CN109992869B - Automatic layout calculation method for star sensor - Google Patents
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Abstract
A method for automatically arranging and calculating the star sensor includes such steps as creating sun point model by ephemeris or HuangChi included angle, creating satellite point models of satellite body and antenna, sun wing, engine plume, etc. by CAD software importing method, creating field-of-view cone model by installing point position and azimuth angle, and judging the relation between sun point model, satellite point model and field-of-view cone model by space transform. And obtaining the maximum effective view field cone angle by traversing the star sensor mounting point position and the azimuth angle in the layout region, thereby outputting the optimal layout position and the azimuth angle.
Description
Technical Field
The invention belongs to the technical field of overall design of spacecrafts, and relates to an automatic layout calculation method of a star sensor.
Background
With the progress of science and technology, more and more satellites are provided with star sensors, the star sensors can determine the attitude of the satellites in an inertial space by observing the positions of fixed stars on an celestial sphere and comparing the positions with a star map, and the in-orbit attitude of the satellites can be determined by combining satellite orbit information. The star sensor is used as an important attitude measurement component, and a large amount of on-orbit applications are obtained due to the advantages of high measurement precision, long-term use and the like.
The star sensor is usually mounted in fixed connection with the satellite body. The star sensor layout problem refers to the position and azimuth angle of the star sensor installed on the satellite body. The main goal of the layout of the star sensor is to enable the star sensor to obtain the maximum field angle on the premise of meeting various constraint conditions.
With the development of devices installed on a spacecraft towards the direction of complexity and diversification, constraint conditions such as device interference, view field shielding and the like need to be comprehensively considered in the layout of the star sensor, and the layout difficulty is higher and higher. How to quickly find feasible solutions of the star sensitive layout meeting the requirements and flexibly and quickly find the optimal solution in the feasible solutions have important engineering significance.
The conventional star sensor layout is mainly finished manually by a designer, a view field of the star sensor is established as a cone on a satellite CAD model, and the position of the cone is manually placed to judge the collision relation between the cone and other parts so as to judge whether the star sensor can be laid at the position.
The method is complex to operate, low in efficiency and capable of occupying a large amount of labor time. Meanwhile, because the collision of the view cone angle is used as a judgment criterion, the final given result of the method is a feasible solution, the optimal solution cannot be given, and a large number of feasible solutions are often omitted on satellites with complex installation conditions.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the invention provides an automatic layout calculation method of a star sensor, which overcomes the defects of the prior art and realizes the rapid calculation of the layout of the star sensor on a satellite.
The technical scheme adopted by the invention is as follows: an automatic layout calculation method of a star sensor comprises the following steps:
1) Obtaining the relative relation between the sun and the satellite by using ephemeris and satellite related parameters and establishing a sun point model;
2) Introducing satellite component model information, and establishing a satellite point model, wherein the introduced satellite component comprises a satellite body, an antenna, a solar wing and an engine plume;
3) In the value space, establishing a view field cone angle model of the star sensor for any given set of star sensor installation positions and azimuth angles;
4) Judging the relation between the solar point model and the view field cone angle model and the relation between the satellite point model and the view field cone angle model based on space coordinate transformation, and outputting an effective view field cone angle corresponding to the group of installation positions;
5) In the value space, a plurality of groups of satellite sensitive mounting positions and azimuth angles are given in a discretization mode, the step 3) is returned, the next group of mounting positions and azimuth angles are used for calculating again, and effective view field cone angles corresponding to each group of mounting positions and azimuth angles in the value space are obtained;
6) And comparing all effective view field cone angles in the value space, and outputting the installation position and the azimuth angle corresponding to the maximum effective view field cone angle as an optimal layout position and an azimuth angle.
The step 1) of establishing the solar point model by using the ephemeris time comprises the following specific steps: giving an initial time, a time step length and a termination time as input conditions, calculating point coordinates of the sun in a J2000 coordinate system at N calculation times according to ephemeris, converting the point coordinates into a star body coordinate system, and sequentially arranging the converted sun point coordinates to form a sun point model A; n is a positive integer.
The method comprises the following steps of 1) establishing a sun point model by utilizing a yellow-red included angle, and specifically comprises the following steps: given angle intervals, dispersing 360-degree circumferential angles of an equatorial plane into m parts, dispersing a yellow-red included angle into n inclined angles to form m multiplied by n group directional angles, calculating a sun position point coordinate for each group of directional angles, converting the point coordinate to a star body coordinate system, and arranging the converted sun point coordinates to form a sun point model A; m and n are positive integers.
The specific steps of the step 2) are as follows:
(2.1) converting the CAD models of the satellite body and the antenna into an STL file expressed in a satellite body coordinate system, and reading a plurality of triangular information matrixes formed by point coordinates in the STL file; arranging all the triangular information matrixes to form a satellite body and an antenna point model B;
(2.2) acquiring a point coordinate information matrix of the vertex of the solar wing model under the star body coordinate system by importing a CAD model STL file or manually setting, and rotating each point in the point coordinate information matrix for 360 degrees around a solar wing rotating shaft at set angle intervals to acquire a plurality of solar wing effective vertex information matrices; arranging all the effective vertex coordinate information matrixes of the solar wings to form a solar wing point model C;
(2.3) manually setting point coordinates on a generatrix of each engine plume conical model, rotating each point 360 degrees around the engine plume injection axis at set angle intervals to obtain effective boundary points of the engine plumes, and combining coordinate information of all the effective boundary points to obtain an engine plume point model D;
and (2.4) combining information matrixes in the satellite body, the point model B of the antenna, the solar wing point model C and the engine plume point model D to form a satellite point model E.
In the step (2.1), a threshold value sigma is given, if the distance between two points in a certain triangular information matrix is greater than sigma, a plurality of points are inserted into the connecting line of the two points, so that the distance between two adjacent points on the connecting line is less than sigma, and the inserted points are added into the triangular information matrix to form a new triangular information matrix.
The specific steps of the step 3) are as follows:
(3.1) in the value space, giving any set of installation position reference points and view field optical axis pointing azimuth angles of the star sensor, and calculating the coordinate V of a three-coordinate-axis vector of a view field coordinate system of the star sensor in a star body coordinate system x ,V y ,V z ；
(3.2) obtaining a transformation matrix M, M = [ V ] from the star body coordinate system to the star sensor field of view coordinate system according to the three-axis vector coordinates x ,V y ,V z ] T ；
(3.3) performing conversion calculation of the point model A, E from the star body coordinate system to the star sensor field coordinate system according to the conversion matrix M and the origin of the star sensor field coordinate system:
R l a coordinate information matrix representing the ith point in the point model A, E,
is a coordinate information matrix of the first point in a view field coordinate system of the star sensor, O ST A coordinate information matrix which is the origin of a view field coordinate system; l is a positive integer.
The specific steps of the step 4) are as follows:
(4.1) calculation of
Included angle rho between the star sensor and the y axis of the view field coordinate system of the star sensor l ；
(4.2) clip of all points in the point model A, E and the y axis of the star sensor field of view coordinate systemAngle ρ j Is noted as the minimum value of
I.e. the effective field cone angle corresponding to the current set of mounting positions and azimuth angles.
Compared with the prior art, the invention has the advantages that:
(1) The invention provides the layout calculation method and the layout calculation process by using a mathematical expression form, so that the layout process can be completely processed automatically by using a computer, the calculation efficiency is greatly improved, and the labor cost is reduced.
(2) According to the invention, the corresponding effective view field cone angles of all the installation positions and azimuth angles in the value space are calculated in a circular traversal mode, no feasible solution is omitted, and a global optimal solution can be found.
(3) In the star-sensitive layout, a point model processing mode is uniformly provided for various influence objects with different properties such as the sun, a satellite body, an antenna, a solar wing, a plume and the like, and granularity can be refined by setting a threshold value, so that uniform calculation and expansion are facilitated.
Drawings
Fig. 1 is a flow chart of an automatic layout calculation method of a star sensor according to the invention.
FIG. 2 is a flow chart of a method of establishing a point model of the sun.
Fig. 3 is the established sun point model.
FIG. 4 is a flow chart of a method of building a satellite spot model.
Fig. 5 is the established satellite spot model.
Fig. 6 is a schematic diagram of the relationship between the sun point model, the satellite point model and the view field cone angle model of the star sensor determined by space coordinate transformation.
Detailed Description
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 this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art. It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
FIG. 1 is a flow chart of an automatic layout calculation method of a star sensor according to the present invention. The method comprises the following steps:
1) Obtaining the relative relation between the sun and the satellite by using ephemeris and satellite related parameters and establishing a sun point model;
2) Introducing satellite component model information, and establishing a satellite point model, wherein the introduced satellite component comprises a satellite body, an antenna, a solar wing and an engine plume;
3) In a value space, establishing a field of view cone angle model of the star sensor for a given set of star sensor mounting positions and azimuth angles;
4) Judging the relation between the solar point model and the view field cone angle model and the relation between the satellite point model and the view field cone angle model based on space coordinate transformation, and outputting an effective view field cone angle corresponding to the group of mounting positions;
5) In the value space, a plurality of groups of satellite sensitive installation positions and azimuth angles are given in a discretization mode, the step 3 is returned, the next group of installation positions and azimuth angles are used and calculated again, and the steps are repeated, so that effective view field cone angles corresponding to each group of installation positions and azimuth angles in the value space are obtained;
6) And calculating and comparing all effective view field cone angles in the value space, and outputting the mounting position and the azimuth angle corresponding to the maximum effective view field cone angle as an optimal layout position and an azimuth angle to complete automatic layout calculation of the star sensor.
Step 1) as shown in fig. 2, can be implemented by two methods:
the method 1 establishes a solar point model by using ephemeris time, and comprises the following specific steps: giving starting time, time step length and ending time as input conditions, calculating point coordinates of the sun in a J2000 coordinate system at N calculation times according to ephemeris, converting the point coordinates into a satellite body coordinate system, and converting the converted point coordinates into a satellite body coordinate systemN A And the coordinate information of the = N points is arranged together to form a matrix, namely the sun point model A. Where N is A The method for converting the coordinates of the points in the J2000 coordinate system to the star coordinate system is a positive integer and is well known to those skilled in the art.
If 2017-1-1 00 is given A Coordinates of sun points at 8641 time instants.
The coordinate information of each point after conversion is [ x ] i ,y i ,z i ] T Indicating, wherein i is a subscript mark, indicating the ith point; arranging the coordinate information of all the points at all the moments together to form a matrix, namely a sun point model, and recording the model as a sun point
The method 2 establishes a sun point model by utilizing the included angle of yellow and red, and comprises the following specific steps: given angular intervals, the 360-degree circumferential angle of the equatorial plane is dispersed into m parts, the included yellow-red angle is dispersed into N parts of inclined angles, and m multiplied by N groups of direction angles are formed, wherein m and N are positive integers and are recorded as N A = m × n. Calculating point coordinates of a sun position by utilizing each group of direction angles, converting the point coordinates into a star body coordinate system, and obtaining N after conversion A And arranging the coordinate information of the points together to form a matrix, namely the sun point model A. The use of the azimuth angle to calculate the coordinates of the sun's position points is well known to those skilled in the art.
If m is equal to 360, n is equal to 80, and the included angle of yellow and red is +/-23.43 degrees. Then N needs to be calculated altogether A =28800 sets of azimuth angles, examples of a set of azimuth angles are: circumferential angle 122 °, oblique angle 14.662 °. The transformed point coordinates are represented by [ x ] i ,y i ,z i ] T Indicating, wherein i is a subscript mark, indicating the ith point; arranging all point coordinates together to form a matrix, namely a solar point model A, wherein the format is as follows:
an image of the sun point model a is shown in fig. 3.
The step 2) is shown in the flowchart of fig. 4, and the specific steps are as follows:
(2.1) converting the CAD models of the satellite body and the antenna into an STL file expressed in a satellite body coordinate system by utilizing Catia software, and then reading point coordinates and triangle information in the STL file, wherein the STL file comprises N B A triangle and 3 XN B Coordinate information of a point, N B Is a positive integer. Matrix of information of all points
Can be expressed as follows:
where r is the lower foot mark, where,
in which each P is r Represents a triangle, and contains coordinate information of three vertexes of the triangle, which are respectively
[x r1 ,y r1 ,z r1 ] T ,[x r2 ,y r2 ,z r2 ] T ,[x r3 ,y r3 ,z r3 ] T
Given a positive real threshold σ, for P r When a certain side of the medium triangle is larger than sigma, points are uniformly added on the edge of the triangle, so that the distance between adjacent points on the edge is smaller than sigma. Not in the r-th triangle P r For example, if [ x ] r1 ,y r1 ,z r1 ] T ,[x r2 ,y r2 ,z r2 ] T If the side length is greater than 3 sigma but less than 4 sigma, then 3 points are added uniformly on the side, i.e. the distance between adjacent points on the side is less than sigma, and the other two sides are similar. Matrix notation representing the triangle information after adding pointsIs composed of
The format is as follows
Point coordinate information in formula
Represents at point 1 ([ x ] r1 ,y r1 ,z r1 ] T ) And point 2 ([ x ]) r2 ,y r2 ,z r2 ] T ) With 3 points obtained by uniform addition between the other two edges being similar.
Arranging all the interpolated triangular information matrixes together to obtain a satellite body and an antenna point model information matrix B, wherein the format is as follows:
(2.2) acquiring a coordinate information matrix of the vertex of the solar wing model under the star body coordinate system by importing a CAD model STL file or manually setting
The format is as follows:
wherein t is a subscript representing the t-th point, Q t ＝[a t ,b t ,c t ] T Coordinate information representing the t-th point, N c The number of the vertexes of the solar wing model is represented as a positive integer.
Will be provided with
Each vertex included revolves around the sun wingThe shaft rotates 360 degrees at certain angle intervals to obtain a plurality of effective vertexes of the solar wing. At t point Q t ＝[a t ,b t ,c t ] T For example, Q t Rotate 360 degrees around the revolution axis of the solar wing at an angular interval of 30 degrees to generate
For a total of 12 valid vertices. All the effective vertexes are located on a surface of a revolution. And arranging all the effective vertex coordinate information together to obtain a solar wing point model information array C, wherein the format is as follows:
(2.3) giving coordinate information matrix of points on generatrix of each engine plume cone model under the star body coordinate system through manual setting
The format is as follows
Wherein s is a subscript mark representing the s-th point, W s ＝[e s ,f s ,g s ] T Coordinate information representing the s-th point, N d Is a positive integer representing the number of points on the engine plume bus.
Will be provided with
Each point in the set of points is rotated 360 degrees at angular intervals about the engine plume injection axis to obtain effective boundary points for the engine plume. At the s th point W s ＝[e s ,f s ,g s ] T For example, W s Rotating 360 degrees around the engine plume injection axis at angular intervals of 60 degrees will produce W s 1 ,W s 2 ,...,W s 6 The total number of the effective boundary points is 6, and all the effective boundary points are positioned on the surface of a revolution body. And combining the coordinate information of all the effective boundary points together to obtain an engine plume point model information array D, wherein the format is as follows:
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) arranging the information arrays of the satellite body, the point model B of the antenna, the solar wing point model C and the engine plume point model D together to form a satellite point model, and marking the satellite point model as E. An image of the point model E = [ B, C, D ] is shown in fig. 5.
The step 3) comprises the following specific steps:
(3.1) in the value space, giving a group of mounting position reference points and field optical axis pointing azimuth angles of the star sensor (the mounting position reference points and the azimuth angles are all given in a star body coordinate system), and respectively using [ alpha, beta, gamma ] to respectively use the coordinate information and the pointing azimuth angle information of the mounting position reference points] T ，[θ 1 ,θ 2 ,θ 3 ] T Indicating, e.g., the mounting location [2.5,0.65,0.4] T Azimuth angle [45 °,60 °, -15 ° ]] T (the azimuth angle is the included angle with the three axes of the star body coordinate system).
Establishing a field-of-view coordinate system of the star sensor by using the installation position and the azimuth angle, wherein the origin of the field-of-view coordinate system is coincident with the reference point of the installation position, and the vector direction of the x, y and z coordinate axes of the field-of-view coordinate system of the star sensor is the coordinate information V in the star body coordinate system x ,V y ,V z The calculation method is as follows:
V y ＝[cosθ 1 ,cosθ 2 ,cosθ 3 ] T /|[cosθ 1 ,cosθ 2 ,cosθ 3 ] T |
V x ＝[cosθ 2 ,-cosθ 1 ,0] T /|[cosθ 2 ,-cosθ 1 ,0] T |
V z ＝V x ×V y ；
in the formulaX represents cross-product, | [ cos θ | ] 2 ,-cosθ 1 ,0] T I represents [ cos theta ] 2 ,-cosθ 1 ,0] T The die of (1).
(3.2) according to the coordinate information of the three-axis vector direction, obtaining a transformation matrix M from the star body coordinate system to the star sensor view field coordinate system:
M＝[V x ,V y ,V z ] T
(3.3) according to the transformation matrix M and the origin of the star sensor field of view coordinate system, a transformation method for transforming the sun point model A and the satellite point model E from the star body coordinate system to the star sensor field of view coordinate system can be obtained
Where l is the subscript, R l A coordinate information matrix representing the ith point in the point model A, E.
Is a coordinate information matrix of the point in a view field coordinate system of the star sensor, O ST A coordinate information matrix, having O, for the origin of the field coordinate system ST ＝[α,β,γ] T (ii) a l is a positive integer;
the step 4) comprises the following specific steps:
(4.1) for any one obtained as above
Computing
Included angle rho between the star sensor and the y axis of the view field coordinate system of the star sensor l
In the formula
Is composed of
The die of (1).
(4.2) included angles rho between all points in the point model A, E and the y axis of the star sensor field of view coordinate system l Minimum value of (1), is noted
I.e. the effective field cone angle corresponding to the set of mounting positions and azimuth angles.
The step 5) comprises the following specific steps:
in the value space, if there are omega allowable installation positions (where omega is a positive integer), the coordinate information matrix of the delta-th installation position is [ alpha ] δ ,β δ ,γ δ ] T At each installation location, there are Ψ sets of allowable azimuth angles (here Ψ is a positive integer), wherein the second
The angle information of the allowable azimuth angle is
Then the allowable set of mounting points and azimuth angles of the omega x psi group are obtained
Here, the number of the delta is,
are all the lower foot marks. Calculating each group of allowable installation positions and azimuth angles according to the steps 3) and 4) to obtain effective field cone angles, thereby obtaining k effective field cone angles
(where k is a subscript).
Step 6) obtaining all effective view field cone angles obtained in step 5)
Maximum value of (2)
The image is shown in FIG. 6 and output
Corresponding mounting position
And azimuth angle
And the star sensor is used as an optimal layout position and an azimuth angle to complete the automatic layout calculation of the star sensor.
The invention has not been described in detail in part of the common general knowledge of those skilled in the art.
Claims (7)
1. An automatic layout calculation method of a star sensor is characterized by comprising the following steps:
1) Obtaining the relative relation between the sun and the satellite by using ephemeris and satellite related parameters and establishing a sun point model;
2) Importing satellite component model information, and establishing a satellite point model, wherein the imported satellite component comprises a satellite body, an antenna, a solar wing and an engine plume;
3) In a value space, establishing a view field cone angle model of the star sensor for any set of given star sensor installation positions and azimuth angles;
4) Judging the relation between the solar point model and the view field cone angle model and the relation between the satellite point model and the view field cone angle model based on space coordinate transformation, and outputting an effective view field cone angle corresponding to the group of mounting positions;
5) In the value space, a plurality of groups of satellite sensitive mounting positions and azimuth angles are given in a discretization mode, the step 3) is returned, the next group of mounting positions and azimuth angles are used for calculating again, and effective view field cone angles corresponding to each group of mounting positions and azimuth angles in the value space are obtained;
6) And comparing all effective view field cone angles in the value space, and outputting the installation position and the azimuth angle corresponding to the maximum effective view field cone angle as an optimal layout position and an azimuth angle.
2. The automatic layout calculation method for the star sensor according to claim 1, wherein: the step 1) of establishing the solar point model by using the ephemeris time comprises the following specific steps: giving an initial time, a time step length and a termination time as input conditions, calculating point coordinates of the sun in a J2000 coordinate system at N calculation times according to ephemeris, converting the point coordinates into a star body coordinate system, and sequentially arranging the converted sun point coordinates to form a sun point model A; n is a positive integer.
3. The automatic layout calculation method for the star sensor according to claim 1, wherein: the method comprises the following steps of 1) establishing a sun point model by utilizing a yellow-red included angle, and specifically comprises the following steps: given angle intervals, dispersing 360-degree circumferential angles of an equatorial plane into m parts, dispersing a yellow-red included angle into n inclined angles to form m multiplied by n group directional angles, calculating a sun position point coordinate for each group of directional angles, converting the point coordinate to a star body coordinate system, and arranging the converted sun point coordinates to form a sun point model A; m and n are positive integers.
4. The automatic star sensor layout calculation method according to claim 2 or 3, wherein: the specific steps of the step 2) are as follows:
(2.1) converting the CAD models of the satellite body and the antenna into an STL file expressed in a satellite body coordinate system, and reading a plurality of triangular information matrixes formed by point coordinates in the STL file; arranging all the triangular information matrixes to form a satellite body and an antenna point model B;
(2.2) acquiring a point coordinate information matrix of the vertex of the solar wing model under the star body coordinate system by importing a CAD model STL file or manually setting, and rotating each point in the point coordinate information matrix for 360 degrees around a solar wing rotating shaft at set angle intervals to acquire a plurality of solar wing effective vertex information matrices; arranging all effective vertex coordinate information matrixes of the solar wings to form a solar wing point model C;
(2.3) manually setting point coordinates on a generatrix of each engine plume conical model, rotating each point 360 degrees around the engine plume injection axis at set angle intervals to obtain effective boundary points of the engine plumes, and combining coordinate information of all the effective boundary points to obtain an engine plume point model D;
and (2.4) combining information matrixes in the satellite body, the point model B of the antenna, the solar wing point model C and the engine plume point model D to form a satellite point model E.
5. The automatic layout calculation method for the star sensor according to claim 4, wherein: in the step (2.1), a threshold value sigma is given, if the distance between two points in a certain triangular information matrix is greater than sigma, a plurality of points are inserted into the connecting line of the two points, so that the distance between two adjacent points on the connecting line is less than sigma, and the inserted points are added into the triangular information matrix to form a new triangular information matrix.
6. The automatic layout calculation method for the star sensor according to claim 5, wherein: the specific steps of the step 3) are as follows:
(3.1) in the value space, giving any set of installation position reference points and view field optical axis pointing azimuth angles of the star sensor, and calculating the coordinate V of a three-coordinate-axis vector of a view field coordinate system of the star sensor in a star body coordinate system x ,V y ,V z ；
(3.2) obtaining a transformation matrix M, M = [ V ] from the star body coordinate system to the star sensor field of view coordinate system according to the three-axis vector coordinates x ,V y ,V z ] T ；
(3.3) performing conversion calculation of the point model A, E from the star body coordinate system to the star sensor field coordinate system according to the conversion matrix M and the origin of the star sensor field coordinate system:
R l a coordinate information matrix representing the l-th point in the point model A, E,
is a coordinate information matrix of the first point in a view field coordinate system of the star sensor, O ST A coordinate information matrix which is the origin of a view field coordinate system; l is a positive integer.
7. The method for automatically calculating the star sensor layout according to claim 6, wherein: the specific steps of the step 4) are as follows:
(4.1) calculation of
Rho included angle with y axis of star sensor view field coordinate system l ；
(4.2) an included angle rho between all points in the point model A, E and the y axis of the star sensor view field coordinate system j Is noted as the minimum value of
I.e. the effective field cone angle corresponding to the current set of mounting positions and azimuth angles.
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