CN109992869A - A kind of star sensor autoplacement calculation method - Google Patents
A kind of star sensor autoplacement calculation method Download PDFInfo
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Abstract
A kind of star sensor autoplacement calculation method establishes sun point model using ephemeris or yellow red angle, the satellite point model of the satellite components such as satellite body and antenna, solar wing, engine plume is established using CAD software introduction method etc., star sensor visual field cone angle model is established using installation point position and azimuth, the relationship of sun point model, satellite point model and star sensor visual field cone angle model is judged using spatial alternation, to export star sensor effective viewing field cone angle.By star sensor installation point position and azimuth in traversal layout areas, maximum effective viewing field cone angle is obtained, to export optimal location position and azimuth.
Description
Technical field
The invention belongs to spacecraft overall design technique fields, are related to a kind of star sensor autoplacement calculation method.
Background technique
With the progress of science and technology, more and more satellites are mounted with that star sensor, star sensor pass through observation celestial sphere
The position of upper fixed star is simultaneously compared with star chart, can determine that posture of the satellite in inertial space can in conjunction with satellite-orbit information
To determine the in-orbit posture of satellite.Due to having many advantages, such as that measurement accuracy is high, can be used for a long time, star sensor is as important appearance
State measuring part obtains a large amount of in-orbit applications.
Star sensor is usually connected with satellite body and installs.Star sensor location problem refers to star, and quick to be mounted on satellite body assorted
Position, with the installation of which kind of azimuth.The main target of the layout of star sensor be under the premise of meeting various constraint conditions,
Star sensor is set to obtain maximum field angle.
As the equipment installed on spacecraft develops towards complication and diversified direction, star sensor layout needs to integrate
Consider that the constraint conditions such as equipment is interfered, visual field is blocked, layout difficulty are higher and higher.How the star of meet demand is quickly searched out
Quick layout feasible solution flexibly quickly finds the optimal solution in feasible solution, has important engineering significance.
Previous star sensor layout is manually completed mainly by designer, by star sensor visual field on satellite CAD model
It is established as a circular cone, by putting the position of the circular cone manually, judges the collision relationship of the circular cone and other component to differentiate
Can star is quick in this location layout.
This method is cumbersome, and efficiency is lower, can occupy a large amount of manual time.Simultaneously as touching using cone of sight
It hits as criterion, the result that this method finally provides is a certain feasible solution, optimal solution can not be provided, in mounting condition complexity
Satellite on, often omit a large amount of feasible solution.
Summary of the invention
The technical problems to be solved by the present invention are: overcome the deficiencies in the prior art, the present invention proposes a kind of star sensor
Autoplacement calculation method realizes the quick calculating that star sensor is laid out on satellite.
The technical scheme adopted by the invention is that: a kind of star sensor autoplacement calculation method comprises the following steps that
1) ephemeris and satellite relevant parameter are utilized, the relativeness of the sun and satellite is obtained and establishes sun point model；
2) import satellite component model information, establish satellite point model, the satellite component of importing include star ontology and antenna,
Solar wing, engine plume；
3) in valued space, to the given quick installation site of any group of star and azimuth, star sensor visual field cone is established
Angle model；
4) it is based on space coordinate transformation, differentiates relationship, satellite point model and the view of sun point model and visual field cone angle model
The relationship of field cone angle model, exports the corresponding effective viewing field's cone angle of this group of installation site；
5) in valued space, the quick installation site of multiple groups star and azimuth, return step 3 are given in a manner of discretization), make
It is calculated again with next group of installation site and azimuth, it is corresponding effectively to obtain every group of installation site and azimuth in valued space
Visual field cone angle；
6) compare all effective viewing field's cone angles in valued space, by the corresponding installation site of maximum effective viewing field's cone angle and
Azimuth is exported as optimal location position and azimuth.
The step 1) establishes sun point model, specific steps using the ephemeris time are as follows: given initial time, time step
Long, end time calculates the sun and sits in point of N number of calculating moment in J2000 coordinate system as input condition according to ephemeris
Mark, and point coordinate is converted to star body coordinate system, the sun point coordinate after conversion is arranged successively composition sun point model A；N
For positive integer.
The step 1) establishes sun point model, specific steps using yellow red angle are as follows: given angle interval, by the equatorial plane
360 ° of circumference angle straggling are m parts, and discrete yellow red angle is n parts of inclinations angle, form m × n group deflection, every group of deflection calculates
One position of sun point coordinate, and point coordinate is converted to star body coordinate system, the sun point coordinate arrangement after conversion is formed
Sun point model A；M, n is positive integer.
Specific step is as follows for the step 2):
(2.1) CAD model of satellite body, antenna is converted into the stl file indicated under star body coordinate system, read
Several triangle information representing matrixes being made of coordinate in stl file；All triangle information representing matrix arrangement compositions are defended
Star ontology, antenna point Model B；
(2.2) by importing CAD model stl file or manual setting, the vertex for obtaining sun wing model is sat in star ontology
Point coordinate information matrix under mark system, between the angle that each point in coordinate information matrix is set around solar wing rotating shaft
Every 360 degree of rotation, the effective vertex information matrix of several solar wings is obtained；By the effective vertex point coordinate information matrix row of all solar wings
Column composition solar wing point model C；
(2.3) the point coordinate on the bus of each engine plume conical model is provided by manual setting, by each point
360 degree are rotated with the angle interval set around the engine plume jet axis, obtains the efficient boundary point of engine plume, it will
All efficient boundary point coordinate information combinations, obtain engine plume point model D；
(2.4) by satellite body, the point model B of antenna, in solar wing point model C and engine plume point model D
Information matrix combination constitutes satellite point model E.
In the step (2.1), given threshold value σ, if the distance between certain two o'clock is greater than in some triangle information representing matrix
σ is done if being then inserted on the line of above-mentioned two o'clock, so that the distance between adjacent two o'clock is less than σ on line, by the point of insertion
It is added in the triangle information representing matrix and forms new triangle information representing matrix.
Specific step is as follows for the step 3):
(3.1) in valued space, any group of installation site datum mark and the optical-axis direction side of star sensor are given
Parallactic angle, and calculate coordinate V of the three axes vector of star sensor visual field coordinate system in star body coordinate systemx,Vy,Vz；
(3.2) it according to three axial vector coordinates, obtains from star body coordinate system to the transformation square of star sensor visual field coordinate system
Battle array M, M=[Vx,Vy,Vz]T；
(3.3) according to transformation matrix M and the origin of star sensor visual field coordinate system, point model A, E is carried out and is sat from star ontology
Mark is to the transformation calculations of star sensor visual field coordinate system:
RlIndicate first point of coordinate information matrix in point model A, E,For first point in star sensor visual field coordinate
Coordinate information matrix in system, OSTFor the coordinate information matrix of visual field coordinate origin；L is positive integer.
Specific step is as follows for the step 4):
(4.1) it calculatesWith the angle ρ of star sensor visual field coordinate system y-axisl；
(4.2) the angle ρ of all the points and star sensor visual field coordinate system y-axis in point model A, E is takenjMinimum value, be denoted asAs currently organize installation site and the corresponding effective viewing field's cone angle in azimuth.
The advantages of the present invention over the prior art are that:
(1) present invention gives layout calculation method and process using mathematical expression form, allows layout process complete
Complete utilization computer carries out automatic processing, substantially increases computational efficiency, reduces cost of labor.
(2) it is effective by searching loop mode to calculate all installation sites and azimuthal correspondence in valued space by the present invention
Visual field cone angle, no longer omission feasible solution, can find globally optimal solution.
(3) present invention is in the quick layout of star, to a variety of heterogeneitys such as the sun, satellite body, antenna, solar wing, plume
Influence object uniformly give point model processing mode, and can be by given threshold granulate, convenient for unified calculation, just
In extension.
Detailed description of the invention
Fig. 1 is a kind of star sensor autoplacement calculation method flow chart of the present invention.
Fig. 2 is the method flow diagram for establishing the point model of the sun.
Fig. 3 is the sun point model established.
Fig. 4 is the method flow diagram for establishing satellite point model.
Fig. 5 is the satellite point model established.
Fig. 6 is to judge sun point model, satellite point model and star sensor visual field cone angle model by space coordinate transformation
Relation schematic diagram.
Specific embodiment
Disclosed exemplary embodiment that the present invention will be described in more detail below with reference to accompanying drawings.Although showing this in attached drawing
The exemplary embodiment of disclosure of the invention, it being understood, however, that may be realized in various forms the present invention and disclose without should be by here
The embodiment of elaboration is limited.It is to be able to thoroughly understand the present invention on the contrary, providing these embodiments, and can incite somebody to action
Range disclosed by the invention is fully disclosed to those skilled in the art.It should be noted that in the absence of conflict, this
The feature in embodiment and embodiment in invention can be combined with each other.Come below with reference to the accompanying drawings and in conjunction with the embodiments specifically
The bright present invention.
Fig. 1 is a kind of star sensor autoplacement calculation method flow chart of the present invention.Include the following steps:
1) ephemeris and satellite relevant parameter are utilized, the relativeness of the sun and satellite is obtained and establishes sun point model；
2) import satellite component model information, establish satellite point model, the satellite component of importing include star ontology and antenna,
Solar wing, engine plume；
3) in valued space, to the given quick installation site of a certain group of star and azimuth, star sensor visual field cone is established
Angle model；
4) it is based on space coordinate transformation, differentiates relationship, satellite point model and the view of sun point model and visual field cone angle model
The relationship of field cone angle model, exports the corresponding effective viewing field's cone angle of this group of installation site；
5) in valued space, the quick installation site of multiple groups star and azimuth are given in a manner of discretization, return step 3 uses
Next group of installation site and azimuth simultaneously calculate again, so recycle, and obtain every group of installation site and azimuth in valued space
Corresponding effective viewing field's cone angle；
6) it calculates and compares effective viewing field's cone angle all in valued space, by the corresponding installation of maximum effective viewing field's cone angle
Position and azimuth are exported as optimal location position and azimuth, are completed star sensor autoplacement and are calculated.
The step 1), as shown in Fig. 2, can be realized by two methods:
Method 1 establishes sun point model, specific steps using the ephemeris time are as follows: given initial time, time step, termination
Moment as input condition, according to ephemeris, calculates point coordinate of the sun at N number of calculating moment in J2000 coordinate system, and by point
Coordinate is converted to star body coordinate system, the N after conversionAThe coordinate information of=N number of point is arranged together the matrix to be formed, as too
Positive point model A.Here NAFor positive integer, the interior point coordinate of J2000 coordinate system, which is converted to the method for star body coordinate system, belongs to ability
Field technique personnel's common knowledge.
Such as given 2017-1-1 00:00:00 is initial time, and 2017-1-31 00:00:00 is end time, with 5min
For time step, then N need to be calculated altogetherAThe sun point coordinate at=8641 moment.
Coordinate information [the x of each point after conversioni,yi,zi]TIt indicates, i is lower footnote here, indicates at i-th point；It will
The coordinate information of the point at all moment is arranged together composition matrix, as sun point model, is denoted as
Method 2 establishes sun point model, specific steps using yellow red angle are as follows: given angle interval, by 360 ° of the equatorial plane
Circumference angle straggling is m parts, and discrete yellow red angle is n parts of inclinations angle, forms m × n group deflection, and m, n are positive integer here, and
Remember NA=m × n.The point coordinate an of position of sun is calculated using every group of deflection, and point coordinate is converted to star ontology and is sat
Mark system, the N after conversionAThe coordinate information of a point is arranged together the matrix to be formed, as sun point model A.Utilization orientation angle
It calculates position of sun point coordinate and belongs to common sense well known to those skilled in the art.
It such as enables m be equal to 360, n and is equal to 80, yellow red angle takes ± 23.43 °.N need to be then calculated altogetherA=28800 groups of deflections,
Certain organizes deflection example such as: 122 ° of angle of circumference, 14.662 ° of inclination angle.Point coordinate [x after conversioni,yi,zi]TIt indicates, here
I is lower footnote, indicates at i-th point；All point coordinate arrangements are formed into matrix, as sun point model A together, format is such as
Under:
The image of sun point model A is as shown in Figure 3.
Step 2) the flow chart is as shown in Figure 4, the specific steps are as follows:
(2.1) CAD model of satellite body, antenna is converted into expression under star body coordinate system using Catia software
Stl file, then read the point coordinate and triangle information representing in stl file, include N in stl fileBA triangle and 3 × NB
The coordinate information of a point, NBFor positive integer.The matrix that the information of all the points is constitutedIt can be expressed as follows:
Here r is lower footnote,
Each P in formularRepresent a triangle, the coordinate information comprising Atria vertex, respectively
[xr1,yr1,zr1]T,[xr2,yr2,zr2]T,[xr3,yr3,zr3]T
Given positive real number threshold value σ, for PrIntermediate cam shape side length is greater than the case where σ, uniform on the side of triangle
Point is added, so that distance is less than σ between consecutive points on the side.It might as well be with r-th of triangle PrFor, if [xr1,yr1,zr1]T,
[xr2,yr2,zr2]TThe side length at place is greater than 3 σ less than 4 σ, then uniformly adds 3 points on the side, can enable the Bian Shangxiang
The distance of adjoint point is less than σ, other two sides are similar.The matrix that the triangle information representing is represented after addition point is denoted asFormat is as follows
For
Point coordinate information in formulaIt represents and is putting 1 ([xr1,yr1,zr1]T) and 2 ([x of pointr2,
yr2,zr2]T) between uniformly added obtained from 3 points, other two sides are similar.
Together by the triangle information representing matrix arrangement after all interpolation, that is, satellite body, antenna point model information are obtained
Battle array B, format are as follows:
(2.2) by importing CAD model stl file or manual setting, the vertex for obtaining sun wing model is sat in star ontology
Coordinate information matrix under mark systemFormat is as follows:
T is lower footnote in formula, represents at t-th point, Qt=[at,bt,ct]TRepresent t-th point of coordinate information, NcIt is positive whole
Number, represents the number of vertices of sun wing model.
It willThe each vertex for including is spaced 360 degree of rotation around solar wing rotating shaft at a certain angle, obtains multiple sun
The effective vertex of the wing.With t-th of point Qt=[at,bt,ct]TFor, by Qt30 degree of rotations are angularly spaced around solar wing rotating shaft
It 360 °, will generateAmount to 12 effective vertex.All effective vertex are respectively positioned on single-revolution body surface face.Again will
All effective vertex point coordinate informations are arranged together, and obtain solar wing point model Information Matrix C, and format is as follows:
(2.3) point on the bus of each engine plume conical model is provided by manual setting in star body coordinate system
Under coordinate information matrixFormat is as follows
S is lower footnote in formula, represents at s-th point, Ws=[es,fs,gs]TRepresent the coordinate information of s point, NdIt is positive whole
Number, represents the number of the point on engine plume bus.
It willIn each point around the engine plume jet axis at a certain angle be spaced rotation 360 degree, acquisition is started
The efficient boundary point of machine plume.With s-th of point Ws=[es,fs,gs]TFor, by WsAngularly around engine plume jet axis
60 degree of interval rotates 360 °, will generate Ws 1,Ws 2,...,Ws 6Amount to 6 efficient boundary points, all efficient boundary points are respectively positioned on
Single-revolution body surface face.All efficient boundary point coordinate informations are combined again, obtain engine plume point model Information Matrix
D, format are as follows:
D=[W1,...,W2,...,Ws,Ws 1,Ws 2,...,Ws 6,Ws+1...] and s=1,2 ..., Nd
(2.4) by the point model B of satellite body and antenna, solar wing point model C, the information of engine plume point model D
Battle array is arranged together, i.e. composition satellite point model, is denoted as E.The image of point model E=[B, C, D] is as shown in Figure 5.
Specific step is as follows for the step 3):
(3.1) in valued space, the one group of installation site datum mark and optical-axis for giving star sensor are directed toward orientation
Angle (installation site datum mark and azimuth provide in star body coordinate system), the coordinate information of installation site datum mark and refers to
It is used respectively to azimuth information [α, β, γ]T, [θ1,θ2,θ3]TIt indicates, such as installation site [2.5,0.65,0.4]T, azimuth
[45°,60°,-15°]T(azimuth is the angle with three axis of star body coordinate system).
Using installation site and azimuth, star sensor visual field coordinate system, visual field coordinate origin and installation site are established
Datum mark is overlapped, coordinate of the direction vector of the x, y, z three axes of star sensor visual field coordinate system in star body coordinate system
Information Vx,Vy,VzCalculation method is as follows:
Vy=[cos θ1,cosθ2,cosθ3]T/|[cosθ1,cosθ2,cosθ3]T|
Vx=[cos θ2,-cosθ1,0]T/|[cosθ2,-cosθ1,0]T|
Vz=Vx×Vy；
In formula × multiplication cross is represented, | [cos θ2,-cosθ1,0]T| represent [cos θ2,-cosθ1,0]TMould.
(3.2) it according to the coordinate information in three axial vector directions, can obtain from star body coordinate system to star sensor visual field
The transformation matrix M of coordinate system:
M=[Vx,Vy,Vz]T
(3.3) according to transformation matrix M and the origin of star sensor visual field coordinate system, sun point model A, satellite can be obtained
Point model E is from star body coordinate system to the transform method of star sensor visual field coordinate system
Here l is lower footnote, RlIndicate first point of coordinate information matrix in point model A, E.It is quick in star for the point
Coordinate information matrix in sensor visual field coordinate system, OSTFor the coordinate information matrix of visual field coordinate origin, there is OST=[α, β,
γ]T；L is positive integer；
Specific step is as follows for the step 4):
(4.1) for by obtained in the previous step anyIt calculatesWith star sensor visual field coordinate system y-axis
Angle ρl
In formulaForMould.
(4.2) the angle ρ of all the points and star sensor visual field coordinate system y-axis in point model A, E is takenlIn minimum value, note
ForAs this group of installation site effective viewing field's cone angle corresponding with azimuth.
Specific step is as follows for the step 5):
In valued space, if there is Ω installation sites allowable (Ω is positive integer here), wherein the δ installation site
Coordinate information matrix is [αδ,βδ,γδ]T, each installed position has Ψ group azimuth allowable (here Ψ be positive integer), wherein
TheA azimuthal angle information allowable isΩ × Ψ group installation point allowable and azimuth are then obtained altogether
Here δ,It is lower footnote.To every group of installation site allowable and azimuth, calculated by step 3), step 4)
Effective viewing field's cone angle is sought, to obtain k effective viewing field's cone angles(k is footnote here).
Step 6) the obtaining step 5) all effective viewing field's cone angles for acquiringIn maximum valueImage such as Fig. 6
It is shown, and exportCorresponding installation siteWith azimuthAs optimal location position and azimuth,
Star sensor autoplacement is completed to calculate.
Unspecified part of the present invention belongs to common sense well known to those skilled in the art.
Claims (7)
1. a kind of star sensor autoplacement calculation method, which is characterized in that comprise the following steps that
1) ephemeris and satellite relevant parameter are utilized, the relativeness of the sun and satellite is obtained and establishes sun point model；
2) satellite component model information is imported, establishes satellite point model, the satellite component of importing includes star ontology and antenna, the sun
The wing, engine plume；
3) in valued space, to the given quick installation site of any group of star and azimuth, star sensor visual field cone angle mould is established
Type；
4) it is based on space coordinate transformation, differentiates that relationship, satellite point model and the visual field of sun point model and visual field cone angle model are bored
The relationship of angle model exports the corresponding effective viewing field's cone angle of this group of installation site；
5) in valued space, the quick installation site of multiple groups star and azimuth, return step 3 are given in a manner of discretization), under use
One group of installation site and azimuth calculate again, obtain the corresponding effective viewing field of every group of installation site and azimuth in valued space
Cone angle；
6) compare all effective viewing field's cone angles in valued space, by the corresponding installation site of maximum effective viewing field's cone angle and orientation
Angle is exported as optimal location position and azimuth.
2. a kind of star sensor autoplacement calculation method according to claim 1, it is characterised in that: the step 1) benefit
Sun point model, specific steps are established with the ephemeris time are as follows: given initial time, time step, end time are as input item
Part calculates point coordinate of the sun at N number of calculating moment in J2000 coordinate system according to ephemeris, and point coordinate is converted to star sheet
Sun point coordinate after conversion is arranged successively composition sun point model A by body coordinate system；N is positive integer.
3. a kind of star sensor autoplacement calculation method according to claim 1, it is characterised in that: the step 1) benefit
Sun point model, specific steps are established with yellow red angle are as follows: 360 ° of circumference angle straggling of the equatorial plane are m parts by given angle interval,
Discrete yellow red angle is n parts of inclinations angle, forms m × n group deflection, and every group of deflection calculates a position of sun point coordinate,
And convert point coordinate to star body coordinate system, the sun point coordinate arrangement after conversion is formed into sun point model A；M, n is positive
Integer.
4. a kind of star sensor autoplacement calculation method according to claim 2 or 3, it is characterised in that: the step
2) specific step is as follows:
(2.1) CAD model of satellite body, antenna is converted into the stl file indicated under star body coordinate system, reads STL
Several triangle information representing matrixes being made of coordinate in file；All triangle information representing matrix arrangements are formed into satellite sheet
Body, antenna point Model B；
(2.2) by importing CAD model stl file or manual setting, the vertex of sun wing model is obtained in star body coordinate system
Under point coordinate information matrix, the angle interval that each point in coordinate information matrix is set around solar wing rotating shaft turn
It is 360 degree dynamic, obtain the effective vertex information matrix of several solar wings；By the effective vertex point coordinate information matrix arrangement group of all solar wings
At solar wing point model C；
(2.3) the point coordinate on the bus of each engine plume conical model is provided by manual setting, by each point around this
Engine plume jet axis rotates 360 degree with the angle interval set, obtains the efficient boundary point of engine plume, will own
The combination of efficient boundary point coordinate information, obtains engine plume point model D；
(2.4) information by satellite body, the point model B of antenna, in solar wing point model C and engine plume point model D
Matrix combination constitutes satellite point model E.
5. a kind of star sensor autoplacement calculation method according to claim 4, it is characterised in that: the step
(2.1) in, given threshold value σ, if the distance between certain two o'clock is greater than σ in some triangle information representing matrix, in above-mentioned two o'clock
If insertion is done on line, so that the distance between adjacent two o'clock is less than σ on line, the triangle information representing is added in the point of insertion
New triangle information representing matrix is formed in matrix.
6. a kind of star sensor autoplacement calculation method according to claim 5, it is characterised in that: the step 3)
Specific step is as follows:
(3.1) in valued space, any group of installation site datum mark and optical-axis for giving star sensor are directed toward azimuth,
And calculate coordinate V of the three axes vector of star sensor visual field coordinate system in star body coordinate systemx,Vy,Vz；
(3.2) according to three axial vector coordinates, transformation matrix M, M from star body coordinate system to star sensor visual field coordinate system are obtained
=[Vx,Vy,Vz]T；
(3.3) according to transformation matrix M and the origin of star sensor visual field coordinate system, point model A, E are carried out from star body coordinate system
To the transformation calculations of star sensor visual field coordinate system:
RlIndicate first point of coordinate information matrix in point model A, E,For first point in star sensor visual field coordinate system
Coordinate information matrix, OSTFor the coordinate information matrix of visual field coordinate origin；L is positive integer.
7. a kind of star sensor autoplacement calculation method according to claim 6, it is characterised in that: the step 4)
Specific step is as follows:
(4.1) it calculatesWith the angle ρ of star sensor visual field coordinate system y-axisl；
(4.2) the angle ρ of all the points and star sensor visual field coordinate system y-axis in point model A, E is takenjMinimum value, be denoted asI.e.
Currently to organize the corresponding effective viewing field's cone angle of installation site and azimuth.
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| CN111027159A (en) * | 2019-10-31 | 2020-04-17 | 中国空间技术研究院 | Star sensor space layout method based on logic tracing |
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