CN110108273B - On-satellite automatic interference protection method of star sensor - Google Patents

On-satellite automatic interference protection method of star sensor Download PDF

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CN110108273B
CN110108273B CN201910351260.6A CN201910351260A CN110108273B CN 110108273 B CN110108273 B CN 110108273B CN 201910351260 A CN201910351260 A CN 201910351260A CN 110108273 B CN110108273 B CN 110108273B
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star sensor
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林佳伟
李巍
耿洁
王韬
宫经刚
王振华
蔡诚
王玉峰
韩冬
徐英学
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Beijing Institute of Control Engineering
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Abstract

An on-star automatic interference protection method of a star sensor comprises the following steps: 1) randomly selecting a star sensor installed on a satellite; 2) judging whether the star sensor is interfered according to the sun interference judgment condition, the earth interference judgment condition, the moon interference judgment condition and the interference star interference judgment condition, finishing the interference judgment work, and then entering the step 3); 3) repeating the steps 1) to 2) until the interference judgment work of all star sensors on the satellite is completed, and entering the step 4); 4) and selecting an undisturbed star sensor on the satellite to determine the satellite attitude. The invention actively forbids the disturbed satellite sensitivity, thereby improving the reliability and the safety of the satellite.

Description

On-satellite automatic interference protection method of star sensor
Technical Field
The invention relates to an on-satellite automatic interference protection method of a star sensor, and belongs to the technical field of satellite attitude determination.
Background
Currently satellites generally avoid satellite sensitive interference by:
the method comprises the following steps: and analyzing the interference sky area, and pointing the optical axis of the satellite sensor to the undisturbed sky area during satellite layout design so as to avoid day and month interference. For example, geostationary orbit satellites typically point the satellite sensitive optical axis in the north-south region to avoid earth and sun interference.
The method 2 comprises the following steps: and designing a satellite orbit-changing strategy for avoiding satellite-sensitive interference. Orbital attitude such as off-site ignition should be able to ensure that star sensitivity is not disturbed.
The method 3 comprises the following steps: and the validity of the data is ensured through the validity mark output by the star sensor. The star sensor judges whether the satellite is interfered by other celestial bodies according to the received image information, and when the star sensor judges that the satellite is interfered, the output validity mark is invalid. When the on-board computer finds that the validity mark of the star sensor output is invalid, the attitude determination is not carried out by using the star sensor.
The methods have certain limitations, and the method 1 and the method 2 are only suitable for satellites with simpler orbits and attitudes and are not suitable for satellites with complex orbital attitude maneuver. The method 3 only depends on image information, and can be found by the star sensor when the interference is serious, for example, the strong light of the sun is easy to identify after entering the visual field; however, when the interference is small, the interfering celestial body may be mistaken as a fixed star, thereby causing attitude determination errors, for example, a weak light spot caused by the reflection of the interfering star is difficult to distinguish from a normal fixed star.
The method judges whether the satellite sensitivity is interfered or not through the attitude orbit information, and actively disables the satellite sensitivity after the satellite sensitivity is pre-judged to be interfered, thereby realizing automatic interference protection, avoiding the risk of satellite attitude determination errors caused by the interference of the satellite sensitivity and fundamentally improving the reliability and the safety of the satellite.
Because the satellite is generally provided with a plurality of star sensors and gyros, after the disturbed star sensors are forbidden, other star sensors can be used for determining the attitude, and even if all the star sensors are forbidden, the gyros can also ensure the short-term attitude determination precision.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the method overcomes the defects of the prior art, provides an on-satellite automatic interference protection method of the star sensor, judges whether the star sensor is interfered or not through attitude orbit information, and actively disables the star sensor after the star sensor is pre-judged to be interfered, thereby avoiding the risk of satellite attitude determination errors caused by the interference of the star sensor and fundamentally improving the reliability and the safety of the satellite.
The technical scheme of the invention is as follows:
an on-satellite automatic interference protection method for a star sensor, wherein one or more star sensors for determining the satellite attitude are installed on a satellite, comprises the following steps:
1) randomly selecting a star sensor installed on a satellite;
2) judging whether the star sensor is interfered according to the sun interference judgment condition, the earth interference judgment condition, the moon interference judgment condition and the interference star interference judgment condition, finishing the interference judgment work, and then entering the step 3);
3) repeating the steps 1) to 2) until the interference judgment work of all star sensors on the satellite is completed, and entering the step 4);
4) and selecting an undisturbed star sensor on the satellite to determine the satellite attitude.
Step 2) the solar interference determination condition is specifically:
when a isSTS_S<(aSTS+aS+pS) If so, the star sensor meets the sun interference judgment condition; otherwise, the star sensor does not meet the sun interference judgment condition;
wherein, aSTS_S＝arccos(op·sb)，sb＝CbIsIOp is the projection of a unit vector in the same direction as the star sensitive optical axis vector on the satellite body system, CbIIs a directional cosine array, s, of the satellite body system relative to the equatorial systemIThe projection of a unit vector in the same direction as the sun vector in the geocentric equatorial inertial system; a isSTSIs the field radius opening angle, a, of the star sensorSIs the sun field radius opening angle, pSThe value range of (A) is 0.5-2.5 degrees.
Step 2) the earth interference determination condition is specifically:
when a isSTS_E<(aSTS+aE+pE) Then, the star sensor meets the earth interference judgment condition; otherwise, the star sensor does not meet the earth interference judgment condition;
wherein, aSTS_E＝arccos(op·eb)，
Figure BDA0002043999990000031
eIIs the projection of a unit vector in the same direction with the earth vector in the geocentric equatorial inertial system,
Figure BDA0002043999990000032
is the field radius of the earth field of view, reIs the radius of the earth, pEThe value range of (1) is 0.5-2.5 degrees, | eII represents the solving vector eIThe die of (1).
Step 2) the moon interference determination condition is specifically:
when a isSTS_M<(aSTS+aM+pM) If so, the star sensor meets the moon interference judgment condition; otherwise, the star sensor does not meet the moon interference judgment condition;
wherein, aSTS_M＝arccos(op·mb)，mb＝CbImI，mIIs the projection of a unit vector in the same direction as the lunar vector in the equatorial inertia system of the Earth, aMIs the radial field angle of moon field, pMThe value range of (A) is 0.5-2.5 degrees.
Step 2) the interference satellite interference judgment condition is specifically as follows:
when a isSTS_DIS<(aSTS+aDIS+pD) If so, the star sensor does not meet the interference star interference judgment condition; otherwise, the star sensor meets the interference judgment condition of the interference star;
wherein, aSTS_DIS＝arccos(op·pdis_b)，
Figure BDA0002043999990000033
pIProjection of a vector pointing to the Earth's center in the Earth's equatorial inertial System, p 'IThe projection of the vector of the earth center pointing to the interference star in the equatorial inertial system of the earth center,
Figure BDA0002043999990000034
to disturb the star field of view radius opening angle, rdisAs equivalents of interfering starsAnd the radius of the satellite is the satellite where the star sensor is located, and the interference star is the satellite entering a star sensitive field of view or other celestial bodies except the sun, the moon and the earth.
The step 2) is a method for judging whether the star sensor is interfered, and specifically comprises the following steps:
if the star sensor does not meet any judgment condition, judging that the star sensor is not interfered; otherwise, the star sensor is judged to be interfered.
Compared with the prior art, the invention has the beneficial effects that:
1) the method can avoid the risk of satellite attitude determination errors caused by disturbance of the star sensor, and improves the reliability and the safety of the satellite star sensor attitude determination data;
2) the method reduces the design constraint of satellite orbit attitude maneuver, and does not require satellite sensitivity to avoid an interference sky area.
Drawings
FIG. 1 is a flow chart of the method of the present invention.
Detailed Description
The present invention is described in further detail below with reference to the attached drawings.
The flow chart of the method is shown in figure 1, one or more star sensors for determining the satellite attitude are installed on a satellite, and the on-satellite automatic interference protection method of the star sensors comprises the following steps:
1) randomly selecting a star sensor installed on a satellite;
2) judging whether the star sensor is interfered and determining a celestial object interfering with the star sensor according to a sun interference judgment condition, an earth interference judgment condition, a moon interference judgment condition and an interference star interference judgment condition, and if the star sensor does not meet any judgment condition, judging that the star sensor is not interfered; otherwise, the star sensor is judged to be interfered. Finishing the interference judgment work, and then entering the step 3);
the solar interference determination condition specifically includes:
when a isSTS_S<(aSTS+aS+pS) If so, the star sensor is interfered by the sun, and the star sensor meets the judgment condition of the sun interference; otherwise, the star sensor does not meet the sun interference judgment condition;
wherein, aSTS_S＝arccos(op·sb)，sb＝CbIsIOp is the projection of a unit vector in the same direction as the star sensitive optical axis vector on the satellite body system, CbIIs a directional cosine array, s, of the satellite body system relative to the equatorial systemIThe unit vector in the same direction as the vector of the sun vector satellite pointing to the sun is projected in the geocentric equatorial inertial system; a isSTS_SThe unit of (c) is degree. a isSTSIs the field radius opening angle, a, of the star sensorSThe field angle of the sun field radius is taken as 0.266 degree, pSAngle of protection for the sun's field of view, pSThe value range of (A) is 0.5-2.5 degrees. Example 1 of the present invention is as follows:
Figure BDA0002043999990000041
Figure BDA0002043999990000051
aSTS_S<(aSTS+aS+pS) Therefore, the star sensor is interfered by the sun, and the judgment condition of the sun interference is met.
Embodiment 2 of the present invention is as follows:
Figure BDA0002043999990000052
Figure BDA0002043999990000053
Figure BDA0002043999990000054
aSTS_S>(aSTS+aS+pS) The star sensor is not interfered by the sun, and the star sensor does not meet the judgment condition of the sun interference.
The earth interference determination condition specifically includes:
when a isSTS_E<(aSTS+aE+pE) Then, the star sensor is interfered by the earth, and the star sensor meets the earth interference judgment condition; otherwise, the star sensor does not meet the earth interference judgment condition;
wherein, aSTS_E＝arccos(op·eb)，
Figure BDA0002043999990000055
eIIs the projection of a unit vector in the direction of the earth vector, i.e. the vector of the satellite pointing to the earth's center, in the equatorial inertial system of the earth's center, aSTS_EThe unit of (a) is a degree,
Figure BDA0002043999990000056
is the field radius of the earth field of view, reIs the radius of the earth, pEAngle of view for the earth, pEThe value range of (1) is 0.5-2.5 degrees, | eII represents the solving vector eIThe die of (1).
Example 3 of the present invention is as follows:
Figure BDA0002043999990000057
Figure BDA0002043999990000061
Figure BDA0002043999990000062
Figure BDA0002043999990000063
aSTS_E＝0，aSTS+aE+pE＝97.66，aSTS_E<(aSTS+aE+pE) Therefore, the star sensor is interfered by the earth, and the judgment condition of the earth interference is met.
Embodiment 4 of the present invention is as follows:
Figure BDA0002043999990000064
Figure BDA0002043999990000065
Figure BDA0002043999990000066
Figure BDA0002043999990000067
due to aSTS_E＝180，aSTS+aE+pE＝97.66，aSTS_E>(aSTS+aE+pE) The star sensor is not interfered by the earth, and the star sensor does not meet the earth interference judgment condition.
The moon interference determination condition specifically includes:
when a isSTS_M<(aSTS+aM+pM) If so, the star sensor is interfered by the moon, and the star sensor meets the moon interference judgment condition; otherwise, the star sensor does not meet the moon interference judgment condition;
wherein, aSTS_M＝arccos(op·mb)，mb＝CbImI，mIIs the projection of a unit vector in the same direction as the lunar vector, i.e. the vector of the satellite pointing towards the moon, in the equatorial system of the earth, aSTS_MThe unit of (c) is degree. a isMIs the moonField radius opening angle of 0.259 degree, pMAngle of protection for the moon field of view, pMThe value range of (A) is 0.5-2.5 degrees.
Example 5
Figure BDA0002043999990000071
Figure BDA0002043999990000072
Figure BDA0002043999990000073
Due to aSTS_M＝0，(aSTS+aM+pM)＝32.259，aSTS_M<(aSTS+aM+pM) It can be known that the star sensor is interfered by the moon, and the star sensor meets the moon interference judgment condition.
Example 6
It is known that
Figure BDA0002043999990000074
Figure BDA0002043999990000075
Figure BDA0002043999990000076
Due to aSTS_M＝90，(aSTS+aS+pS)＝32.259，aSTS_M>(aSTS+aS+pS) Therefore, the star sensor is free from moon interference, and the star sensor does not meet moon interference judgment conditions.
The interference satellite interference judgment condition specifically comprises the following steps:
when a isSTS_DIS<(aSTS+aDIS+pD) Then, the star sensor is interfered by the interference star, and the star sensor does not meet the judgment condition of interference star interference; otherwise, the star sensor meets the interference judgment condition of the interference star;
wherein, aSTS_DIS＝arccos(op·pdis_b)，
Figure BDA0002043999990000081
pIProjection of a vector pointing to the Earth's center in the equatorial inertial System of the Earth's center, pI' projection of the vector of the earth center pointing to the disturbing star in the equatorial inertial system of the earth center, aSTS_DISThe unit of (c) is degree.
Figure BDA0002043999990000082
To disturb the star field of view radius opening angle, rdisThe satellite is the satellite where the star sensor is located, and the interference star is the satellite entering the star sensitive field of view or other celestial bodies except the sun, the moon and the earth.
Example 7
Figure BDA0002043999990000083
Figure BDA0002043999990000084
The length of the chips in kilometers,
Figure BDA0002043999990000085
the length of the chips in kilometers,
Figure BDA0002043999990000086
Figure BDA0002043999990000087
Figure BDA0002043999990000088
Figure BDA0002043999990000089
due to aSTS_DIS＝0，(aSTS+aDIS+pD)＝33.146，aSTS_DIS<(aSTS+aDIS+pD) And the star sensor is interfered by the interference star, and the star sensor meets the interference star interference judgment condition.
3) Repeating the steps 1) to 2) until the interference judgment work of all star sensors on the satellite is completed, and entering the step 4);
4) and selecting an undisturbed star sensor on the satellite to determine the satellite attitude.
Those skilled in the art will appreciate that the details of the invention not described in detail in the specification are within the skill of those skilled in the art.

Claims (4)

1. An on-satellite automatic interference protection method of a star sensor is characterized in that one or more star sensors for determining the satellite attitude are installed on a satellite, and the method comprises the following steps:
1) randomly selecting a star sensor installed on a satellite;
2) judging whether the star sensor is interfered according to the sun interference judgment condition, the earth interference judgment condition, the moon interference judgment condition and the interference star interference judgment condition, finishing the interference judgment work, and then entering the step 3);
3) repeating the steps 1) to 2) until the interference judgment work of all star sensors on the satellite is completed, and entering the step 4);
4) selecting an undisturbed star sensor on a satellite to determine the attitude of the satellite;
step 2) the solar interference determination condition is specifically:
when a isSTS_S<(aSTS+aS+pS) If so, the star sensor meets the sun interference judgment condition; otherwise, the star sensor does not meet the sun interference judgment condition;
wherein, aSTS_S＝arccos(op·sb)，sb＝CbIsIOp is the projection of a unit vector in the same direction as the star sensitive optical axis vector on the satellite body system, CbIIs a directional cosine array, s, of the satellite body system relative to the equatorial systemIThe projection of a unit vector in the same direction as the sun vector in the geocentric equatorial inertial system; a isSTSIs the field radius opening angle, a, of the star sensorSIs the sun field radius opening angle, pSThe value range of (A) is 0.5-2.5 degrees;
step 2) the earth interference determination condition is specifically:
when a isSTS_E<(aSTS+aE+pE) Then, the star sensor meets the earth interference judgment condition; otherwise, the star sensor does not meet the earth interference judgment condition;
wherein, aSTS_E＝arccos(op·eb)，
Figure FDA0002615748440000011
eIIs the projection of a unit vector in the same direction with the earth vector in the geocentric equatorial inertial system,
Figure FDA0002615748440000012
is the field radius of the earth field of view, reIs the radius of the earth, pEThe value range of (1) is 0.5-2.5 degrees, | eII represents the solving vector eIThe die of (1).
2. The method for on-satellite automatic interference protection of the star sensor according to claim 1, wherein the moon interference determination condition of step 2) is specifically:
when a isSTS_M<(aSTS+aM+pM) If so, the star sensor meets the moon interference judgment condition; otherwise, the star sensor does not meet the moon interference judgment condition;
wherein, aSTS_M＝arccos(op·mb)，mb＝CbImI，mIIs the projection of a unit vector in the same direction as the lunar vector in the equatorial inertia system of the Earth, aMIs the radial field angle of moon field, pMThe value range of (A) is 0.5-2.5 degrees.
3. The method according to claim 2, wherein the interference satellite interference determination condition in step 2) is specifically:
when a isSTS_DIS<(aSTS+aDIS+pD) If so, the star sensor does not meet the interference star interference judgment condition; otherwise, the star sensor meets the interference judgment condition of the interference star;
wherein, aSTS_DIS＝arccos(op·pdis_b)，
Figure FDA0002615748440000021
pIProjection of a vector pointing to the Earth's center in the Earth's equatorial inertial System, p 'IThe projection of the vector of the earth center pointing to the interference star in the equatorial inertial system of the earth center,
Figure FDA0002615748440000022
to disturb the star field of view radius opening angle, rdisThe satellite is the satellite where the star sensor is located, and the interference star is the satellite entering the view field of the star sensor or other celestial bodies except the sun, the moon and the earth.
4. The method for automatic interference protection on the star of the star sensor according to any one of claims 1 to 3, wherein the step 2) is a method for determining whether the star sensor is interfered, specifically:
if the star sensor does not meet any judgment condition, judging that the star sensor is not interfered; otherwise, the star sensor is judged to be interfered.
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