CN109506656A - Restoring method is passed under a kind of in-orbit posture information of high-precision - Google Patents
Restoring method is passed under a kind of in-orbit posture information of high-precision Download PDFInfo
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- CN109506656A CN109506656A CN201811436291.3A CN201811436291A CN109506656A CN 109506656 A CN109506656 A CN 109506656A CN 201811436291 A CN201811436291 A CN 201811436291A CN 109506656 A CN109506656 A CN 109506656A
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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
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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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
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- Radar, Positioning & Navigation (AREA)
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- Automation & Control Theory (AREA)
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Abstract
The present invention provides pass restoring method under a kind of in-orbit posture information of high-precision, in the case where not extending hardware resource on star, by the information such as star sensor, inertial reference unit raw information and its effective status word, timestamp to be higher than the frequency collection in On-board software control period, pass down and ground restores.It is more demanding to the renewal frequency of the attitude of satellite that this method is suitable for load, but is limited by the software cycle of operation or not quick the case where passing channel down.
Description
Technical field
The present invention relates to restoring method is passed under a kind of in-orbit posture information of high-precision, it is spaceborne to belong to satellite attitude control system
Software design and attitude data applied technical field.
Background technique
With the development of civil aerospace technologies and application demand, the Development Techniques and data handling requirements of load are also increasingly
It is high.The raising that load space resolution ratio and image position accuracy require not only claims to the development of its own technology, it is also necessary to
Star integrated treatment technology raising.
Using star integrated geometric correction processing technique, ground according to platform stance information to remotely-sensed data at
Reason, can correct the factors such as track, posture, deformation influences to load imaging bring.Such as certain bloom spectrum loading, spatial resolution
20m~30m, image position accuracy be better than 200m, for guarantee image scape in opposite geometric accuracy, star integration to satellite put down
Platform proposes the requirement that attitude update rate is not less than 4Hz.
The posture information that load framing needs includes the UTC that star sensor initial data and initial data generate the moment
Time.Many star sensors itself, which do not have, at present provides the function of UTC time, and On-board software is needed to be believed according to the single machine of acquisition
It is passed under ceasing after combining system information to handle out UTC time.
For Satellite Attitude Control System due to function complexity, it includes that metrical information is adopted that the On-board software control period, which is usually 0.5s,
Collection, resolving, fault diagnosis, posture fusion output, control law resolving, internal system and external communication etc., further, since whole star
The limitation of resource, the raw information of star sensor and corresponding UTC time are generally placed upon in the engineering telemetering that 16s or 32s updates
Under pass, it is clear that cannot meet the needs of ground image registration.It is slow that the posture informations telemetering renewal speed such as star sensor are solved at present
Method, mainly increase LVDS interface on star, On-board software directly transmits data to data transmission subsystem, pass through number pass channels
Under pass.
Summary of the invention
The technical issues of solution of the invention, is: having overcome the deficiencies of the prior art and provide a kind of in-orbit posture of high-precision
Restoring method is passed under information, in the case where On-board software controls multi-cycle finite and satellite hardware resource should not extend, by right
On-board software time-sharing design and the extraction of key element in attitude of satellite information raw data and ground surface reduction method are set
Meter meets the needs of load ground image registration is to satellite high-precision attitude update rate and data precision.
The technical solution of the invention is as follows:
A kind of in-orbit posture information of high-precision passes down and restoring method, comprising the following steps:
(1) cycle of operation of On-board software is split as odd, even two to clap, odd even, which is clapped, to be acquired star sensor respectively, is used to
The original measurement information of property reference cell；Odd, even two clap respectively 0.25s；
(2) from extracting star sensor, the key parameter in inertial reference unit posture information in original measurement information；It is crucial
Parameter includes: the original quaternary number of star sensor, the exposure time difference, star sensor RTS failing edge moment local clock, star sensor RTS
Local clock, single time for clapping interior system clock and local clock when the last time synchronous signal impulse that the failing edge moment latches issues
Difference, star sensor status word, original measurement information, the status word of inertial reference unit.
At the time of system clock and watch show On-board software, using UTC time, it is consistent with GPS time；Local clock and watch show calculating
The time of machine hardware system itself is recorded using the time at the time of star sensor transmission instruction.In a 0.25s, it is
The time difference of system clock and local clock is constant.The status word of star sensor indicates whether current star sensor is effective, sentences for ground
Whether the quaternary number initial data that stealpass is sent can be used.The local clock time at star sensor RTS signal failing edge moment refers to: spaceborne
At the time of computer latches when sending lock-out pulse to star sensor.
(3) key parameter repeatedly extracted is stored, and is packaged, is externally sent with predeterminated frequency by bus；Tool
Body are as follows: every 0.25s stores one group of data in Computer Cache, and every 4 groups of data are formed one group of source packet, passed with the period of 1s to number
It sends.
When composition source is wrapped, carried out according to following form:
(4) ground system unpacks after receiving, and restores the corresponding UTC time of star sensor raw information again.
Specifically:
(4.1) the local clock Tmeas_a of the star sensor time of exposure is calculated
Wherein, offsetRTS=TRTS_a-Tpps_a, TRTS_aFor the star sensor RTS signal failing edge moment local clock when
Between, Tpps_aThe local clock time at moment is issued for the last time synchronization signal that the star sensor RTS signal failing edge moment latches,
ΔTdatation_aFor the original exposure time difference of star sensor；
(4.2) the system clock T of the star sensor time of exposure is calculatedss_a, system clock Tss_aIt is as consistent with floor treatment
UTC time；
Tss_a=Tmeas_a+ΔTs,
Wherein, Δ TsFor the time difference of system clock and local clock in single clap.
Compared with the prior art, the invention has the advantages that:
(1) the method for the present invention does not need to increase LVDS hardware resource, it is only necessary to utilize existing bus run on star；
(2) algorithm of On-board software of the present invention is simple, is not required to increase too many code, haves no need to change the software control period,
Not only the high frequency acquisition and transmission to star sensor, gyro data can have been realized, but also do not influenced software reliability.
Detailed description of the invention
Fig. 1 is the method for the present invention flow chart.
Specific embodiment
The specific embodiment of the invention is further illustrated with reference to the accompanying drawing.
As shown in Figure 1, being passed down the invention proposes a kind of in-orbit posture information of high-precision and restoring method, including following step
It is rapid:
(1) cycle of operation of On-board software is split as odd, even two to clap, odd even, which is clapped, to be acquired star sensor respectively, is used to
The original measurement information of property reference cell；Odd, even two clap respectively 0.25s in the present invention.
(2) from extracting star sensor, the key parameter in inertial reference unit posture information in original measurement information；It is described
Key parameter includes: the original quaternary number of star sensor, the exposure time difference, star sensor RTS failing edge moment local clock, star sensor
System clock and local clock in local clock, single bat when the last time synchronous signal impulse that the RTS failing edge moment latches issues
Time difference, star sensor status word, original measurement information, the status word of inertial reference unit.
At the time of system clock and watch show On-board software, using UTC time, it is consistent with GPS time；Local clock and watch show calculating
The time of machine hardware system itself is recorded using the time at the time of star sensor transmission instruction.In one 0.25s, system
The time difference of clock and local clock is constant.
The status word of star sensor indicates whether current star sensor is effective, and the quaternary number for ground judgement transmission is original
Whether data can be used.
The local clock time at star sensor RTS signal failing edge moment refers to: spaceborne computer sends same to star sensor
At the time of latch when pace pulse.
(3) key parameter repeatedly extracted is stored, and is packaged, is externally sent with predeterminated frequency；
Every 0.25s stores one group of data in Computer Cache, and every 4 groups of data form one group of source packet, the response 1s period
Bus interruption is sent out.
When composition source is wrapped, carried out according to following form:
(4) ground system unpacks after receiving, and restores the posture information of star sensor, inertial reference unit again.
Specifically:
(4.1) the local clock Tmeas_a of the star sensor time of exposure is calculated
Wherein, offsetRTS=TRTS_a-Tpps_a, TRTS_aFor the star sensor RTS signal failing edge moment local clock when
Between, Tpps_aThe local clock time at moment is issued for the last time synchronization signal that the star sensor RTS signal failing edge moment latches,
ΔTdatation_aFor the original exposure time difference of star sensor；
(4.2) the system clock T of the star sensor time of exposure is calculatedss_a, system clock Tss_aIt is as consistent with floor treatment
UTC time；
Tss_a=Tmeas_a+ΔTs,
Wherein, Δ TsFor the time difference of system clock and local clock in single clap；
Next star sensor a, b data can be merged, obtains and is directed toward.
Embodiment:
Certain satellite has two import ASTRO10 star sensors, is respectively designated as star sensor a, b.Due to product design
Feature, single machine cannot provide the UTC time that original quaternary number generates the moment, thus system next key parameter extract with
Multiple clocks are added in group packet, the UTC time that the original quaternary number of star sensor a, b generates the moment is obtained by floor treatment.
1. odd, even bat issues RTS request signal data with to star sensor a, b respectively, and receives returned data；
2. extracting key parameter below:
1) single time difference △ Ts for clapping interior system clock and local clock: at the time of system clock and watch show On-board software, when using UTC
Between, it is consistent with GPS time.Local clock and watch show the time of computer hardware system itself, record Xiang Xingmin using the time
At the time of sensor sends instruction and calculating exposes the time difference.In one 0.25s, it is believed that the time difference of system clock and local clock
It is constant；
2) star sensor a, the local clock time T at b RTS signal failing edge momentRTS_a、TRTS_b: spaceborne computer is to star
At the time of sensor a, b are latched when sending lock-out pulse；
3) the last time synchronization signal that star sensor a, b RTS signal failing edge moment latch issues the local clock at moment
Time Tpps_a、Tpps_b；
4) the original exposure time difference △ T of star sensor a, bdatation_a、△Tdatation_b
5) status word of star sensor a, b: indicating whether current star sensor is effective, the quaternary for ground judgement transmission
Whether number initial data can be used；
6) the original quaternary number of star sensor a, b: from single machine acquire original measurement value, star integrated treatment need
One of main contents；
7) three axis inertia measurement value of gyro: the inertial system angular speed for the gyro currently selected, star integrated treatment need
One of main contents；
8) health status of gyro: the diagnostic result that control system carries out gyro data using logic on star, for ground
Face judges whether the inertia angular speed of transmission can be used.
3. group packet and transmission
Increase packet header, packet tail according to the format of several biography sources packet, every 1s forms one group of number and passes source packet.
Group packet format is as follows:
4. information restores
The information for the mainly star sensor that ground needs to restore according to source packet, by taking star sensor a as an example:
1) the local clock T of the star sensor time of exposure is calculatedmeas_a
Offset in formula (1)_RTS=TRTS_a-Tpps_a
2) the system clock T of the star sensor time of exposure is calculatedss_a
Tss_a=Tmeas_a+ΔTs (2)
System clock Tss_aAs with the consistent UTC time of floor treatment
3) same method obtains the corresponding UTC time of original quaternary number of star sensor b, if there is more multi-star sensor,
Similar approach processing can be used.
Next star sensor a, b data can be merged, obtains high-precision and is directed toward.
In conclusion the present invention, by the design to On-board software dynamic layout and star sensor key parameter, satellite exists
The method restored when rail is run by software acquisition time, high-precision attitude information ground, solves the original of star sensor, gyro
The problem of beginning data and temporal information can only pass under low frequency due to being limited to On-board software ability.This method On-board software is easy real
It is existing, and bus communication resource on star is taken full advantage of, avoid the channel hardware LVDS demand.
Claims (10)
1. a kind of in-orbit posture information of high-precision passes down and restoring method, it is characterised in that the following steps are included:
(1) cycle of operation of On-board software is split as odd, even two to clap, odd even is clapped acquires star sensor, inertia base respectively
The original measurement information of quasi- unit；
(2) from extracting star sensor, the key parameter in inertial reference unit posture information in original measurement information；
(3) key parameter repeatedly extracted is stored, and is packaged, is externally sent with predeterminated frequency by bus；
(4) ground system unpacks after receiving, and restores the corresponding UTC time of star sensor raw information again.
2. the in-orbit posture information of a kind of high-precision according to claim 1 passes down and restoring method, it is characterised in that: odd,
Even two clap respectively 0.25s.
3. the in-orbit posture information of a kind of high-precision according to claim 1 passes down and restoring method, it is characterised in that: described
Key parameter includes: the original quaternary number of star sensor, the exposure time difference, star sensor RTS failing edge moment local clock, star sensor
System clock and local clock in local clock, single bat when the last time synchronous signal impulse that the RTS failing edge moment latches issues
Time difference, star sensor status word, original measurement information, the status word of inertial reference unit.
4. the in-orbit posture information of a kind of high-precision according to claim 3 passes down and restoring method, it is characterised in that: system
At the time of clock and watch show On-board software, using UTC time, it is consistent with GPS time；Local clock and watch show computer hardware system sheet
The time of body is recorded using the time at the time of star sensor transmission instruction.
5. the in-orbit posture information of a kind of high-precision according to claim 4 passes down and restoring method, it is characterised in that: one
In 0.25s, system clock and the time difference of local clock are constant.
6. the in-orbit posture information of a kind of high-precision according to claim 3 passes down and restoring method, it is characterised in that: star is quick
The status word of sensor indicates whether current star sensor is effective, judges that the quaternary number initial data of transmission whether may be used for ground
With.
7. the in-orbit posture information of a kind of high-precision according to claim 3 passes down and restoring method, it is characterised in that: star is quick
The local clock time at sensor RTS signal failing edge moment refers to: spaceborne computer latches when sending lock-out pulse to star sensor
At the time of.
8. the in-orbit posture information of a kind of high-precision according to claim 1 passes down and restoring method, it is characterised in that: described
Step (3) packages, and is externally sent with predeterminated frequency, specifically: every 0.25s stores one group of data in Computer Cache,
Every 4 groups of data form one group of source packet, are passed and are sent to number with the period of 1s.
9. the in-orbit posture information of a kind of high-precision according to claim 8 passes down and restoring method, it is characterised in that: composition
When source is wrapped, carried out according to following form:
10. the in-orbit posture information of a kind of high-precision according to claim 1 passes down and restoring method, it is characterised in that: institute
It is unpacked after stating step (4) ground receiver, restores the corresponding UTC time of star sensor raw information again, specifically:
(4.1) the local clock Tmeas_a of the star sensor time of exposure is calculated
Wherein, offsetRTS=TRTS_a-Tpps_a, TRTS_aFor the local clock time at star sensor RTS signal failing edge moment,
Tpps_aThe local clock time at moment, Δ are issued for the last time synchronization signal that the star sensor RTS signal failing edge moment latches
Tdatation_aFor the original exposure time difference of star sensor；
(4.2) the system clock T of the star sensor time of exposure is calculatedss_a, system clock Tss_aWhen as UTC consistent with floor treatment
Between；
Tss_a=Tmeas_a+ΔTs,
Wherein, Δ TsFor the time difference of system clock and local clock in single clap.
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| CN111400018A (en) * | 2020-04-21 | 2020-07-10 | 中国科学院光电技术研究所 | Star sensor software on-orbit diagnosis and reconstruction method without interrupting attitude measurement |
| CN112146642A (en) * | 2020-09-25 | 2020-12-29 | 上海航天控制技术研究所 | Three-axis high-precision fiber-optic gyroscope combination for satellite |
| CN114035534A (en) * | 2021-09-28 | 2022-02-11 | 北京控制工程研究所 | Electronic star model synchronization method suitable for very high-precision multi-probe star sensor |
| CN114413883A (en) * | 2021-12-23 | 2022-04-29 | 上海航天控制技术研究所 | Method for improving satellite attitude determination accuracy, storage medium and electronic device |
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| CN114035534A (en) * | 2021-09-28 | 2022-02-11 | 北京控制工程研究所 | Electronic star model synchronization method suitable for very high-precision multi-probe star sensor |
| CN114035534B (en) * | 2021-09-28 | 2023-05-09 | 北京控制工程研究所 | Electronic star model synchronization method suitable for very high precision multi-probe star sensitivity |
| CN114413883A (en) * | 2021-12-23 | 2022-04-29 | 上海航天控制技术研究所 | Method for improving satellite attitude determination accuracy, storage medium and electronic device |
| CN114413883B (en) * | 2021-12-23 | 2023-09-05 | 上海航天控制技术研究所 | Satellite attitude determination precision improving method, storage medium and electronic equipment |
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