CN109992869A - A calculation method for automatic layout of star sensor - Google Patents

A calculation method for automatic layout of star sensor Download PDF

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CN109992869A
CN109992869A CN201910232046.9A CN201910232046A CN109992869A CN 109992869 A CN109992869 A CN 109992869A CN 201910232046 A CN201910232046 A CN 201910232046A CN 109992869 A CN109992869 A CN 109992869A
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王海强
李新刚
刘敏
吕红剑
王缅
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China Academy of Space Technology CAST
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Abstract

一种星敏感器自动布局计算方法利用星历或黄赤夹角建立太阳点模型,利用CAD软件导入方法等建立卫星本体与天线、太阳翼、发动机羽流等卫星部件的卫星点模型,利用安装点位置与方位角建立星敏感器视场锥角模型,利用空间变换判断太阳点模型、卫星点模型与星敏感器视场锥角模型的关系,从而输出星敏感器有效视场锥角。通过遍历布局区域内星敏感器安装点位置与方位角,获得最大有效视场锥角,从而输出最优布局位置与方位角。

An automatic layout calculation method of a star sensor uses the ephemeris or the angle between the yellow and the red to establish a sun point model, and uses the CAD software import method to establish a satellite point model of the satellite body and the satellite components such as the antenna, the solar wing, and the engine plume. The point position and azimuth angle are used to establish the cone angle model of the star sensor's field of view, and the relationship between the sun point model, the satellite point model and the star sensor's field of view cone model is determined by space transformation, so as to output the effective field of view cone angle of the star sensor. By traversing the position and azimuth of the installation point of the star sensor in the layout area, the maximum effective cone angle of the field of view is obtained, thereby outputting the optimal layout position and azimuth.

Description

一种星敏感器自动布局计算方法A calculation method for automatic layout of star sensor

技术领域technical field

本发明属于航天器总体设计技术领域,涉及一种星敏感器自动布局计算方法。The invention belongs to the technical field of overall design of spacecraft, and relates to an automatic layout calculation method of a star sensor.

背景技术Background technique

随着科学技术的进步,越来越多的卫星安装了星敏感器,星敏感器通过观察天球上恒星的位置并与星图对比,可以确定卫星在惯性空间中的姿态,再结合卫星轨道信息,可以确定卫星的在轨姿态。由于具有测量精度高、可长期使用等优点,星敏感器作为重要的姿态测量部件,获得了大量在轨应用。With the advancement of science and technology, more and more satellites are equipped with star sensors. By observing the positions of stars on the celestial sphere and comparing them with the star map, the star sensors can determine the satellite's attitude in inertial space, and then combine the satellite orbit information. , the on-orbit attitude of the satellite can be determined. Due to the advantages of high measurement accuracy and long-term use, star sensors, as important attitude measurement components, have obtained a large number of on-orbit applications.

星敏感器通常与卫星本体固连安装。星敏感器布局问题指星敏安装在卫星本体什么位置,以何种方位角安装。星敏感器的布局的主要目标是在满足各种约束条件的前提下,使星敏感器获得最大的视场角。The star sensor is usually fixedly installed with the satellite body. The issue of the star sensor layout refers to where the star sensor is installed on the satellite body and at what azimuth angle. The main goal of the layout of the star sensor is to obtain the largest field of view of the star sensor under the premise of satisfying various constraints.

随着航天器上安装的设备朝着复杂化和多样化方向发展,星敏感器布局需要综合考虑设备干涉、视场遮挡等约束条件,布局难度越来越高。如何快速的寻找到满足需求的星敏布局可行解,灵活快速的寻找可行解中的最优解,具有重要的工程意义。As the equipment installed on the spacecraft develops in the direction of complexity and diversification, the layout of the star sensor needs to comprehensively consider the constraints such as equipment interference and field occlusion, and the layout becomes more and more difficult. How to quickly find the feasible solution of the star-sensing layout that meets the requirements, and how to find the optimal solution among the feasible solutions flexibly and quickly has important engineering significance.

以往的星敏感器布局主要靠设计师手动完成,在卫星CAD模型上将星敏感器视场建立为一个圆锥,通过手动摆放该圆锥的位置,判断该圆锥与其他部件的碰撞关系来判别星敏能否在此位置布局。In the past, the layout of the star sensor was mainly completed manually by the designer. The field of view of the star sensor was established as a cone on the satellite CAD model. The position of the cone was manually placed, and the collision relationship between the cone and other components was judged to determine the star. Whether Min can be laid out in this position.

该方法操作繁琐,效率较低,会占用大量的人工时间。同时,由于利用视锥角的碰撞作为判别准则,该方法最终给出的结果为某一可行解,无法给出最优解,在安装条件复杂的卫星上,往往会遗漏大量的可行解。This method is cumbersome to operate, has low efficiency, and takes up a lot of man-hours. At the same time, because the collision of the viewing cone angle is used as the criterion, the final result given by this method is a certain feasible solution, and the optimal solution cannot be given. On satellites with complex installation conditions, a large number of feasible solutions are often omitted.

发明内容SUMMARY OF THE INVENTION

本发明所要解决的技术问题是:克服现有技术的不足,本发明提出一种星敏感器自动布局计算方法,实现星敏感器在卫星上布局的快速计算。The technical problem to be solved by the present invention is: to overcome the deficiencies of the prior art, the present invention proposes an automatic layout calculation method of a star sensor, which realizes the rapid calculation of the layout of the star sensor on the satellite.

本发明所采用的技术方案是:一种星敏感器自动布局计算方法,包括步骤如下:The technical scheme adopted by the present invention is: an automatic layout calculation method for a star sensor, comprising the following steps:

1)利用星历和卫星相关参数,获得太阳与卫星的相对关系并建立太阳点模型;1) Using ephemeris and satellite-related parameters, obtain the relative relationship between the sun and the satellite and establish a sun point model;

2)导入卫星部件模型信息,建立卫星点模型,导入的卫星部件包括星本体和天线、太阳翼、发动机羽流;2) Import the satellite component model information and establish a satellite point model. The imported satellite components include the star body and antenna, solar wing, and engine plume;

3)在取值空间内,对给定的任一组星敏安装位置与方位角,建立星敏感器视场锥角模型;3) In the value space, for any given set of star sensor installation positions and azimuth angles, establish a star sensor field of view cone angle model;

4)基于空间坐标变换,判别太阳点模型与视场锥角模型的关系、卫星点模型与视场锥角模型的关系,输出该组安装位置对应的有效视场锥角;4) Based on the spatial coordinate transformation, discriminate the relationship between the sun point model and the field of view cone angle model, the relationship between the satellite point model and the field of view cone angle model, and output the effective field of view cone angle corresponding to the group of installation positions;

5)在取值空间内,以离散化方式给定多组星敏安装位置和方位角,返回步骤3),使用下一组安装位置和方位角再次计算,获得取值空间内每组安装位置和方位角对应的有效视场锥角;5) In the value space, give multiple sets of star sensor installation positions and azimuths in a discretized manner, return to step 3), use the next set of installation positions and azimuths to calculate again, and obtain each group of installation positions in the value space The effective FOV cone angle corresponding to the azimuth angle;

6)比较取值空间内的所有有效视场锥角,将最大有效视场锥角对应的安装位置和方位角作为最优布局位置与方位角输出。6) Compare all the effective cone angles of the field of view in the value space, and output the installation position and azimuth angle corresponding to the maximum effective cone angle of the field of view as the optimal layout position and azimuth angle.

所述步骤1)利用星历时间建立太阳点模型,具体步骤为:给定起始时刻、时间步长、终止时刻作为输入条件,根据星历,计算太阳在N个计算时刻在J2000坐标系内的点坐标,并将点坐标转换至星本体坐标系,将转换后的太阳点坐标依次排列组成太阳点模型A;N为正整数。Described step 1) using ephemeris time to establish a sun point model, the specific steps are: given the starting time, time step, and ending time as input conditions, according to the ephemeris, calculate that the sun is in the J2000 coordinate system at N calculation times The point coordinates are converted to the star body coordinate system, and the converted sun point coordinates are arranged in sequence to form the sun point model A; N is a positive integer.

所述步骤1)利用黄赤夹角建立太阳点模型,具体步骤为:给定角度间隔,将赤道面360°圆周角离散为m份,黄赤夹角离散为n份倾斜角,形成m×n组方向角,每组方向角计算出一个太阳位置点坐标,并将点坐标转换至星本体坐标系,将转换后的太阳点坐标排列组成太阳点模型A;m、n为正整数。The step 1) utilizes the angle between the yellow and the red to establish the sun point model, and the specific steps are: given the angle interval, the 360° circumference angle of the equatorial plane is discretized into m parts, and the included angle of the yellow and red is discrete into n parts of the inclination angle, forming m × n sets of direction angles, each set of direction angles calculates a sun position point coordinate, converts the point coordinates to the star body coordinate system, and arranges the converted sun point coordinates to form the sun point model A; m, n are positive integers.

所述步骤2)的具体步骤如下:The concrete steps of described step 2) are as follows:

(2.1)将卫星本体、天线的CAD模型转换为表示在星本体坐标系下的STL文件,读取STL文件内的由点坐标组成的若干三角形信息矩阵;将所有的三角形信息矩阵排列组成卫星本体、天线点模型B;(2.1) Convert the CAD model of the satellite body and the antenna to the STL file represented in the star body coordinate system, read several triangular information matrices composed of point coordinates in the STL file; arrange all the triangular information matrices to form the satellite body , Antenna point model B;

(2.2)通过导入CAD模型STL文件或手动设置,获取太阳翼模型的顶点在星本体坐标系下的点坐标信息矩阵,将点坐标信息矩阵中的每个点绕太阳翼回转轴以设定的角度间隔转动360度,获得若干太阳翼有效顶点信息矩阵;将所有太阳翼有效顶点坐标信息矩阵排列组成太阳翼点模型C;(2.2) By importing the CAD model STL file or manually setting, obtain the point coordinate information matrix of the vertex of the solar wing model in the star body coordinate system, and revolve each point in the point coordinate information matrix around the rotation axis of the solar wing to the set value Rotate 360 degrees at angular intervals to obtain several effective vertex information matrices of solar wings; arrange all effective vertex coordinate information matrices of solar wings to form a solar wing point model C;

(2.3)通过手动设置给出每个发动机羽流圆锥模型的母线上的点坐标,将每个点绕该发动机羽流喷射轴线以设定的角度间隔转动360度,获得发动机羽流的有效边界点,将所有有效边界点坐标信息组合,获得发动机羽流点模型D;(2.3) By manually setting the coordinates of the points on the generatrix of each engine plume cone model, rotate each point 360 degrees around the engine plume jet axis at a set angle interval to obtain the effective boundary of the engine plume point, combine all the effective boundary point coordinate information to obtain the engine plume point model D;

(2.4)将卫星本体、天线的点模型B,太阳翼点模型C以及发动机羽流点模型D中的信息矩阵组合构成卫星点模型E。(2.4) Combine the satellite body, the point model B of the antenna, the point model C of the solar wing and the information matrix in the model D of the engine plume point to form the satellite point model E.

所述步骤(2.1)中,给定阈值σ,若某个三角形信息矩阵中某两点之间的距离大于σ,则在上述两点的连线上插入若干点,使得连线上相邻两点之间的距离小于σ,将插入的点加入该三角形信息矩阵中组成新的三角形信息矩阵。In the step (2.1), given a threshold σ, if the distance between two points in a certain triangular information matrix is greater than σ, then insert a number of points on the connection line between the above two points, so that two adjacent points on the line are connected. If the distance between the points is less than σ, the inserted points are added to the triangular information matrix to form a new triangular information matrix.

所述步骤3)的具体步骤如下:The concrete steps of described step 3) are as follows:

(3.1)在取值空间内,给定星敏感器的任一组安装位置基准点和视场光轴指向方位角,并计算星敏感器视场坐标系的三坐标轴矢量在星本体坐标系中的坐标Vx,Vy,Vz(3.1) In the value space, given any set of installation position reference points of the star sensor and the azimuth angle of the optical axis of the field of view, and calculate the three-coordinate axis vector of the field of view coordinate system of the star sensor in the star body coordinate system The coordinates in V x , V y , V z ;

(3.2)根据三轴矢量坐标,获得从星本体坐标系至星敏感器视场坐标系的变换矩阵M,M=[Vx,Vy,Vz]T(3.2) According to the three-axis vector coordinates, obtain the transformation matrix M from the star body coordinate system to the star sensor field of view coordinate system, M=[V x , V y , V z ] T ;

(3.3)根据变换矩阵M及星敏感器视场坐标系的原点,进行点模型A、E从星本体坐标系至星敏感器视场坐标系的变换计算:(3.3) According to the transformation matrix M and the origin of the field of view coordinate system of the star sensor, the transformation calculation of the point models A and E from the coordinate system of the star body to the coordinate system of the field of view of the star sensor is performed:

Rl表示点模型A、E中的第l个点的坐标信息矩阵,为第l个点在星敏感器视场坐标系里的坐标信息矩阵,OST为视场坐标系原点的坐标信息矩阵;l为正整数。R l represents the coordinate information matrix of the lth point in point models A and E, is the coordinate information matrix of the lth point in the field of view coordinate system of the star sensor, O ST is the coordinate information matrix of the origin of the field of view coordinate system; l is a positive integer.

所述的步骤4)的具体步骤如下:The concrete steps of described step 4) are as follows:

(4.1)计算与星敏感器视场坐标系y轴的夹角ρl(4.1) Calculation the angle ρ l with the y-axis of the star sensor's field of view coordinate system;

(4.2)取点模型A、E中所有点与星敏感器视场坐标系y轴的夹角ρj的最小值,记为即为当前组安装位置和方位角对应的有效视场锥角。(4.2) Take the minimum value of the angle ρj between all points in the point models A and E and the y-axis of the star sensor's field of view coordinate system, and denote it as It is the effective FOV cone angle corresponding to the current group installation position and azimuth angle.

本发明与现有技术相比的优点在于:The advantages of the present invention compared with the prior art are:

(1)本发明利用数学表达形式给出了布局计算方法和流程,使得布局过程可以完全利用计算机进行自动化处理,大大提高了计算效率,降低了人工成本。(1) The present invention provides a layout calculation method and process by using a mathematical expression form, so that the layout process can be fully automated by a computer, which greatly improves the calculation efficiency and reduces the labor cost.

(2)本发明通过循环遍历方式计算取值空间内所有安装位置和方位角的对应有效视场锥角,不再遗漏可行解,能够找到全局最优解。(2) The present invention calculates the corresponding effective field cone angles of all installation positions and azimuth angles in the value space by means of cyclic traversal, so that feasible solutions are no longer omitted, and the global optimal solution can be found.

(3)本发明在星敏布局中,对太阳、卫星本体、天线、太阳翼、羽流等多种不同性质的影响对象统一给出了点模型处理方式,并可以通过设定阈值细化粒度,便于统一计算,便于扩展。(3) In the star-sensing layout of the present invention, a point model processing method is uniformly provided for the influence objects of different properties such as the sun, satellite body, antenna, solar wing, plume, etc., and the granularity can be refined by setting a threshold value. , which is convenient for unified calculation and easy expansion.

附图说明Description of drawings

图1为本发明一种星敏感器自动布局计算方法流程图。FIG. 1 is a flowchart of an automatic layout calculation method of a star sensor according to the present invention.

图2为建立太阳的点模型的方法流程图。FIG. 2 is a flowchart of a method for establishing a point model of the sun.

图3为所建立的太阳点模型。Figure 3 shows the established sun point model.

图4为建立卫星点模型的方法流程图。FIG. 4 is a flowchart of a method for establishing a satellite point model.

图5为建立的卫星点模型。Figure 5 shows the established satellite point model.

图6为通过空间坐标变换判断太阳点模型、卫星点模型与星敏感器视场锥角模型的关系示意图。Fig. 6 is a schematic diagram showing the relationship between the sun point model, the satellite point model and the star sensor's field of view cone angle model through spatial coordinate transformation.

具体实施方式Detailed ways

下面将参照附图更详细地描述本发明公开的示例性实施例。虽然附图中显示了本发明公开的示例性实施例,然而应当理解,可以以各种形式实现本发明公开而不应被这里阐述的实施例所限制。相反,提供这些实施例是为了能够更透彻地理解本发明,并且能够将本发明公开的范围完整的传达给本领域的技术人员。需要说明的是,在不冲突的情况下,本发明中的实施例及实施例中的特征可以相互组合。下面将参考附图并结合实施例来详细说明本发明。Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided so that a more thorough understanding of the present invention will be provided, and will fully convey the scope of the present disclosure to those skilled in the art. It should be noted that the embodiments of the present invention and the features of the embodiments may be combined with each other under the condition of no conflict. The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.

图1是本发明一种星敏感器自动布局计算方法流程图。包括如下步骤:FIG. 1 is a flow chart of an automatic layout calculation method of a star sensor according to the present invention. It includes the following steps:

1)利用星历和卫星相关参数,获得太阳与卫星的相对关系并建立太阳点模型;1) Using ephemeris and satellite-related parameters, obtain the relative relationship between the sun and the satellite and establish a sun point model;

2)导入卫星部件模型信息,建立卫星点模型,导入的卫星部件包括星本体和天线、太阳翼、发动机羽流;2) Import the satellite component model information and establish a satellite point model. The imported satellite components include the star body and antenna, solar wing, and engine plume;

3)在取值空间内,对给定的某一组星敏安装位置与方位角,建立星敏感器视场锥角模型;3) In the value space, for a given set of star sensor installation positions and azimuth angles, establish a star sensor field of view cone angle model;

4)基于空间坐标变换,判别太阳点模型与视场锥角模型的关系、卫星点模型与视场锥角模型的关系,输出该组安装位置对应的有效视场锥角;4) Based on the spatial coordinate transformation, discriminate the relationship between the sun point model and the field of view cone angle model, the relationship between the satellite point model and the field of view cone angle model, and output the effective field of view cone angle corresponding to the group of installation positions;

5)取值空间内,以离散化方式给定多组星敏安装位置和方位角,返回步骤3,使用下一组安装位置和方位角并再次计算,如此循环,获得取值空间内每组安装位置和方位角对应的有效视场锥角;5) In the value space, multiple sets of star sensor installation positions and azimuths are given in a discretized manner, return to step 3, use the next set of installation positions and azimuths and calculate again, and so on, to obtain each group in the value space. The effective cone angle of the field of view corresponding to the installation position and azimuth;

6)计算并比较取值空间内所有的有效视场锥角,将最大有效视场锥角对应的安装位置和方位角作为最优布局位置与方位角输出,完成星敏感器自动布局计算。6) Calculate and compare all the effective cone angles of the field of view in the value space, and use the installation position and azimuth angle corresponding to the maximum effective cone angle of the field of view as the optimal layout position and azimuth angle output to complete the automatic layout calculation of the star sensor.

所述的步骤1),如图2所示,可通过两种方法实现:Described step 1), as shown in Figure 2, can be realized by two methods:

方法1利用星历时间建立太阳点模型,具体步骤为:给定起始时刻、时间步长、终止时刻作为输入条件,根据星历,计算太阳在N个计算时刻在J2000坐标系内的点坐标,并将点坐标转换至星本体坐标系,转换后的NA=N个点的坐标信息排列在一起形成的矩阵,即为太阳点模型A。这里NA为正整数,J2000坐标系内点坐标转换至星本体坐标系的方法属于本领域技术人员公知常识。Method 1 uses ephemeris time to establish a sun point model. The specific steps are: given the starting time, time step, and ending time as input conditions, and according to the ephemeris, calculate the point coordinates of the sun in the J2000 coordinate system at N calculation times. , and convert the point coordinates to the star body coordinate system, and the matrix formed by arranging the coordinate information of the converted N A =N points together is the sun point model A. Here, NA is a positive integer, and the method for converting the point coordinates in the J2000 coordinate system to the star body coordinate system belongs to the common knowledge of those skilled in the art.

如给定2017-1-1 00:00:00为起始时刻,2017-1-31 00:00:00为终止时刻,以5min为时间步长,则共需计算NA=8641个时刻的太阳点坐标。If 2017-1-1 00:00:00 is given as the start time, 2017-1-31 00:00:00 is the end time, and 5min is the time step, it is necessary to calculate N A = 8641 times in total. Sun point coordinates.

转换后的每个点的坐标信息用[xi,yi,zi]T表示,这里i是下脚标,表示第i个点;将所有时刻的点的坐标信息排列在一起组成矩阵,即为太阳点模型,记为The converted coordinate information of each point is represented by [x i , y i , z i ] T , where i is the subscript, representing the i-th point; the coordinate information of the points at all times is arranged together to form a matrix, that is is the sun point model, denoted as

方法2利用黄赤夹角建立太阳点模型,具体步骤为:给定角度间隔,将赤道面360°圆周角离散为m份,黄赤夹角离散为n份倾斜角,形成m×n组方向角,这里m,n均为正整数,且记NA=m×n。利用每组方向角计算出一个太阳位置的点坐标,并将点坐标转换至星本体坐标系,转换后的NA个点的坐标信息排列在一起形成的矩阵,即为太阳点模型A。利用方向角计算太阳位置点坐标属于本领域技术人员公知常识。Method 2 uses the angle between the yellow and the red to establish the sun point model. The specific steps are: given the angle interval, the 360° circumferential angle of the equatorial plane is discretized into m parts, and the angle between the yellow and red is discrete into n parts of the tilt angle to form m × n groups of directions angle, where m and n are both positive integers, and denote N A =m×n. The point coordinates of a sun position are calculated by using each set of direction angles, and the point coordinates are converted to the star body coordinate system. The converted coordinate information of N A points is arranged together to form a matrix, which is the sun point model A. It is common knowledge for those skilled in the art to calculate the coordinates of the sun position point by using the azimuth angle.

如令m等于360,n等于80,黄赤夹角取±23.43°。则共需计算NA=28800组方向角,某组方向角示例如:圆周角122°,倾斜角14.662°。转换后的点坐标用[xi,yi,zi]T表示,这里i是下脚标,表示第i个点;将所有的点坐标排列在一起组成矩阵,即为太阳点模型A,格式如下:If m is equal to 360, n is equal to 80, the angle between yellow and red is ±23.43°. Then, a total of NA = 28800 groups of direction angles need to be calculated. An example of a certain group of direction angles is: the circumference angle is 122°, and the inclination angle is 14.662°. The converted point coordinates are represented by [x i , y i , z i ] T , where i is the subscript, representing the ith point; all the point coordinates are arranged together to form a matrix, which is the sun point model A, the format as follows:

太阳点模型A的图像如图3所示。An image of the sun point model A is shown in Figure 3.

所述的步骤2)流程图如图4所示,具体步骤如下:Described step 2) flow chart as shown in Figure 4, concrete steps are as follows:

(2.1)利用Catia软件将卫星本体、天线的CAD模型转换为表示在星本体坐标系下的STL文件,而后读取STL文件内的点坐标和三角形信息,STL文件内包含NB个三角形和3×NB个点的坐标信息,NB为正整数。所有点的信息构成的矩阵可表示如下:(2.1) Use the Catia software to convert the CAD model of the satellite body and the antenna into an STL file represented in the star body coordinate system, and then read the point coordinates and triangle information in the STL file. The STL file contains NB triangles and 3 Coordinate information of ×N B points, where N B is a positive integer. The matrix formed by the information of all points It can be expressed as follows:

这里r为下脚标, Here r is the subscript,

式中每个Pr代表一个三角形,包含三角形三个顶点的坐标信息,分别为In the formula, each P r represents a triangle, including the coordinate information of the three vertices of the triangle, which are

[xr1,yr1,zr1]T,[xr2,yr2,zr2]T,[xr3,yr3,zr3]T [x r1 ,y r1 ,z r1 ] T ,[x r2 ,y r2 ,z r2 ] T ,[x r3 ,y r3 ,z r3 ] T

给定正实数阈值σ,对于Pr中三角形某边长大于σ的情况,在三角形的边上均匀的添加点,使得该边上相邻点间距离小于σ。不妨以第r个三角形Pr为例,若[xr1,yr1,zr1]T,[xr2,yr2,zr2]T所在的边长大于3σ而小于4σ,则在该边上均匀的添加3个点,即可令该边上相邻点的距离小于σ,其他两条边类似。添加点后代表该三角形信息的矩阵记为格式如下为Given a positive real threshold σ, for the case that the length of a certain side of the triangle in P r is greater than σ, points are added uniformly on the side of the triangle, so that the distance between adjacent points on the side is less than σ. Take the rth triangle P r as an example, if the length of the side where [x r1 ,y r1 ,z r1 ] T ,[x r2 ,y r2 ,z r2 ] T is located is greater than 3σ but less than 4σ, then on this side By adding 3 points evenly, the distance between adjacent points on this side can be less than σ, and the other two sides are similar. After adding points, the matrix representing the information of the triangle is denoted as The format is as follows

式中的点坐标信息代表在点1([xr1,yr1,zr1]T)和点2([xr2,yr2,zr2]T)之间进行均匀添加而得到的3个点,其他两条边类似。The point coordinate information in the formula Represents 3 points obtained by uniformly adding between point 1 ([x r1 ,y r1 ,z r1 ] T ) and point 2 ([x r2 ,y r2 ,z r2 ] T ), the other two sides are similar .

将所有插值后的三角形信息矩阵排列在一起,即获得卫星本体、天线点模型信息阵B,格式如下:Arrange all the interpolated triangular information matrices together to obtain the satellite body and antenna point model information matrix B. The format is as follows:

(2.2)通过导入CAD模型STL文件或手动设置,获取太阳翼模型的顶点在星本体坐标系下的坐标信息矩阵格式如下:(2.2) Obtain the coordinate information matrix of the vertices of the solar wing model in the star body coordinate system by importing the CAD model STL file or manually setting The format is as follows:

式中t为下脚标,代表第t个点,Qt=[at,bt,ct]T代表第t个点的坐标信息,Nc为正整数,代表太阳翼模型的顶点个数。In the formula, t is the subscript, representing the t-th point, Q t = [a t , b t , c t ] T represents the coordinate information of the t-th point, N c is a positive integer, representing the number of vertices of the solar wing model .

包含的每个顶点绕太阳翼回转轴以一定角度间隔转动360度,获得多个太阳翼有效顶点。以第t个点Qt=[at,bt,ct]T为例,将Qt绕太阳翼回转轴按角度间隔30度转动360°,将生成共计12个有效顶点。所有的有效顶点均位于一回转体表面。再将所有有效顶点坐标信息排列在一起,获得太阳翼点模型信息阵C,格式如下:Will Each of the included vertices is rotated 360 degrees around the rotation axis of the solar wing at certain angular intervals to obtain multiple effective vertices of the solar wing. Taking the t-th point Q t =[a t ,b t ,c t ] T as an example, rotate Q t around the rotation axis of the solar wing by 360° at angular intervals of 30° to generate A total of 12 valid vertices. All valid vertices lie on a surface of revolution. Arrange all valid vertex coordinate information together to obtain the sun wing point model information matrix C, the format is as follows:

(2.3)通过手动设置给出每个发动机羽流圆锥模型的母线上的点在星本体坐标系下的坐标信息矩阵格式如下(2.3) The coordinate information matrix of the points on the bus line of each engine plume cone model in the star body coordinate system is given by manual setting The format is as follows

式中s为下脚标,代表第s个点,Ws=[es,fs,gs]T代表第s点的坐标信息,Nd为正整数,代表发动机羽流母线上的点的个数。In the formula, s is the subscript, representing the sth point, W s = [e s , f s , g s ] T represents the coordinate information of the sth point, N d is a positive integer, representing the point on the engine plume bus. number.

中的每个点绕该发动机羽流喷射轴线以一定角度间隔转动360度,获取发动机羽流的有效边界点。以第s个点Ws=[es,fs,gs]T为例,将Ws绕发动机羽流喷射轴线按角度间隔60度转动360°,将生成Ws 1,Ws 2,...,Ws 6共计6个有效边界点,所有的有效边界点均位于一回转体表面。再将所有有效边界点坐标信息组合在一起,获得发动机羽流点模型信息阵D,格式如下:Will Each point is rotated 360 degrees around the jet axis of the engine plume at certain angular intervals to obtain the effective boundary point of the engine plume. Taking the s-th point W s =[e s ,f s ,g s ] T as an example, rotating W s around the engine plume injection axis by 60 degrees by 360° at angular intervals will generate W s 1 , W s 2 , ...,W s 6 There are a total of 6 effective boundary points, all of which are located on the surface of a body of revolution. Then combine all the effective boundary point coordinate information to obtain the engine plume point model information matrix D, the format is as follows:

D=[W1,...,W2,...,Ws,Ws 1,Ws 2,...,Ws 6,Ws+1,...]s=1,2,...,Nd D=[W 1 ,...,W 2 ,...,W s ,W s 1 ,W s 2 ,...,W s 6 ,W s+1 ,...]s=1,2 ,...,N d

(2.4)将卫星本体和天线的点模型B,太阳翼点模型C,发动机羽流点模型D的信息阵排列在一起,即构成卫星点模型,记为E。点模型E=[B,C,D]的图像如图5所示。(2.4) Arrange the information arrays of the satellite body and the point model B of the antenna, the solar wing point model C, and the engine plume point model D together to form the satellite point model, denoted as E. The image of the point model E=[B,C,D] is shown in Figure 5.

所述的步骤3)具体步骤如下:Described step 3) concrete steps are as follows:

(3.1)在取值空间内,给定星敏感器的一组安装位置基准点与视场光轴指向方位角(安装位置基准点与方位角均在星本体坐标系中给出),安装位置基准点的坐标信息和指向方位角信息分别用[α,β,γ]T,[θ123]T表示,如安装位置[2.5,0.65,0.4]T,方位角[45°,60°,-15°]T(方位角即为与星本体坐标系三轴的夹角)。(3.1) In the value space, given a set of installation position reference points of the star sensor and the azimuth angle of the optical axis of the field of view (the installation position reference point and azimuth angle are both given in the star body coordinate system), the installation position The coordinate information and pointing azimuth information of the reference point are represented by [α, β, γ] T , [θ 1 , θ 2 , θ 3 ] T respectively, such as installation position [2.5, 0.65, 0.4] T , azimuth angle [45 °,60°,-15°] T (azimuth is the angle between the three axes of the star body coordinate system).

利用安装位置与方位角,建立星敏感器视场坐标系,视场坐标系原点与安装位置基准点重合,星敏感器视场坐标系的x、y、z三坐标轴的矢量方向在星本体坐标系中的坐标信息Vx,Vy,Vz计算方法如下:Use the installation position and azimuth to establish the field of view coordinate system of the star sensor. The origin of the field of view coordinate system coincides with the reference point of the installation position. The vector directions of the x, y, and z axes of the field of view coordinate system of the star sensor are in the star body. The coordinate information V x , V y , and V z in the coordinate system are calculated as follows:

Vy=[cosθ1,cosθ2,cosθ3]T/|[cosθ1,cosθ2,cosθ3]T|V y =[cosθ 1 ,cosθ 2 ,cosθ 3 ] T /|[cosθ 1 ,cosθ 2 ,cosθ 3 ] T |

Vx=[cosθ2,-cosθ1,0]T/|[cosθ2,-cosθ1,0]T|V x =[cosθ 2 ,-cosθ 1 ,0] T /|[cosθ 2 ,-cosθ 1 ,0] T |

Vz=Vx×VyV z =V x ×V y ;

式中×代表叉乘,|[cosθ2,-cosθ1,0]T|代表[cosθ2,-cosθ1,0]T的模。In the formula, × represents the cross product, and |[cosθ 2 ,-cosθ 1 ,0] T | represents the modulus of [cosθ 2 ,-cosθ 1 ,0] T.

(3.2)根据三轴矢量方向的坐标信息,可以获得从星本体坐标系至星敏感器视场坐标系的变换矩阵M:(3.2) According to the coordinate information of the three-axis vector direction, the transformation matrix M from the star body coordinate system to the star sensor field of view coordinate system can be obtained:

M=[Vx,Vy,Vz]T M=[V x , V y , V z ] T

(3.3)根据变换矩阵M及星敏感器视场坐标系的原点,可以获得太阳点模型A、卫星点模型E从星本体坐标系至星敏感器视场坐标系的变换方法(3.3) According to the transformation matrix M and the origin of the field of view coordinate system of the star sensor, the transformation method of the sun point model A and the satellite point model E from the star body coordinate system to the field of view coordinate system of the star sensor can be obtained.

这里l为下脚标,Rl表示点模型A、E中的第l个点的坐标信息矩阵。为该点在星敏感器视场坐标系里的坐标信息矩阵,OST为视场坐标系原点的坐标信息矩阵,有OST=[α,β,γ]T;l为正整数;Here l is the subscript, and R l represents the coordinate information matrix of the lth point in the point models A and E. is the coordinate information matrix of the point in the field of view coordinate system of the star sensor, O ST is the coordinate information matrix of the origin of the field of view coordinate system, there is O ST =[α, β, γ] T ; l is a positive integer;

所述的步骤4)具体步骤如下:Described step 4) concrete steps are as follows:

(4.1)对于按上一步得到的任一计算与星敏感器视场坐标系y轴的夹角ρl (4.1) For any one obtained by the previous step calculate The angle ρ l with the y-axis of the field of view coordinate system of the star sensor

式中的模。in the formula for 's model.

(4.2)取点模型A、E中所有点与星敏感器视场坐标系y轴的夹角ρl中的最小值,记为即为该组安装位置与方位角对应的有效视场锥角。(4.2) Take the minimum value of the angle ρ l between all points in the point models A and E and the y-axis of the star sensor's field of view coordinate system, denoted as That is, the effective cone angle of the field of view corresponding to the installation position of the group and the azimuth angle.

所述的步骤5)具体步骤如下:Described step 5) concrete steps are as follows:

在取值空间内,若有Ω个许用安装位置(这里Ω为正整数),其中第δ个安装位置的坐标信息矩阵为[αδδδ]T,每个安装位置处有Ψ组许用方位角(这里Ψ为正整数),其中第个许用方位角的角度信息为则共获得Ω×Ψ组许用安装点和方位角In the value space, if there are Ω allowable installation positions (where Ω is a positive integer), the coordinate information matrix of the δth installation position is [α δ , β δ , γ δ ] T , at each installation position There are Ψ groups of allowable azimuths (where Ψ is a positive integer), where the first The angle information of each allowable azimuth is Then, the allowable installation points and azimuth angles of the Ω×Ψ group are obtained.

这里δ,均为下脚标。对每组许用安装位置和方位角,按步骤3)、步骤4)进行计算求取有效视场锥角,从而得到k个的有效视场锥角(这里k为脚标)。Here δ, Both are subscripts. For each set of allowable installation positions and azimuths, calculate and obtain the effective cone angle of the field of view according to steps 3) and 4), so as to obtain k effective cone angles of the field of view (here k is the footmark).

所述的步骤6)获取步骤5)求得的所有有效视场锥角中的最大值图像如图6所示,并输出对应的安装位置与方位角作为最优布局位置与方位角,完成星敏感器自动布局计算。The step 6) obtains all the effective cone angles of the field of view obtained in step 5) maximum value in The image is shown in Figure 6, and output Corresponding installation location with azimuth As the optimal layout position and azimuth, the automatic layout calculation of the star sensor is completed.

本发明未详细说明部分属于本领域技术人员公知常识。The parts of the present invention that are not described in detail belong to the common knowledge of those skilled in the art.

Claims (7)

1.一种星敏感器自动布局计算方法,其特征在于,包括步骤如下:1. a star sensor automatic layout calculation method, is characterized in that, comprises the steps as follows: 1)利用星历和卫星相关参数,获得太阳与卫星的相对关系并建立太阳点模型;1) Using ephemeris and satellite-related parameters, obtain the relative relationship between the sun and the satellite and establish a sun point model; 2)导入卫星部件模型信息,建立卫星点模型,导入的卫星部件包括星本体和天线、太阳翼、发动机羽流;2) Import the satellite component model information and establish a satellite point model. The imported satellite components include the star body and antenna, solar wing, and engine plume; 3)在取值空间内,对给定的任一组星敏安装位置与方位角,建立星敏感器视场锥角模型;3) In the value space, for any given set of star sensor installation positions and azimuth angles, establish a star sensor field of view cone angle model; 4)基于空间坐标变换,判别太阳点模型与视场锥角模型的关系、卫星点模型与视场锥角模型的关系,输出该组安装位置对应的有效视场锥角;4) Based on the spatial coordinate transformation, discriminate the relationship between the sun point model and the field of view cone angle model, the relationship between the satellite point model and the field of view cone angle model, and output the effective field of view cone angle corresponding to the group of installation positions; 5)在取值空间内,以离散化方式给定多组星敏安装位置和方位角,返回步骤3),使用下一组安装位置和方位角再次计算,获得取值空间内每组安装位置和方位角对应的有效视场锥角;5) In the value space, give multiple sets of star sensor installation positions and azimuths in a discretized manner, return to step 3), use the next set of installation positions and azimuths to calculate again, and obtain each group of installation positions in the value space The effective FOV cone angle corresponding to the azimuth angle; 6)比较取值空间内的所有有效视场锥角,将最大有效视场锥角对应的安装位置和方位角作为最优布局位置与方位角输出。6) Compare all the effective cone angles of the field of view in the value space, and output the installation position and azimuth angle corresponding to the maximum effective cone angle of the field of view as the optimal layout position and azimuth angle. 2.根据权利要求1所述的一种星敏感器自动布局计算方法,其特征在于:所述步骤1)利用星历时间建立太阳点模型,具体步骤为:给定起始时刻、时间步长、终止时刻作为输入条件,根据星历,计算太阳在N个计算时刻在J2000坐标系内的点坐标,并将点坐标转换至星本体坐标系,将转换后的太阳点坐标依次排列组成太阳点模型A;N为正整数。2. a kind of star sensor automatic layout calculation method according to claim 1 is characterized in that: described step 1) utilizes ephemeris time to establish sun point model, and concrete steps are: given starting moment, time step length , the termination time as the input condition, according to the ephemeris, calculate the point coordinates of the sun in the J2000 coordinate system at N calculation times, convert the point coordinates to the star body coordinate system, and arrange the converted sun point coordinates in sequence to form the sun point Model A; N is a positive integer. 3.根据权利要求1所述的一种星敏感器自动布局计算方法,其特征在于:所述步骤1)利用黄赤夹角建立太阳点模型,具体步骤为:给定角度间隔,将赤道面360°圆周角离散为m份,黄赤夹角离散为n份倾斜角,形成m×n组方向角,每组方向角计算出一个太阳位置点坐标,并将点坐标转换至星本体坐标系,将转换后的太阳点坐标排列组成太阳点模型A;m、n为正整数。3. a kind of star sensor automatic layout calculation method according to claim 1, is characterized in that: described step 1) utilizes yellow and red angle to establish sun point model, and concrete steps are: given angle interval, equatorial plane The 360° circumference angle is discrete into m parts, and the angle between yellow and red is discrete into n parts of inclination angle, forming m × n groups of direction angles, each group of direction angles calculates a point coordinate of the sun position, and converts the point coordinate to the star body coordinate system , arrange the converted sun point coordinates to form the sun point model A; m and n are positive integers. 4.根据权利要求2或3所述的一种星敏感器自动布局计算方法,其特征在于:所述步骤2)的具体步骤如下:4. a kind of star sensor automatic layout calculation method according to claim 2 or 3, is characterized in that: the concrete steps of described step 2) are as follows: (2.1)将卫星本体、天线的CAD模型转换为表示在星本体坐标系下的STL文件,读取STL文件内的由点坐标组成的若干三角形信息矩阵;将所有的三角形信息矩阵排列组成卫星本体、天线点模型B;(2.1) Convert the CAD model of the satellite body and the antenna to the STL file represented in the star body coordinate system, read several triangular information matrices composed of point coordinates in the STL file; arrange all the triangular information matrices to form the satellite body , Antenna point model B; (2.2)通过导入CAD模型STL文件或手动设置,获取太阳翼模型的顶点在星本体坐标系下的点坐标信息矩阵,将点坐标信息矩阵中的每个点绕太阳翼回转轴以设定的角度间隔转动360度,获得若干太阳翼有效顶点信息矩阵;将所有太阳翼有效顶点坐标信息矩阵排列组成太阳翼点模型C;(2.2) By importing the CAD model STL file or manually setting, obtain the point coordinate information matrix of the vertex of the solar wing model in the star body coordinate system, and revolve each point in the point coordinate information matrix around the rotation axis of the solar wing to the set value Rotate 360 degrees at angular intervals to obtain several effective vertex information matrices of solar wings; arrange all effective vertex coordinate information matrices of solar wings to form a solar wing point model C; (2.3)通过手动设置给出每个发动机羽流圆锥模型的母线上的点坐标,将每个点绕该发动机羽流喷射轴线以设定的角度间隔转动360度,获得发动机羽流的有效边界点,将所有有效边界点坐标信息组合,获得发动机羽流点模型D;(2.3) By manually setting the coordinates of the points on the generatrix of each engine plume cone model, rotate each point 360 degrees around the engine plume jet axis at a set angle interval to obtain the effective boundary of the engine plume point, combine all the effective boundary point coordinate information to obtain the engine plume point model D; (2.4)将卫星本体、天线的点模型B,太阳翼点模型C以及发动机羽流点模型D中的信息矩阵组合构成卫星点模型E。(2.4) Combine the satellite body, the point model B of the antenna, the point model C of the solar wing and the information matrix in the model D of the engine plume point to form the satellite point model E. 5.根据权利要求4所述的一种星敏感器自动布局计算方法,其特征在于:所述步骤(2.1)中,给定阈值σ,若某个三角形信息矩阵中某两点之间的距离大于σ,则在上述两点的连线上插入若干点,使得连线上相邻两点之间的距离小于σ,将插入的点加入该三角形信息矩阵中组成新的三角形信息矩阵。5. A kind of star sensor automatic layout calculation method according to claim 4, is characterized in that: in described step (2.1), given threshold σ, if the distance between certain two points in a certain triangle information matrix If it is greater than σ, insert several points on the connection line of the above two points, so that the distance between two adjacent points on the connection line is less than σ, and add the inserted points to the triangle information matrix to form a new triangle information matrix. 6.根据权利要求5所述的一种星敏感器自动布局计算方法,其特征在于:所述步骤3)的具体步骤如下:6. a kind of star sensor automatic layout calculation method according to claim 5 is characterized in that: the concrete steps of described step 3) are as follows: (3.1)在取值空间内,给定星敏感器的任一组安装位置基准点和视场光轴指向方位角,并计算星敏感器视场坐标系的三坐标轴矢量在星本体坐标系中的坐标Vx,Vy,Vz(3.1) In the value space, given any set of installation position reference points of the star sensor and the azimuth angle of the optical axis of the field of view, and calculate the three-coordinate axis vector of the field of view coordinate system of the star sensor in the star body coordinate system The coordinates in V x , V y , V z ; (3.2)根据三轴矢量坐标,获得从星本体坐标系至星敏感器视场坐标系的变换矩阵M,M=[Vx,Vy,Vz]T(3.2) According to the three-axis vector coordinates, obtain the transformation matrix M from the star body coordinate system to the star sensor field of view coordinate system, M=[V x , V y , V z ] T ; (3.3)根据变换矩阵M及星敏感器视场坐标系的原点,进行点模型A、E从星本体坐标系至星敏感器视场坐标系的变换计算:(3.3) According to the transformation matrix M and the origin of the field of view coordinate system of the star sensor, the transformation calculation of the point models A and E from the coordinate system of the star body to the coordinate system of the field of view of the star sensor is performed: Rl表示点模型A、E中的第l个点的坐标信息矩阵,为第l个点在星敏感器视场坐标系里的坐标信息矩阵,OST为视场坐标系原点的坐标信息矩阵;l为正整数。R l represents the coordinate information matrix of the lth point in point models A and E, is the coordinate information matrix of the lth point in the field of view coordinate system of the star sensor, O ST is the coordinate information matrix of the origin of the field of view coordinate system; l is a positive integer. 7.根据权利要求6所述的一种星敏感器自动布局计算方法,其特征在于:所述的步骤4)的具体步骤如下:7. a kind of star sensor automatic layout calculation method according to claim 6 is characterized in that: the concrete steps of described step 4) are as follows: (4.1)计算与星敏感器视场坐标系y轴的夹角ρl(4.1) Calculation the angle ρ l with the y-axis of the star sensor's field of view coordinate system; (4.2)取点模型A、E中所有点与星敏感器视场坐标系y轴的夹角ρj的最小值,记为即为当前组安装位置和方位角对应的有效视场锥角。(4.2) Take the minimum value of the angle ρj between all points in the point models A and E and the y-axis of the star sensor's field of view coordinate system, and denote it as It is the effective FOV cone angle corresponding to the current group installation position and azimuth angle.
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