may include more than one reflection
Face.
The special circumstances that the shape of benchmark prism can be changeable, can be directed to different spacecrafts in this way component be adopted
With benchmark prism of different shapes, the adaptability of this system is improved.
In some embodiments, the first angular instrument group may include at least two first angular instruments, and described at least two
A first angular instrument receives respectively to different the first light beams of reflection surface launching of the first benchmark prism from described the
First the reflected beams of the different reflective surfaces of one benchmark prism.The second angular instrument group includes at least two second surveys
Angle instrument, at least two second angular instrument respectively to different the second light beams of reflection surface launching of the second benchmark prism,
And receive the second the reflected beams of the different reflective surfaces from the second benchmark prism.
For a benchmark prism, reflectings surface different thereon is measured by least two angular instruments, Ke Yiman
Foot is to the benchmark prism requirement that posture determines in three dimensions.
In some embodiments, the different reflectings surface of the first benchmark prism can be mutually perpendicular to, second benchmark
The different reflectings surface of prism can be orthogonal.
After the normal vector of orthogonal reflecting surface determines, the frame of reference of the benchmark prism can be directly determined out,
And do not have to carry out mathematics conversion again, save computing resource.
In some embodiments, the first the reflected beams group received according to the first angular instrument group determines
First posture of the first benchmark prism may include: first be respectively received according at least two first angular instrument
The reflected beams determine the first normal vector of the different reflectings surface of the first benchmark prism, and according to the method for the different reflectings surface
Vector determines the first posture of the first benchmark prism.
In some embodiments, the second the reflected beams group received according to the second angular instrument group determines
Second posture of the second benchmark prism may include: second be respectively received according at least two second angular instrument
The reflected beams determine the normal vector of the different reflectings surface of the second benchmark prism, and according to the normal vector of the different reflectings surface
Determine the second posture of the second benchmark prism.
Method by determining the normal vector of reflecting surface can accurately determine out the corresponding appearance of benchmark prism in space
State.
In some embodiments, the normal vector of the different reflectings surface of the determination the first benchmark prism may include:
For any one at least two first angular instrument, according to first angular instrument and its first light emitted is received
The transmitting location point of the distance between described first benchmark prismatic reflection face of beam and first light beam is anti-to described first
The vector of the reception location point of irradiating light beam, determines first normal vector.First appearance of determination the first benchmark prism
State may include: to determine the first benchmark prism according to the first normal vector of the different reflectings surface of the first benchmark prism
First frame of reference.
In some embodiments, the normal vector of the different reflectings surface of the determination the second benchmark prism may include:
For any one at least two second angular instrument, according to second angular instrument and its second light emitted is received
The transmitting location point of the distance between described second benchmark prismatic reflection face of beam and second light beam is anti-to described second
The vector of the reception location point of irradiating light beam, determines second normal vector.Second appearance of determination the second benchmark prism
State may include: to determine the second benchmark prism according to the second normal vector of the different reflectings surface of the second benchmark prism
Second frame of reference.
The distance of point, receiving point and injection point apart from reflecting surface is projected by transmitting light beam, can be easy to push away
The expression formula for calculating the normal vector of reflecting surface, to further determine the posture of benchmark prism according to different normal vectors.
In some embodiments, it is described according to first posture and second posture determine the spacecraft with it is described
The posture relationship of the first component may include: to be determined according to first frame of reference and second frame of reference from described the
Transfer matrix of one frame of reference to second frame of reference.
By way of constructing transfer matrix, the posture relationship between spacecraft and component is quantified.Make it later
Application process in it is more convenient.
In some embodiments, the system may further include third angular instrument group.The third angular instrument group can
To emit third light beam group for the third benchmark prism of the second component to the spacecraft, and receive the third benchmark rib
The third the reflected beams group of mirror reflection.The processor can be further used for: be received according to the third angular instrument group
The third the reflected beams group determines the third posture of the third benchmark prism；And according to first posture and described
Three postures determine the posture relationship of the spacecraft Yu the third member.
For spaceborne any part, can by way of increasing angular instrument group to it between other component
Posture relationship be determined, increase the versatility of this system.
The another aspect of the application proposes that the posture relationship between a kind of spacecraft component determines method, may include: first
Angular instrument group emits the first light beam group to the first benchmark prism of spacecraft, and receives the first of the first benchmark prismatic reflection
The reflected beams group；Second angular instrument group emits the second light beam group to the second benchmark prism of the first component of the spacecraft, and
Receive the second the reflected beams group of the second benchmark prismatic reflection；Described first received according to the first angular instrument group
The reflected beams group determines the first posture of the first benchmark prism；Described second received according to the second angular instrument group
The reflected beams group determines the second posture of the second benchmark prism；And it is true according to first posture and second posture
The posture relationship of the fixed spacecraft and the first component.
The method can be determined posture relationship spacecraft component in conjunction with the system of the application first aspect.
Other feature will be set forth in part in the description in the application.By the elaboration, make the following drawings and
The content of embodiment narration becomes apparent for those of ordinary skills.Inventive point in the application can pass through
Practice is sufficiently illustrated using method described in detailed example discussed below, means and combinations thereof.
Detailed description of the invention
Exemplary embodiment disclosed in this application is described in detail in the following drawings.Wherein identical appended drawing reference is in attached drawing
Several views in indicate similar structure.Those of ordinary skill in the art will be understood that these embodiments be non-limiting,
Exemplary embodiment, the purpose that attached drawing is merely to illustrate and describes, it is no intended to it limits the scope of the present disclosure, other modes
Embodiment may also similarly complete the intention of the invention in the application.It should be appreciated that the drawings are not drawn to scale.Wherein:
Fig. 1 shows the usage scenario figure according to shown in some embodiments of the present application.
Fig. 2 shows the system schematics for establishing posture relationship between spacecraft component of some embodiments of the present application.
Fig. 3 show the method flow diagram of posture relationship between the determination spacecraft component of one embodiment of the application.
Fig. 4 A show the angular instrument operation principle schematic diagram of one embodiment of the application.
The reflecting surface normal vector that Fig. 4 B show one embodiment of the application determines method schematic diagram.
Specific embodiment
Following description provides the specific application scene of the application and requirements, it is therefore an objective to those skilled in the art be enable to make
It makes and using the content in the application.To those skilled in the art, to the various partial modifications of the disclosed embodiments
Be it will be apparent that and without departing from the spirit and scope of the disclosure, the General Principle that will can be defined here
Applied to other embodiments and application.Therefore, the embodiment the present disclosure is not limited to shown in, but it is consistent most wide with claim
Range.
Term used herein is only used for the purpose of description specific example embodiments, rather than restrictive.For example, unless
Context is expressly stated otherwise, used herein above, singular " one ", "one" and "the" also may include plural form.
When used in this manual, the terms "include", "comprise" and/or " containing " are meant that associated integer, step, behaviour
Make, element and/or component exist, but be not excluded for other one or more features, integer, step, operation, element, component and/or
Group presence or can be added in the system/method other features, integer, step, operation, element, component and/or.
In view of being described below, the operation of the related elements of these features of the disclosure and other features and structure and
The economy of combination and the manufacture of function and component may be significantly raising.With reference to attached drawing, all these formation disclosure
A part.It is to be expressly understood, however, that the purpose that attached drawing is merely to illustrate and describes, it is no intended to limit the disclosure
Range.
Fig. 1 shows the usage scenario figure according to shown in some embodiments of the present application.Spacecraft 1 as shown in the figure does not limit to
The satellite shown in also may include other any equipment run in space, such as spaceship, space shuttle, rocket
Deng.Spacecraft 1 shown in FIG. 1 may include the equipment such as component 2 and component 3.The component 2 and component 3 may include any dress
Fit on the spacecraft 1 with equipment (such as the various signal receiving/transmission devices with direction-pointing function that can be rotated function
Deng).
The component 2 or component 3 may be in different postures during rotation, between component or component with it is described
The posture relationship of spacecraft 1 may change with its rotation process.Therefore, it is necessary in ground-mounted in advance to each
Transformational relation is established between component and with the frame of reference of spacecraft 1.
Fig. 2 shows the system schematics for establishing posture relationship between spacecraft component of some embodiments of the present application.Institute
The system of stating includes spacecraft 1 and the angular instrument group for demarcating spacecraft 1 and its component pose relationship.In some embodiments,
The spacecraft 1 can reach scheduled position when assembling in producing line, the angular instrument group can measure the spacecraft 1 or
Posture of its component of person at predetermined position.The posture can be indicated with the frame of reference.In some embodiments, described
Spacecraft 1 or its component may include benchmark prism, and the posture of the benchmark prism can be used to indicate the appearance of the component
State.Such as in Fig. 2, shown benchmark prism 201 can be used to indicate the posture of the spacecraft 1, and shown benchmark prism 202 can
To be used to indicate the posture of the component of the spacecraft 1.It should be noted that the benchmark prism 201 and 202 can be it is described
The benchmark prism of any two component (including spacecraft 1 itself) of spacecraft 1, passes through the posture relationship to two benchmark prisms
Determination, may thereby determine that the posture relationship of any two component.
The system may further include several angular instruments.The angular instrument can be by a reflection surface launching light
Beam simultaneously receives the reflected beams to determine the normal vector of the reflecting surface.In Fig. 2, including angular instrument 21, angular instrument 22, angular instrument 23
With angular instrument 24.The angular instrument 21 and angular instrument 22 constitute the first angular instrument group, and the angular instrument 23 and angular instrument 24 are constituted
Second angular instrument group.The first angular instrument group is used to measure the posture of the benchmark prism 201, and the second angular instrument group is used
In the posture for measuring the benchmark prism 202.
By taking angular instrument 22 as an example, the angular instrument 22 may include beam launcher 222 and beam reception plane 223,
The frame of reference of the angular instrument 22 is benchmark coordinate system 221.The frame of reference 221 of the angular instrument 22 can in advance with
One dimensional reference coordinates system establishes connection.Such as in the space of measurement environment shown in Fig. 2, it may be predetermined that a space
The frame of reference, and the frame of reference 221 of the angular instrument 22 and the relationship of the dimensional reference coordinates system are established (as determined
Transfer matrix between two frames of reference).The beam launcher 222 can emit light beam, and the light beam can be
Laser, or the light beam that similar with laser diversity is weaker.The beam reception plane 223 can receive any light beam, packet
Include what the beam launcher 222 emitted, and by the light beam of a reflective surface.In some embodiments, as in Fig. 2
Beam reception plane 223 amplifier section shown in, thereon may include several station location markers, four-quadrant as shown in Figure 2
Axis a and axis b.The station location marker is also possible to any mark that can be used to indicate received the reflected beams position,
Such as grid, concentric circles etc..
In the embodiment shown in Figure 2, the light beam 227 emitted by beam launcher 222 is passing through the benchmark prism
After the reflection of 201 reflecting surface, the reflected beams 228 are projected in the beam reception plane 223.The light beam 227
Injection point 225 be located at the center of the beam reception plane 223, and the light beam 227 and the beam reception plane 223 are hung down
Directly, the axis a is vertical with the axis b, then the light beam 227 and axis a and axis b also constitutes a space right-angle
Coordinate system.In some embodiments, the rectangular coordinate system in space can be with 221 weight of the frame of reference of the angular instrument 22
It closes, can not also be overlapped and (both sides relation be constructed by a transfer matrix).The reflected beams 228 project the light beam and connect
The position for being closed flat face 223 is receiving point 226.
It should be noted that the light beam 227 injection point 225 can also without the beam reception plane 223, and
Projecting direction can not also be vertical with the beam reception plane 223.It will be appreciated by those of ordinary skill in the art that as long as institute
The transmitting position and launch angle for stating light beam 227 be it is known, then the effect of method/system described herein equally may be implemented
Fruit.
Benchmark prism 201 shown in Fig. 2 is regular hexahedron prism.The light beam 227 projects the benchmark prism 201
One of reflecting surface on after reflect.The benchmark prism 201 also may include it is arbitrary polyhedron-shaped, such as trigone
Cone, octahedron, ten hexahedrons etc..
The receiving point 226 is located in the range of receiving (visual field) of the beam reception plane 223.The beam reception is flat
Station location marker on face 223 can determine the specific location of the receiving point 226.Such as in the embodiment shown in Figure 2, institute
State the coordinate representation in the plane right-angle coordinate that the position of receiving point 226 can be made of the axis a and axis b.Institute
In the producing line for stating spacecraft 1 and its component assembling, the spacecraft 1 can reach preset measurement station, so that the angle measurement
The light beam of the benchmark prism transmitting of instrument 22 and other angular instruments thereto, it is flat can to fall on the beam reception after reflection
In the range of face 223 i.e. other beam reception planes.In system described herein, it can be penetrated according to electronic equipment
The position and the injection point 225 of point 225 and receiving point 226 correspond to reflecting surface on the benchmark prism 201 apart from it out
Distance determine the normal vector of the corresponding reflecting surface (detailed description is see flow chart 3 and its corresponding describes).
Similarly, the angular instrument 21 can also determine that it corresponds to the normal vector of reflecting surface by similar approach.Described in Fig. 2
Two reflectings surface of the hexahedron structure of benchmark prism 201 are mutually perpendicular to, true in the normal vector direction of described two reflectings surface
After fixed, the posture (or its frame of reference) of the benchmark prism 201 is also corresponding to be determined.It should be noted that in the base
When quasi- prism 201 is not regular hexahedron, described two reflectings surface can not also be mutually perpendicular to, then the appearance of the benchmark prism 201
State needs the positional relationship between normal vector and described two reflectings surface by described two reflectings surface to determine.In addition, with
Can be more than two shown in Fig. 2 to measure the angular instrument of 201 posture of benchmark prism, such as the benchmark shown in Fig. 2
The z-axis direction of prism 201 adds an angular instrument again, determines the benchmark prism 201 jointly with other two angular instruments 21 and 22
Posture.
Likewise, the posture (or its frame of reference) of the benchmark prism 202 of the component can also pass through the angle measurement
Instrument 23 and angular instrument 24 determine.And then the posture of the benchmark prism 201 and the posture relationship of the benchmark prism 202 are also corresponding
Determine (detailed description is see flow chart 3 and its corresponding description).
Fig. 3 show the method flow diagram of posture relationship between the determination spacecraft component of one embodiment of the application.Institute
State method and complete using system shown in Fig. 2 the foundation of posture relationship between the spacecraft component.
In step 301, the first angular instrument group can emit the first light beam group to the first benchmark prism of spacecraft, and connect
Receive the first the reflected beams group of the first benchmark prismatic reflection.It corresponds in Fig. 2, the first angular instrument group may include surveying
Angle instrument 21 and angular instrument 22, two angular instruments emit light beam to benchmark prism 201 respectively, and the light beam that two angular instruments emit respectively is
First light beam group.The first light beam group is described by the light beam that two reflectings surface of the benchmark prism 201 reflect respectively
First the reflected beams group.The reflected beams in the first the reflected beams group project the angular instrument 21 and angular instrument 22 respectively
Beam reception plane on.
In step 302, the second angular instrument group can emit to the second benchmark prism of the first component of the spacecraft
Second light beam group, and receive the second the reflected beams group of the second benchmark prismatic reflection.It corresponds in Fig. 2, described second surveys
Angle instrument group may include angular instrument 23 and angular instrument 24, and two angular instruments are sent out to the corresponding benchmark prism 202 of the first component respectively
Irradiating light beam (the second light beam group).The light that the second light beam group reflects respectively by two reflectings surface of the benchmark prism 202
Beam is the second the reflected beams group.The reflected beams in the second the reflected beams group project 23 He of angular instrument respectively
In the beam reception plane of angular instrument 24.
In step 303, the first the reflected beams group that can be received according to the first angular instrument group determines institute
State the first posture of the first benchmark prism.First posture of the first benchmark of determination prism can system as shown in Figure 2 place
Device (not shown) is managed to complete.In some embodiments, the processor can be according to the survey in the first angular instrument group
The reflected beams that the distance of the reflecting surface of the corresponding first benchmark prism of angle instrument distance and the angular instrument receive
Position in its beam reception plane determines that it corresponds to the normal vector of the plane of reflection.The processor can further basis
The normal vector of the corresponding reflecting surface of different angular instrument determines the first of the first benchmark prism in the first angular instrument group
Posture.
By taking angular instrument 22 as an example, emits light beam to the benchmark prism 201 and received process can pass through Fig. 4 A table
Show.Light beam 227 is projected from the angular instrument 22, and projecting point 225 is coordinate origin O.X-axis and z-axis are respectively the angular instrument
Axis a and axis b in 22 beam reception plane 223.The direction of light beam 227 is the direction of y-axis.X-axis, y-axis and z-axis are common
Constitute the frame of reference 221 of the angular instrument 22.The light beam 227 projects on the reflecting surface P of the benchmark prism 201
A point, and generate the reflected beams 228.The reflected beams 228 project xOz plane (the namely described beam reception plane 223
On) B point.Based on optical principle, the light beam 227 is symmetrical about the normal vector of the reflecting surface P with the reflected beams 228.Institute
It is located in AOB plane with the normal vector of the plane P, and with BO line segment intersection in C point, wherein ∠ OAC is equal to ∠ BAC.Fig. 4 B
For the plan view of triangle AOB.The length of AO is that the light beam 227 projects length of the point apart from the plane P in figure, which can
Could be adjusted to obtain by the position in advance to angular instrument 22.The length of OB can be from the beam reception plane 223
The position of receiving point 226 is directly read.Due to the vertical AB of AO, and ZOAC is equal to ∠ BAC, then the length of OC can determine.
It returns in Fig. 4 A, after the length of OC determines, then the position of C point also determines therewith.So the normal vector of reflecting surface P,
That is vectorIt can be according to A point (0, y1, 0) and C point (- x1, 0, z1) coordinate be determined as (- x1,-y1, z1).In some implementations
In example, the frame of reference 221 of the angular instrument 22 such as can determine in advance with a dimensional reference coordinates system opening relationships
Transfer matrix M2 between the two.The normal vector of the reflecting surface PThen the sky can be mapped to by transfer matrix M2
Between in the frame of reference.
Likewise, angular instrument 21 can also measure its normal vector for corresponding to reflecting surface by the above method.For benchmark rib
Mirror 201, after the normal vector of two adjacent planes in hexahedron structure determines, posture (frame of reference) in space
Also it determines that.
In step 304, the second the reflected beams group that can be received according to the second angular instrument group determines institute
State the second posture of the second benchmark prism.The determination method of second posture is identical with step 303, and details are not described herein.
In step 305, the spacecraft and described the can be determined according to first posture and second posture
The posture relationship of one component.It corresponds in Fig. 2, the normal vector of two reflectings surface of the benchmark prism 201 can be by described
The frame of reference 211 of angular instrument 21 and the transfer matrix M1, the transfer matrix M2 of dimensional reference coordinates system are mapped to described
In dimensional reference coordinates system, so the frame of reference of the benchmark prism 201 can also be logical with the dimensional reference coordinates system
Cross transfer matrix M01 opening relationships.Likewise, the frame of reference of the benchmark prism 202 can also be with the space reference
Coordinate system passes through transfer matrix M02 opening relationships.Therefore the frame of reference of the benchmark prism 201 and the benchmark prism
202 frame of reference can by respectively constructing relationship between the two in the relationship of dimensional reference coordinates system, than
Such as from the frame of reference of benchmark prism 201 to the transfer matrix M12 of the frame of reference of the benchmark prism 202.The boat
Posture relationship between its device 1 and its component can determine.
In conclusion after reading this detailed disclosures, it will be understood by those skilled in the art that aforementioned detailed disclosure
Content can be only presented in an illustrative manner, and can not be restrictive.Although not explicitly described or shown herein, this field skill
Art personnel are understood that improve and modify it is intended to include the various reasonable changes to embodiment.These change, improve and
It modifies and is intended to be proposed by the disclosure, and in the spirit and scope of the exemplary embodiment of the disclosure.
In addition, certain terms in the application have been used for describing implementation of the disclosure example.For example, " one embodiment ",
" embodiment " and/or " some embodiments " means to combine the special characteristic of embodiment description, and structure or characteristic may include
In at least one embodiment of the disclosure.Therefore, it can emphasize and it is to be understood that right in the various pieces of this specification
Two or more references of " embodiment " or " one embodiment " or " alternate embodiment " are not necessarily all referring to identical implementation
Example.In addition, special characteristic, structure or characteristic can be appropriately combined in one or more other embodiments of the present disclosure.
It should be appreciated that in the foregoing description of embodiment of the disclosure, in order to help to understand a feature, originally for simplification
Disclosed purpose, the application sometimes combine various features in single embodiment, attached drawing or its description.Alternatively, the application is again
Be by various characteristic dispersions in multiple the embodiment of the present invention.However, this be not to say that the combination of these features be it is necessary,
Those skilled in the art are entirely possible to come out a portion feature extraction as individual when reading the application
Embodiment understands.That is, embodiment in the application it can be appreciated that multiple secondary embodiments integration.And it is each
The content of secondary embodiment is also to set up when being less than individually all features of aforementioned open embodiment.
In some embodiments, the quantity or property for certain embodiments of the application to be described and claimed as are expressed
The number of matter is interpreted as in some cases through term " about ", " approximation " or " substantially " modification.For example, unless otherwise saying
Bright, otherwise " about ", " approximation " or " substantially " can indicate ± 20% variation of the value of its description.Therefore, in some embodiments
In, the numerical parameter listed in written description and the appended claims is approximation, can be tried according to specific embodiment
Scheme the required property obtained and changes.In some embodiments, numerical parameter should be according to the quantity of the effective digital of report simultaneously
It is explained by the common rounding-off technology of application.Although illustrating that some embodiments of the application list broad range of numerical value
Range and parameter are approximations, but numerical value reported as precisely as possible is all listed in specific embodiment.
Herein cited each patent, patent application, the publication and other materials of patent application, such as article, books,
Specification, publication, file, article etc. can be incorporated herein by reference.Full content for all purposes, in addition to
Its relevant any prosecution file history, may or conflicting any identical or any possibility inconsistent with this document
On any identical prosecution file history of the restrictive influence of the widest range of claim.Now or later and this document
It is associated.For example, if in description, definition and/or the use of term associated with any included material and this
The relevant term of document, description, definition and/or between there are it is any inconsistent or conflict when, be using the term in this document
It is quasi-.
Finally, it is to be understood that the embodiment of application disclosed herein is the explanation to the principle of the embodiment of the application.
Other modified embodiments are also within the scope of application.Therefore, herein disclosed embodiment it is merely exemplary rather than
Limitation.Those skilled in the art can take alternative configuration according to the embodiment in the application to realize the invention in the application.
Therefore, embodiments herein is not limited to which embodiment accurately described in application.
Claims (20)
1. the posture relationship between a kind of spacecraft component determines system characterized by comprising
First angular instrument group for emitting the first light beam group to the first benchmark prism of spacecraft, and receives first benchmark
First the reflected beams group of prismatic reflection；
Second angular instrument group, the second benchmark prism for the first component to the spacecraft emits the second light beam group, and connects
Receive the second the reflected beams group of the second benchmark prismatic reflection；
Processor is used for:
The first of the first benchmark prism is determined according to the first the reflected beams group that the first angular instrument group receives
Posture；
The second of the second benchmark prism is determined according to the second the reflected beams group that the second angular instrument group receives
Posture；And
The posture relationship of the spacecraft Yu the first component is determined according to first posture and second posture.
2. system according to claim 1, which is characterized in that the first benchmark prism and the second benchmark prism packet
Include more than one reflecting surface.
3. system according to claim 1, it is characterised in that:
The first angular instrument group includes at least two first angular instruments, and at least two first angular instrument is respectively to described the
Different the first light beams of reflection surface launching of one benchmark prism, and receive the different reflectings surface from the first benchmark prism
First the reflected beams of reflection；And
The second angular instrument group includes at least two second angular instruments, and at least two second angular instrument is respectively to described the
Different the second light beams of reflection surface launching of two benchmark prisms, and receive the different reflectings surface from the second benchmark prism
Second the reflected beams of reflection.
4. system according to claim 3, which is characterized in that the different reflectings surface of the first benchmark prism mutually hang down
Directly, the different reflectings surface of the second benchmark prism are orthogonal.
5. system according to claim 3, which is characterized in that it is described received according to the first angular instrument group described in
First the reflected beams group determines that the first posture of the first benchmark prism includes:
The first benchmark prism is determined according to the first the reflected beams that at least two first angular instrument is respectively received
First normal vector of different reflectings surface, and the first of the first benchmark prism is determined according to the normal vector of the different reflectings surface
Posture.
6. system according to claim 3, which is characterized in that it is described received according to the second angular instrument group described in
Second the reflected beams group determines that the second posture of the second benchmark prism includes:
The second benchmark prism is determined according to the second the reflected beams that at least two second angular instrument is respectively received
The normal vector of different reflectings surface, and determine according to the normal vector of the different reflectings surface the second appearance of the second benchmark prism
State.
7. system according to claim 5, which is characterized in that
The normal vector of the different reflectings surface of determination the first benchmark prism includes:
For any one at least two first angular instrument, according to first angular instrument and the of its transmitting is received
The transmitting location point of the distance between described first benchmark prismatic reflection face of one light beam and first light beam is to described
The vector of the reception location point of one the reflected beams, determines first normal vector；And
First posture of determination the first benchmark prism includes:
The first base of the first benchmark prism is determined according to the first normal vector of the different reflectings surface of the first benchmark prism
Conventional coordinates.
8. system according to claim 7, which is characterized in that
The normal vector of the different reflectings surface of determination the second benchmark prism includes:
For any one at least two second angular instrument, according to second angular instrument and the of its transmitting is received
The transmitting location point of the distance between described second benchmark prismatic reflection face of two light beams and second light beam is to described
The vector of the reception location point of two the reflected beams, determines second normal vector；And
Second posture of determination the second benchmark prism includes:
The second base of the second benchmark prism is determined according to the second normal vector of the different reflectings surface of the second benchmark prism
Conventional coordinates.
9. system according to claim 8, which is characterized in that described true according to first posture and second posture
The posture relationship of the spacecraft and the first component includes: calmly
It is determined according to first frame of reference and second frame of reference from first frame of reference to described second
The transfer matrix of the frame of reference.
10. system according to claim 1, which is characterized in that the system further comprises:
Third angular instrument group, the third benchmark prism for the second component to the spacecraft emits third light beam group, and connects
Receive the third the reflected beams group of the third benchmark prismatic reflection；
The processor is further used for:
The third of the third benchmark prism is determined according to the third the reflected beams group that the third angular instrument group receives
Posture；And
The posture relationship of the spacecraft Yu the third member is determined according to first posture and the third posture.
11. the posture relationship between a kind of spacecraft component determines method, which is characterized in that including；
First angular instrument group emits the first light beam group to the first benchmark prism of spacecraft, and it is anti-to receive the first benchmark prism
The the first the reflected beams group penetrated；
Second angular instrument group emits the second light beam group to the second benchmark prism of the first component of the spacecraft, and described in reception
Second the reflected beams group of the second benchmark prismatic reflection；
The first of the first benchmark prism is determined according to the first the reflected beams group that the first angular instrument group receives
Posture；
The second of the second benchmark prism is determined according to the second the reflected beams group that the second angular instrument group receives
Posture；And
The posture relationship of the spacecraft Yu the first component is determined according to first posture and second posture.
12. according to the method for claim 11, which is characterized in that the first benchmark prism and the second benchmark prism
Including more than one reflecting surface.
13. according to the method for claim 11, it is characterised in that:
The first angular instrument group includes at least two first angular instruments, and at least two first angular instrument is respectively to described the
Different the first light beams of reflection surface launching of one benchmark prism, and receive the different reflectings surface from the first benchmark prism
First the reflected beams of reflection；And
The second angular instrument group includes at least two second angular instruments, and at least two second angular instrument is respectively to described the
Different the second light beams of reflection surface launching of two benchmark prisms, and receive the different reflectings surface from the second benchmark prism
Second the reflected beams of reflection.
14. according to the method for claim 13, which is characterized in that the different reflectings surface of the first benchmark prism mutually hang down
Directly, the different reflectings surface of the second benchmark prism are orthogonal.
15. according to the method for claim 13, which is characterized in that the institute received according to the first angular instrument group
It states the first the reflected beams group and determines that the first posture of the first benchmark prism includes:
The first benchmark prism is determined according to the first the reflected beams that at least two first angular instrument is respectively received
First normal vector of different reflectings surface, and the first of the first benchmark prism is determined according to the normal vector of the different reflectings surface
Posture.
16. according to the method for claim 13, which is characterized in that the institute received according to the second angular instrument group
It states the second the reflected beams group and determines that the second posture of the second benchmark prism includes:
The second benchmark prism is determined according to the second the reflected beams that at least two second angular instrument is respectively received
The normal vector of different reflectings surface, and determine according to the normal vector of the different reflectings surface the second appearance of the second benchmark prism
State.
17. according to the method for claim 15, which is characterized in that
The normal vector of the different reflectings surface of determination the first benchmark prism includes:
For any one at least two first angular instrument, according to first angular instrument and the of its transmitting is received
The transmitting location point of the distance between described first benchmark prismatic reflection face of one light beam and first light beam is to described
The vector of the reception location point of one the reflected beams, determines first normal vector；And
First posture of determination the first benchmark prism includes:
The first base of the first benchmark prism is determined according to the first normal vector of the different reflectings surface of the first benchmark prism
Conventional coordinates.
18. according to the method for claim 17, it is characterised in that:
The normal vector of the different reflectings surface of determination the second benchmark prism includes:
For any one at least two second angular instrument, according to second angular instrument and the of its transmitting is received
The transmitting location point of the distance between described second benchmark prismatic reflection face of two light beams and second light beam is to described
The vector of the reception location point of two the reflected beams, determines second normal vector；And
Second posture of determination the second benchmark prism includes:
The second base of the second benchmark prism is determined according to the second normal vector of the different reflectings surface of the second benchmark prism
Conventional coordinates.
19. according to the method for claim 18, which is characterized in that described according to first posture and second posture
The posture relationship for determining the spacecraft and the first component includes:
It is determined according to first frame of reference and second frame of reference from first frame of reference to described second
The transfer matrix of the frame of reference.
20. according to the method for claim 11, which is characterized in that the method further includes:
Third angular instrument group emits third light beam group to the third benchmark prism of the second component of the spacecraft, and described in reception
The third the reflected beams group of third benchmark prismatic reflection；
The third of the third benchmark prism is determined according to the third the reflected beams group that the third angular instrument group receives
Posture；And
The posture relationship of the spacecraft Yu the third member is determined according to first posture and the third posture.
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| CN113358024A (en) * | 2021-05-08 | 2021-09-07 | 上海卫星工程研究所 | Satellite instrument relative precision measurement data processing method and system |
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