CN110162855A - Spin load Dynamic Accuracy Analysis and error distribution method on remote sensing satellite star - Google Patents
Spin load Dynamic Accuracy Analysis and error distribution method on remote sensing satellite star Download PDFInfo
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Abstract
Spin load Dynamic Accuracy Analysis and error distribution method on remote sensing satellite star, it belongs to spacecraft attitude accuracy modeling field.The present invention solves the problems, such as that existing method is low to the accuracy rate of spin load dynamic accuracy modeling analysis assessment on the remote sensing satellite star under magnetic suspension bearing connection and can not carry out error distribution.According to the operating mode and structure composition of remote sensing satellite system, Analysis interference source specifies spin load trueness error link and error composition on star, establishes spin load trueness error transfer chain on star；Further according to corresponding theory formula, establish spin load dynamic accuracy model on the star for being suitable for the transmitting of multiple error link, to carry out accurate analysis assessment to spin load dynamic accuracy on the lower remote sensing satellite star of magnetic suspension bearing connection, the mission requirements according to spin load each error link error upper limit of longitude and latitude accuracy requirement design distribution over the ground are realized.
Description
Technical field
The invention belongs to spacecraft attitude accuracy modeling fields, and in particular to spin load dynamic on a kind of remote sensing satellite star
Precision analysis and error distribution method.
Background technique
With the continuous growth of space tasks demand, the pointing accuracy of spin load and the demand of attitude stability are got on star
Come higher.In conjunction with remote sensing satellite operating mode and design feature, in the case where considering multi-source interference effect, spin load is directed toward essence on star
Degree and attitude stability are by multiple error link cumulative function, such as: orbits controlling link error, gesture stability link error, load
The link error that spins etc..
Establish it is a kind of be suitable for multiple error link transmitting star on spin load dynamic accuracy model it is current to spin load
It is basis early period for carrying out advanced control method research work that attitude accuracy, which carries out effective accurate evaluation, can be according to spin load
The scaling results of attitude accuracy and longitude and latitude over the ground provide the error distribution and verifying of each link for Control System Design, can be to comment
Valence compares control system performance offer measurement index, has very high learning value and engineering significance.In addition, magnetic suspension bearing
Be it is a kind of using electromagnetic force realize rotor floating non-contact type bearing, have high revolving speed, low-power consumption, without abrasion, without lubrication
And magnetic suspension bearing is applied to remote sensing satellite as on star compared to conventional mechanical bearings by medium-high frequency vibration suppression characteristic
Spin load connecting component is with a wide range of applications.
But since the Low rigidity characteristic of magnetic suspension bearing causes the connection precision of spin load on star to be deteriorated, interfered in multi-source
Under effect, spin load produces nutating precession phenomenon relative to remote sensing satellite platform on star, adds error link, leads to benefit
It is accurate to be assessed with existing method spin load dynamic accuracy modeling analysis on the remote sensing satellite star under magnetic suspension bearing connection
Rate is low and can not carry out error distribution, therefore, to spin load dynamic essence on the remote sensing satellite star under magnetic suspension bearing connection
Degree modeling method has researched and proposed higher requirement.
Summary of the invention
The purpose of the present invention is be solution existing method to spin load on the remote sensing satellite star under magnetic suspension bearing connection
The problem of accuracy rate of dynamic accuracy modeling analysis assessment is low and can not carry out error distribution.
The technical solution adopted by the present invention to solve the above technical problem is: spin load dynamic accuracy on remote sensing satellite star
Analysis and error distribution method, method includes the following steps:
Step 1: determining the structure and operating mode of remote sensing satellite system, geocentric equatorial polar coordinate oxyz is defined, track is sat
Mark system ooxoyozo, spin load satellite system geocentric coordinate system osxsyszs, satellite platform body coordinate system obxbybzbAnd rotation
Load body coordinate system opxpypzp；
Step 2: determining each error link that remote sensing satellite system includes, each error link constitutes trueness error transfer chain,
Each error link collective effect, accumulation are transferred to spin load on star；
Step 3: calculating separately spin load direction on practical star and it is expected that spin load is directed toward in desired track on star
Coordinate system oo1xo1yo1zo1Under projection zcAnd zd, with zdAnd zcAngle ΔΦ be index, to estimate the finger of spin load on star
To precision；
Step 4: angular velocity vector of the spin load with respect to geocentric equatorial polar coordinate oxyz is on the star of measurement on calculating star
Spin load body coordinate system op1xp1yp1zp1The desired value ω of lower projectiondWith true value ωc, utilize desired value ωdWith true value
ωcDifference estimation star on spin load three-axis attitude stabilization precision；
The assessment result of the pointing accuracy of spin load on star and three-axis attitude stabilization precision is scaled spin load pair
Ground longitude and latitude index utilizes longitude and latitude Distribution Indexes and the error upper limit of verifying each error link of remote sensing satellite system.
The beneficial effects of the present invention are: spin load Dynamic Accuracy Analysis and error on a kind of remote sensing satellite star of the invention
Distribution method, the present invention according to the operating mode and structure composition of remote sensing satellite system, specify and rotate on star by Analysis interference source
Load trueness error link and error composition, establish spin load trueness error transfer chain on star；Further according to attitude kinematics phase
Theoretical formula is answered, construction is suitable for spin load dynamic accuracy model on the star of multiple error link transmitting, embodies each link error
Influence to spin load precision on star, to improve to spin load dynamic essence on the remote sensing satellite star under magnetic suspension bearing connection
The accuracy rate of analysis and assessment is spent, the design of longitude and latitude precision index is distributed and verified over the ground so that realization is for the load that some is determined
The mission requirements of each error link error upper limit.
Detailed description of the invention
Fig. 1 is spin load Dynamic Accuracy Analysis and the flow chart of error distribution method on remote sensing satellite star of the invention；
Fig. 2 is the structure of remote sensing satellite system of the invention and the schematic diagram of operating mode；
Fig. 3 is the schematic diagram that the present invention carries out that coordinate system defines；
Fig. 4 is the schematic diagram of error composition and error link of the invention；
Fig. 5 is the schematic diagram of spin load pointing accuracy error propagation chain on star；
In Fig. 5: OO1Represent desired orbital coordinate system, OO2Represent the orbital coordinate system of measurement, Os1The remote sensing satellite of measurement
System geocentric coordinate system, Op1Represent spin load body coordinate system on the star of measurement, ZdIt represents optical axis expectation to be directed toward, Z represents light
Axis is actually pointed to, θ0Represent orbital control error, θbRepresent remote sensing satellite platform nutating error, θwzRepresent bearing shaft nutating mistake
Difference, θzjRepresent bearing shaft precession error, θpRepresent spin load nutating error, θ on starzRepresent spin load spin angle on star
Error, θzxRepresent error in pointing；
Fig. 6 is the schematic diagram of spin load pointing accuracy and the conversion of longitude and latitude over the ground on star；
L represents substar in Fig. 6, and o represents the earth's core.
Specific embodiment
Specific embodiment 1: embodiment is described with reference to Fig. 1.It is rotated on remote sensing satellite star described in present embodiment
Load Dynamic Accuracy Analysis and error distribution method, method includes the following steps:
Step 1: determining the structure and operating mode of remote sensing satellite system, geocentric equatorial polar coordinate oxyz is defined, track is sat
Mark system ooxoyozo, spin load satellite system geocentric coordinate system osxsyszs, satellite platform body coordinate system obxbybzbAnd rotation
Load body coordinate system opxpypzp；
Step 2: determining each error link that remote sensing satellite system includes, each error link constitutes trueness error transfer chain,
Each error link collective effect, accumulation are transferred to spin load on star；
Step 3: calculating separately spin load direction on practical star and it is expected that spin load is directed toward in desired track on star
Coordinate system oo1xo1yo1zo1Under projection zcAnd zd, with zdAnd zcAngle ΔΦ be index, to estimate the finger of spin load on star
To precision；
Step 4: angular velocity vector of the spin load with respect to geocentric equatorial polar coordinate oxyz is on the star of measurement on calculating star
Spin load body coordinate system op1xp1yp1zp1The desired value ω of lower projectiondWith true value ωc, utilize desired value ωdWith true value
ωcDifference estimation star on spin load three-axis attitude stabilization precision；
The assessment result of the pointing accuracy of spin load on star and three-axis attitude stabilization precision is scaled spin load pair
Ground longitude and latitude index utilizes longitude and latitude Distribution Indexes and the error upper limit of verifying each error link of remote sensing satellite system.
Present embodiment is for dynamic by spin load on the remote sensing satellite star of multi-source interference effect under magnetic suspension bearing connection
The modeling problem of state precision, according to attitude kinematics, is established on star and is rotated from remote sensing satellite operating mode and design feature
Each error link can be influenced to embody in a model, thus for control by load pointing accuracy and attitude stability model
System design provides each link Distribution Indexes and index verification, provides evaluation index to compare control method performance.
Specific embodiment 2: the present embodiment is different from the first embodiment in that: the specific mistake of the step 1
Journey are as follows:
As shown in Fig. 2, the structure of remote sensing satellite system includes remote sensing satellite platform subsystem, loading subsystem and rotation on star
Turn joint；The remote sensing satellite platform subsystem includes again: remote sensing satellite platform, the orthogonal flywheel of three axis of platform and platform bilateral are too
Positive windsurfing；Loading subsystem includes again on the star: flywheel in spin load and load on star；The rotary joint is magnetic suspension
Bearing (and configured with mechanical bearing and driving motor)；
The operating mode of remote sensing satellite system: remote sensing satellite platform keeps fixed over the ground by the orthogonal wheel control system of three axis of platform
To the driving of platform bilateral solar array single shaft keeps Direct to the sun, to provide the required energy on star；Rotary joint is equipped with magnetic suspension
Bearing provides connection, and reserving mechanical bearing is emergency protection scheme；Spin load keeps even by flywheel control in load on star
Speed rotates, and needs magnetic torquer and driving motor to provide unloading scheme when flywheel angular momentum saturation in load；
It is as follows to define coordinate system: as shown in Figure 3；
Using the earth's core as coordinate origin o, geocentric equatorial polar coordinate (inertial coodinate system) oxyz, the earth's core equatorial coordinates are established
The x-axis of system is directed toward the mean equinox at J2000 moment in J2000 earth mean equator face by the earth's core, and z-axis is put down red for the J2000 earth
The normal and direction direction to the north pole in road face, the same x-axis of y-axis, z-axis constitute right-handed system；
Using remote sensing satellite system mass center as coordinate origin oo, establish orbital coordinate system ooxoyozo, the orbital coordinate system
xoAxis is in orbital plane and is directed toward the direction of advance of remote sensing satellite system, zoAxis is directed toward the earth's core, y by remote sensing satellite system mass centeroAxis
Same xoAxis, zoAxis constitutes right-handed system；
Remember that desired orbital coordinate system is oo1xo1yo1zo1, the same orbital coordinate system of the coordinate origin of desired orbital coordinate system
ooxoyozoCoordinate origin, when there is no orbital control error, desired orbital coordinate system oo1xo1yo1zo1The same track of three axis
Coordinate system ooxoyozoThree overlapping of axles；The orbital coordinate system of note measurement is oo2xo2yo2zo2, the orbital coordinate system of measurement
oo2xo2yo2zo2Coordinate origin with orbital coordinate system ooxoyozoCoordinate origin, when no track determines error, measurement
Orbital coordinate system oo2xo2yo2zo2Three axis with orbital coordinate system ooxoyozoThree overlapping of axles；
Using remote sensing satellite system mass center as coordinate origin os, establish remote sensing satellite system geocentric coordinate system osxsyszs(with body
It is connected), the x of the remote sensing satellite system geocentric coordinate systemsAxis is directed toward remote sensing satellite platform axial direction, ysAxis and zsAxle position is in remote sensing
In satellite platform axial cross section, and ysAxis, zsThe same x of axissAxis constitutes right-handed system；Under no attitude control error, remote sensing satellite system
Orbital coordinate system o of three axis of geocentric coordinate system with measuremento2xo2yo2zo2Three overlapping of axles；
The remote sensing satellite system geocentric coordinate system of note measurement is os1xs1ys1zs1, and the remote sensing satellite system mass center measured is sat
Mark system os1xs1ys1zs1Coordinate origin with remote sensing satellite system geocentric coordinate system osxsyszsCoordinate origin, in no attitude measurement
When error, the remote sensing satellite system geocentric coordinate system o of measurements1xs1ys1zs1Three axis with remote sensing satellite system geocentric coordinate system
osxsyszsThree overlapping of axles；
Using remote sensing satellite platform mass center as coordinate origin ob, establish remote sensing satellite platform body coordinate system obxbybzb(with body
It is connected), three axis of remote sensing satellite platform body coordinate system are directed toward with remote sensing satellite system geocentric coordinate system osxsyszsThree axis refer to
To；
The remote sensing satellite platform body coordinate system of note measurement is ob1xb1yb1zb1, and the remote sensing satellite platform body measured is sat
Mark system ob1xb1yb1zb1Coordinate origin with remote sensing satellite platform body coordinate system obxbybzbCoordinate origin, the remote sensing of measurement defends
Star platform body coordinate system ob1xb1yb1zb1Three axis be directed toward with measurement remote sensing satellite system geocentric coordinate system os1xs1ys1zs1's
Three axis are directed toward；
Using spin load mass center on star as coordinate origin op, establish spin load body coordinate system o on starpxpypzp(with body
It is connected), when rotary joint connection error is zero, spin load spin corner is zero on star, spin load ontology coordinate on star
It is opxpypzpThree axis be directed toward with measurement remote sensing satellite system geocentric coordinate system os1xs1ys1zs1Three axis be directed toward；
Remember that spin load body coordinate system is o on the star of measurementp1xp1yp1zp1, and spin load ontology is sat on the star measured
Mark system op1xp1yp1zp1Coordinate origin with remote sensing satellite platform body coordinate system opxpypzpCoordinate origin, in no measurement error
When, spin load body coordinate system o on the star of measurementp1xp1yp1zp1Three axis with coordinate system opxpypzpThree overlapping of axles.
It is as follows to the interference source analysis of spin load on star:
According to remote sensing satellite operating mode and design feature, disturbance type is divided into track interference, attitude disturbance and is spin-dried for certainly
Disturb three classes.
Track interference includes: suffered space perturbed force in orbit influences orbit control accuracy；Orbit perturbation interference, shadow
Ring orbit control accuracy, specifically have earth gravitational field perturbation interference, solar gravitation field perturbation interference, solar radiation pressure perturbation interference,
Lunar gravity field perturbation interference.
Attitude disturbance includes: load Wheel static and dynamic imbalance, in spin load production, installation process inevitably
There are mass center deviation and main shaft deflection, that is, has remaining sound amount of unbalance, and the amount of unbalance is not yet by existing quality trim technology
It is offset, in load spin, amount of unbalance produces uneven disturbance torque, and it is flat to be transferred to remote sensing satellite through magnetic suspension bearing
Platform influences attitude control accuracy；
The interference of model parameter time-varying, because load radial direction principal moments difference causes whole star rotary inertia rotationally-varying with load,
Model parameter time variation is embodied, attitude disturbance torque is generated, being transferred to remote sensing satellite platform through magnetic suspension bearing influences posture control
Precision processed；
The interference of load axialy offset angular momentum, when load axial angular momentum is not fully compensated for load flywheel, load is axial
Remaining angular momentum generates attitude disturbance torque, and being transferred to remote sensing satellite platform through magnetic suspension bearing influences attitude control accuracy；
Satellite platform vibration interference, remote sensing satellite attitude motion and solar array driving rotation excitation solar array multifrequency
Secondary, wide band elastic vibration, the orthogonal flywheel of three axis can also be generated when considering flywheel centroid motion in remote sensing satellite platform
High-frequency vibration interference, influences attitude control accuracy.
Space environment disturbance torque acts on to remote sensing satellite system, influences attitude control accuracy, specifically consider gravity gradient
Torque, geomagnetic torque, solar radiation torque interference effect.
Wherein, in order to which satellite platform medium-high frequency vibration transfer path is isolated, magnetic suspension bearing need to be controlled in relatively low stiffness amount
Grade, causes under load Wheel static and dynamic imbalance and model parameter time-varying interference effect, load opposed platforms equally generate nutating
Precession phenomenon influences load connection precision.
Spin interference: the interference of magnetic bearing frictional resistance hinders the spin of bearing shaft, influences load spin precision；Magnetic bearing
Magnetic resistance disturbance torque, bearing shaft move suffered magnetic field resistance interference in magnetic suspension bearing magnetic field, influence load spin
Precision；The interference of motor cogging torque, driving motor is not powered, and since permanent-magnet pole influences, there are cogging torque interference for driving motor
Influence load spin precision；Driving motor electromagnetic resistance square, bearing shaft move suffered magnetic field resistance in motor-field
Interference influences load spin precision.
Specific embodiment 3: embodiment is described with reference to Fig. 4.Present embodiment is different from specific embodiment two
It is: the detailed process of the step 2 are as follows:
Determine each error link that remote sensing satellite system includes are as follows: orbit error link, platform stance error link, magnetcisuspension
Floating axle holds spin load spin error link on connection error link and star；
Orbit error link is made of two parts: a part is that the control error of track is caused the phase by track interference effect
The orbital coordinate system o of prestigeo1xo1yo1zo1With orbital coordinate system ooxoyozoBetween have relative deviation；Another part is the determination of track
Error is influenced by error, initial value error and calculating error when model trajectory error, star, causes orbital coordinate system ooxoyozoWith
The orbital coordinate system o of measuremento2xo2yo2zo2Between have relative deviation；
Platform stance error link is made of two parts: a part is the control error of posture, is influenced, is made by attitude disturbance
At remote sensing satellite platform body system obxbybzbWith the orbital coordinate system o of measuremento2xo2yo2zo2Between have relative deviation；Another part
It is attitude measurement error, includes star sensor error and optical fibre gyro error, cause remote sensing satellite platform body system obxbybzbWith
The remote sensing satellite platform body system o of measurementb1xb1yb1zb1Between have relative deviation, wherein the error of measuring cell is by internal calibration
Error, space environment interference, measuring cell aging, noise jamming, measuring cell installation error are constituted；
Magnetic suspension bearing connection error link is made of two parts: a part is axial play runout error, causes to rotate on star
Load body coordinate system opxpypzpThe remote sensing satellite platform body system o of relative measurementb1xb1yb1zb1There are radial nutating precession appearances
State deviation；Another part is measurement error, by measurement elements affect, leads to spin load body coordinate system o on starpxpypzpWith
Spin load body coordinate system o on the star of measurementp1xp1yp1zp1Between there is radial attitude misalignment；
Spin load spin error link is made of two parts on star, and a part is speed control error, causes to revolve on star
Reprint lotus body coordinate system opxpypzpThe remote sensing satellite platform body system o of relative measurementb1xb1yb1zb1There are axial speed errors；
Another part is measurement error, is influenced by micrometering gyro and star sensor measurement error, and spin load ontology coordinate on star is caused
It is opxpypzpWith spin load body coordinate system o on the star of measurementp1xp1yp1zp1Between there is axial revolving speed deviation；
Orbit error link, platform stance error link, magnetic suspension bearing connection error link and star on spin load from
Rotation error link, which is cascaded, constitutes trueness error transfer chain, and each error link collective effect, accumulation are transferred on star and rotate
Load.It is presented as spin load attitude error and three-axis attitude stabilization degree error on star.
Specific embodiment 4: embodiment is described with reference to Fig. 5.Present embodiment is different from specific embodiment three
It is: the detailed process of the step 3 are as follows:
Orbit error link leads to orbital coordinate system ooxoyozoRelatively desired orbital coordinate system oo1xo1yo1zo1In the presence of accidentally
Difference describes orbital coordinate system o using zxy sequenceoxoyozoRelatively desired orbital coordinate system oo1xo1yo1zo1Attitude error, institute
The Eulerian angles turned overIt is denoted as:Eulerian anglesIs defined as: desired orbital coordinate system
oo1xo1yo1zo1Around zo1Axis turns over angleIt is i to centre1, centre is i1Around itself, (i.e. intermediate is i1) x-axis turn over angle
Δθ1It is i to centre2, centre is i2Around the y of orbital coordinate systemoAxis turns over Δ ψ1To orbital coordinate system ooxoyozo；Δθ1With
Δψ1Angular error is represented, without actual physical meaning；
Measurement track used in satellite gravity anomaly is the same as the orbital coordinate system there are error, that is, measured between actual trajcctorics
oo2xo2yo2zo2Relative orbit coordinate system ooxoyozoThere are errors, utilize the orbital coordinate system of zxy sequence description measurement
oo2xo2yo2zo2Relative orbit coordinate system ooxoyozoAttitude error, the Eulerian angles turned overIt is denoted as:Eulerian anglesIs defined as: orbital coordinate system ooxoyozoAround zoAxis turns over angleInto
Between be i1', centre is i1' around itself, (i.e. intermediate is i1') x-axis turn over angle delta θ2It is i to centre2', centre is i2' around survey
The y of the orbital coordinate system of amounto2Axis turns over angle delta ψ2To the orbital coordinate system o of measuremento2xo2yo2zo2；Δθ2With Δ ψ2?
Represent angular error；There is no actual physical meaning；
Remote sensing satellite platform courses combination attitude measurement error leads to the remote sensing satellite platform body system o of measurementb1xb1yb1zb1
The orbital coordinate system o of relative measuremento2xo2yo2zo2There are errors, describe remote sensing satellite platform body system using zxy sequence
ob1xb1yb1zb1The orbital coordinate system o of relative measuremento2xo2yo2zo2Attitude error, the Eulerian angles turned overIt is denoted as:Eulerian anglesIs defined as: the orbital coordinate system o of measuremento2xo2yo2zo2Around zo2Axis turns over angle
DegreeIt is i to centre1", centre is i1" around itself, (i.e. intermediate is i1") x-axis turn over angle delta θ3It is i to centre2", intermediate
It is i2" around the y of remote sensing satellite platform body systemb1Axis turns over angle delta ψ3To remote sensing satellite platform body system ob1xb1yb1zb1；Δθ3With Δ ψ3Respectively represent yaw angle, roll angle and pitch angle；
Magnetic suspension bearing causes bearing shaft with respect to there are attitude misalignment, rotating on bearing shaft and star between bearing stator
Load is connected, and bearing stator and remote sensing satellite platform are connected, in conjunction with spin load spin precision and attitude measurement error on star,
Spin load body coordinate system o on the star of measurementp1xp1yp1zp1The remote sensing satellite platform body system o of relative measurementb1xb1yb1zb1It deposits
In error, spin load body coordinate system o on the star of zyx description measurement is utilizedp1xp1yp1zp1The remote sensing satellite platform of relative measurement
This system ob1xb1yb1zb1Attitude error, the Eulerian angles turned overIt is denoted as:Euler
AngleIs defined as: the remote sensing satellite platform body system o of measurementb1xb1yb1zb1Around zb1Axis turns over angle delta ψ4It is i to centre1" ',
Centre is i1" ' the y-axis around itself turns over angle delta θ4It is i to centre2" ', centre is i2The spin load sheet of " ' on the star of measurement
The x of body coordinate systemp1Axis turns over angleSpin load body coordinate system o on to the star of measurementp1xp1yp1zp1；Δψ4With
Δθ4Angular error is represented,The expectation corner of spin load on star with respect to remote sensing satellite platform is represented,It represents and is revolved on star
Reprint corner deviation of the lotus with respect to remote sensing satellite platform；
It calculates separately spin load direction on practical star and it is expected that spin load is directed toward in desired orbital coordinate system on star
oo1xo1yo1zo1Under projection zcAnd zd；
Provide that spin load is directed toward the spin load body coordinate system o on the star of measurement on practical starp1xp1yp1zp1Under throwing
Shadow is zp1'=[0,0,1]T, then it is expected that spin load is directed toward in desired orbital coordinate system o on staro1xo1yo1zo1Under projection zd
Are as follows:
Spin load is directed toward in desired orbital coordinate system o on practical staro1xo1yo1zo1Under projection zcAre as follows:
Wherein,Indicate orbital coordinate system ooxoyozoRelative to desired orbital coordinate system oo1xo1yo1zo1Posture become
Matrix is changed,Indicate the orbital coordinate system o of measuremento2xo2yo2zo2Relative to orbital coordinate system ooxoyozoPosture changing matrix,Indicate the remote sensing satellite platform body system o of measurementb1xb1yb1zb1Orbital coordinate system o relative to measuremento2xo2yo2zo2Posture
Transformation matrix,Indicate spin load body coordinate system o on the star of measurementp1xp1yp1zp1Remote sensing satellite platform relative to measurement
This system ob1xb1yb1zb1Posture changing matrix；
WithExpression it is as follows:
Spin load on practical star, which is obtained, in conjunction with formula (2) to (6) is directed toward the projection z under desired orbital coordinate systemc,
Solve two vector zdAnd zcBetween angle ΔΦ are as follows:
ΔΦ=arccos (zd Tzc) (7)
Obtain spin load pointing accuracy model on established star；Wherein: arccos () expression negates cosine meter
It calculates；
The pointing accuracy of spin load on star is estimated using angle ΔΦ.
Specific embodiment 5: present embodiment is unlike specific embodiment four: the specific mistake of the step 4
Journey are as follows:
Spin load pointing accuracy model on the star established in conjunction with step 3, using spin load on star with respect to the earth's core equator
The angular velocity vector of coordinate system oxyz spin load body coordinate system o on the star of measurementp1xp1yp1zp1The desired value of lower projection
ωdWith true value ωcDifference, spin load three-axis attitude stabilization precision on Lai Hengliang star；
When not considering attitude error, the remote sensing satellite platform body system o of measurementb1xb1yb1zb1With desired orbit coordinate
It is oo1xo1yo1zo1It is overlapped, spin load body coordinate system o on the star of measurementp1xp1yp1zp1With spin load ontology coordinate on star
It is opxpypzpIt is overlapped, spin load body coordinate system o on the star of measurementp1xp1yp1zp1The remote sensing satellite platform body of relative measurement
It is ob1xb1yb1zb1There is only axial rotations, in this case, the remote sensing satellite platform body system o of measurementb1xb1yb1zb1Relatively
The angular speed of geocentric equatorial polar coordinate oxyz and desired orbital coordinate system oo1xo1yo1zo1Opposite geocentric equatorial polar coordinate oxyz's
Angular speed is consistent, and the remote sensing satellite platform body system o measuredb1xb1yb1zb1The angular speed of opposite geocentric equatorial polar coordinate oxyz
In desired orbital coordinate system oo1xo1yo1zo1Under be projected as [0-ω0 0]T, in which: ω0Indicate orbit angular velocity, then on star
Spin load is with respect to the angular velocity vector of geocentric equatorial polar coordinate oxyz in desired orbital coordinate system oo1xo1yo1zo1Under projection
ωd1(under no attitude error) indicates are as follows:
Wherein,It indicates to scalarTake time-derivative；
When considering attitude error, obtain the opposite geocentric equatorial polar coordinate oxyz's of spin load on star in conjunction with equation (2)
Angular velocity vector is in coordinate system op1xp1yp1zp1The desired value ω of lower projectiondAre as follows:
Wherein,It is pairTransposition,It is pairTransposition,It is pairTransposition,
It is pairTransposition；Simultaneously under the truth for considering attitude error, the remote sensing satellite platform body coordinate system of measurement
ob1xb1yb1zb1The angular speed of opposite geocentric equatorial polar coordinate oxyz is in coordinate system ob1xb1yb1zb1Under projection ωbAre as follows: ωb=
[Δωbx -ω0+Δωby Δωbz]T, wherein Δ ωbx、Δωby、ΔωbzRespectively indicate remote sensing satellite platform body coordinate
The angular speed error of system is in ob1xb1yb1zb1The x of systemb1、yb1、zb1It is projected under axis.
In formula: ωbIt can be obtained from the optical fibre gyro measurement result on remote sensing satellite platform；
Spin load body coordinate system o on the star of measurementp1xp1yp1zp1The remote sensing satellite platform body coordinate system of relative measurement
ob1xb1yb1zb1There are attitude error, need from coordinate system ob1xb1yb1zb1Δ ψ is successively turned over by zyx sequence4、Δθ4、To coordinate system op1xp1yp1zp1, remember that attitude angular rate is(wherein:It is to Δ ψ4's
Derivative,It is to Δ θ4Derivative,It is pairDerivative)；Then on star spin load with respect to the earth's core equator
The angular velocity vector of coordinate system oxyz is in coordinate system op1xp1yp1zp1The true value ω of lower projectioncAre as follows:
Intermediate variable C in formula (10)x、CyAnd CzIt respectively indicates are as follows:
Desired value ω is obtained in conjunction with formula (9) and (10)dWith true value ωcDifference Δ ω are as follows:
Δ ω=ωc-ωd (12)
Utilize desired value ωdWith true value ωcDifference Δ ω estimation star on spin load three-axis attitude stabilization precision.Obtain
Obtain the three-axis attitude stabilization accuracy model of formula (12).
According to formula (7) and formula (12) can pointing accuracy to spin load on remote sensing satellite star and three-axis attitude stabilization degree into
Row effectively assessment.
According to notional result it is found that accuracy model is by the accumulative effect of error link, it is contemplated that each interference effect characteristic, precision
Model embodies strong dynamic；In addition, between three-axis attitude stabilization precision and pointing accuracy, there is also the characteristics that intercouples.Such as figure
Shown in 6, using the load pointing accuracy and three-axis attitude stabilization precision of accuracy model Predict analysis, load can be scaled and passed through over the ground
Latitude precision, so that realization is for the load that some is determined, the design of longitude and latitude accuracy requirement distributes each error link permission over the ground
The error upper limit, and the longitude and latitude demand over the ground whether each link error design scheme meets load is verified, it can also be used to evaluate
Each control system performance has very high learning value and engineering significance.
Above-mentioned example of the invention only explains computation model and calculation process of the invention in detail, and is not to this
The restriction of the embodiment of invention.It for those of ordinary skill in the art, on the basis of the above description can be with
It makes other variations or changes in different ways, all embodiments can not be exhaustive here, it is all to belong to the present invention
The obvious changes or variations extended out of technical solution still in the scope of protection of the present invention.
Claims (5)
1. spin load Dynamic Accuracy Analysis and error distribution method on remote sensing satellite star, which is characterized in that this method include with
Lower step:
Step 1: determining the structure and operating mode of remote sensing satellite system, geocentric equatorial polar coordinate oxyz, orbital coordinate system are defined
ooxoyozo, spin load satellite system geocentric coordinate system osxsyszs, satellite platform body coordinate system obxbybzbAnd spin load
Body coordinate system opxpypzp；
Step 2: determining each error link that remote sensing satellite system includes, each error link constitutes trueness error transfer chain, each to miss
Difference ring section collective effect, accumulation are transferred to spin load on star；
Step 3: calculating separately spin load direction on practical star and it is expected that spin load is directed toward in desired orbit coordinate on star
It is oo1xo1yo1zo1Under projection zcAnd zd, with zdAnd zcAngle ΔΦ be index, come estimate spin load on star direction essence
Degree；
It is rotated on the star of measurement Step 4: calculating spin load on star relative to the angular velocity vector of geocentric equatorial polar coordinate oxyz
Load body coordinate system op1xp1yp1zp1The desired value ω of lower projectiondWith true value ωc, utilize desired value ωdWith true value ωcIt
Spin load three-axis attitude stabilization precision on difference estimation star；
The assessment result of the pointing accuracy of spin load on star and three-axis attitude stabilization precision is scaled spin load to pass through over the ground
Latitude index utilizes longitude and latitude Distribution Indexes and the error upper limit of verifying each error link of remote sensing satellite system.
2. spin load Dynamic Accuracy Analysis and error distribution method on remote sensing satellite star according to claim 1, special
Sign is, the detailed process of the step 1 are as follows:
The structure of remote sensing satellite system includes remote sensing satellite platform subsystem, loading subsystem and rotary joint on star；It is described distant
Sense satellite platform subsystem includes again: remote sensing satellite platform, the orthogonal flywheel of three axis of platform and platform bilateral solar array；The star
Upper loading subsystem includes again: flywheel in spin load and load on star；The rotary joint is magnetic suspension bearing；
The operating mode of remote sensing satellite system: remote sensing satellite platform keeps absolute orientation by the orthogonal wheel control system of three axis of platform,
The driving of platform bilateral solar array single shaft keeps Direct to the sun, and rotary joint is equipped with magnetic suspension bearing and provides connection, rotates on star
Load controls the rotation that remains a constant speed by flywheel in load, needs magnetic torquer and driving motor when flywheel angular momentum is saturated in load
Unloading scheme is provided；
It is as follows to define coordinate system:
Using the earth's core as coordinate origin o, geocentric equatorial polar coordinate oxyz is established, the x-axis of the geocentric equatorial polar coordinate is in J2000
The mean equinox at J2000 moment is directed toward in ball mean equator face by the earth's core, z-axis is the normal and direction in J2000 earth mean equator face
Direction to the north pole, the same x-axis of y-axis, z-axis constitute right-handed system；
Using remote sensing satellite system mass center as coordinate origin oo, establish orbital coordinate system ooxoyozo, the x of the orbital coordinate systemoAxis
In orbital plane and it is directed toward the direction of advance of remote sensing satellite system, zoAxis is directed toward the earth's core, y by remote sensing satellite system mass centeroThe same x of axiso
Axis, zoAxis constitutes right-handed system；
Remember that desired orbital coordinate system is oo1xo1yo1zo1, the same orbital coordinate system of the coordinate origin of desired orbital coordinate system
ooxoyozoCoordinate origin, when there is no orbital control error, desired orbital coordinate system oo1xo1yo1zo1The same track of three axis
Coordinate system ooxoyozoThree overlapping of axles；The orbital coordinate system of note measurement is oo2xo2yo2zo2, the orbital coordinate system of measurement
oo2xo2yo2zo2Coordinate origin with orbital coordinate system ooxoyozoCoordinate origin, when no track determines error, measurement
Orbital coordinate system oo2xo2yo2zo2Three axis with orbital coordinate system ooxoyozoThree overlapping of axles；
Using remote sensing satellite system mass center as coordinate origin os, establish remote sensing satellite system geocentric coordinate system osxsyszs, the remote sensing
The x of satellite system geocentric coordinate systemsAxis is directed toward remote sensing satellite platform axial direction, ysAxis and zsAxle position is axially cut in remote sensing satellite platform
In face, and ysAxis, zsThe same x of axissAxis constitutes right-handed system；Under no attitude control error, the three of remote sensing satellite system geocentric coordinate system
Orbital coordinate system o of the axis with measuremento2xo2yo2zo2Three overlapping of axles；
The remote sensing satellite system geocentric coordinate system of note measurement is os1xs1ys1zs1, and the remote sensing satellite system geocentric coordinate system measured
os1xs1ys1zs1Coordinate origin with remote sensing satellite system geocentric coordinate system osxsyszsCoordinate origin, in no attitude measurement error
When, the remote sensing satellite system geocentric coordinate system o of measurements1xs1ys1zs1Three axis with remote sensing satellite system geocentric coordinate system osxsyszs
Three overlapping of axles；
Using remote sensing satellite platform mass center as coordinate origin ob, establish remote sensing satellite platform body coordinate system obxbybzb, remote sensing satellite
Three axis of platform body coordinate system are directed toward with remote sensing satellite system geocentric coordinate system osxsyszsThree axis be directed toward；
The remote sensing satellite platform body coordinate system of note measurement is ob1xb1yb1zb1, and the remote sensing satellite platform body coordinate system measured
ob1xb1yb1zb1Coordinate origin with remote sensing satellite platform body coordinate system obxbybzbCoordinate origin, the remote sensing satellite of measurement is flat
Platform body coordinate system ob1xb1yb1zb1Three axis be directed toward with measurement remote sensing satellite system geocentric coordinate system os1xs1ys1zs1Three axis
It is directed toward；
Using spin load mass center on star as coordinate origin op, establish spin load body coordinate system o on starpxpypzp, closed in rotation
When section connection error is zero, spin load spin corner is zero on star, spin load body coordinate system o on starpxpypzpThree axis
It is directed toward the remote sensing satellite system geocentric coordinate system o with measurements1xs1ys1zs1Three axis be directed toward；
Remember that spin load body coordinate system is o on the star of measurementp1xp1yp1zp1, and spin load body coordinate system on the star measured
op1xp1yp1zp1Coordinate origin with remote sensing satellite platform body coordinate system opxpypzpCoordinate origin, in no measurement error,
Spin load body coordinate system o on the star of measurementp1xp1yp1zp1Three axis with coordinate system opxpypzpThree overlapping of axles.
3. spin load Dynamic Accuracy Analysis and error distribution method on remote sensing satellite star according to claim 2, special
Sign is, the detailed process of the step 2 are as follows:
Determine each error link that remote sensing satellite system includes are as follows: orbit error link, platform stance error link, magnetic suspension shaft
Hold spin load spin error link on connection error link and star；
Orbit error link is made of two parts: a part is the control error of track, causes desired orbital coordinate system
oo1xo1yo1zo1With orbital coordinate system ooxoyozoBetween have relative deviation；Another part is the determination error of track, causes track
Coordinate system ooxoyozoWith the orbital coordinate system o of measuremento2xo2yo2zo2Between have relative deviation；
Platform stance error link is made of two parts: a part is the control error of posture, is influenced by attitude disturbance, is caused distant
Feel satellite platform this system obxbybzbWith the orbital coordinate system o of measuremento2xo2yo2zo2Between have relative deviation；Another part is appearance
State measurement error includes star sensor error and optical fibre gyro error, causes remote sensing satellite platform body system obxbybzbAnd measurement
Remote sensing satellite platform body system ob1xb1yb1zb1Between have relative deviation；
Magnetic suspension bearing connection error link is made of two parts: a part is axial play runout error, leads to spin load on star
Body coordinate system opxpypzpThe remote sensing satellite platform body system o of relative measurementb1xb1yb1zb1There are radial nutating precession posture is inclined
Difference；Another part is measurement error, leads to spin load body coordinate system o on starpxpypzpWith spin load sheet on the star of measurement
Body coordinate system op1xp1yp1zp1Between there is radial attitude misalignment；
Spin load spin error link is made of two parts on star, and a part is speed control error, causes to rotate load on star
Lotus body coordinate system opxpypzpThe remote sensing satellite platform body system o of relative measurementb1xb1yb1zb1There are axial speed errors；It is another
Part is measurement error, leads to spin load body coordinate system o on starpxpypzpWith spin load ontology coordinate on the star of measurement
It is op1xp1yp1zp1Between there is axial revolving speed deviation；
Spin load spin misses on orbit error link, platform stance error link, magnetic suspension bearing connection error link and star
Difference ring section, which is cascaded, constitutes trueness error transfer chain, and each error link collective effect, accumulation are transferred to spin load on star.
4. spin load Dynamic Accuracy Analysis and error distribution method on remote sensing satellite star according to claim 3, special
Sign is, the detailed process of the step 3 are as follows:
Orbital coordinate system ooxoyozoRelatively desired orbital coordinate system oo1xo1yo1zo1There are errors, describe rail using zxy sequence
Road coordinate system ooxoyozoRelatively desired orbital coordinate system oo1xo1yo1zo1Attitude error, the Eulerian angles turned overIt is denoted as:Eulerian anglesIs defined as: desired orbital coordinate system oo1xo1yo1zo1Around zo1Axis turns over angleIt is i to centre1, centre is i1X-axis around itself turns over angle delta θ1It is i to centre2, centre is i2Around orbital coordinate system
yoAxis turns over Δ ψ1To orbital coordinate system ooxoyozo；
The orbital coordinate system o of measuremento2xo2yo2zo2Relative orbit coordinate system ooxoyozoThere are errors, describe to survey using zxy sequence
The orbital coordinate system o of amounto2xo2yo2zo2Relative orbit coordinate system ooxoyozoAttitude error, the Eulerian angles turned overIt is denoted as:Eulerian anglesIs defined as: orbital coordinate system ooxoyozoAround zoAxis turns over angleInto
Between be i1', centre is i1' the x-axis around itself turns over angle delta θ2It is i to centre2', centre is i2' around the orbital coordinate system of measurement
Yo2Axis turns over angle delta ψ2To the orbital coordinate system o of measuremento2xo2yo2zo2；
The remote sensing satellite platform body system o of measurementb1xb1yb1zb1The orbital coordinate system o of relative measuremento2xo2yo2zo2There are error, benefits
Remote sensing satellite platform body system o is described with zxy sequenceb1xb1yb1zb1The orbital coordinate system o of relative measuremento2xo2yo2zo2Posture
Error, the Eulerian angles turned overIt is denoted as:Eulerian anglesIs defined as: the track of measurement is sat
Mark system oo2xo2yo2zo2Around zo2Axis turns over angleIt is i to centre1", centre is i1" x-axis around itself turns over angle delta θ3Extremely
Centre is i2", centre is i2" around the y of remote sensing satellite platform body systemb1Axis turns over angle delta ψ3To remote sensing satellite platform body system
ob1xb1yb1zb1；
Spin load body coordinate system o on the star of measurementp1xp1yp1zp1The remote sensing satellite platform body system of relative measurement
ob1xb1yb1zb1There are errors, utilize spin load body coordinate system o on the star of zyx description measurementp1xp1yp1zp1Relative measurement
Remote sensing satellite platform body system ob1xb1yb1zb1Attitude error, the Eulerian angles turned overIt is denoted as:Eulerian anglesIs defined as: the remote sensing satellite platform body system o of measurementb1xb1yb1zb1Around
zb1Axis turns over angle delta ψ4It is i to centre1" ', centre is i1" ' the y-axis around itself turns over angle delta θ4It is i to centre2In " ',
Between be i2The x of the spin load body coordinate system of " ' on the star of measurementp1Axis turns over angleIt rotates and carries on to the star of measurement
Lotus body coordinate system op1xp1yp1zp1；The expectation corner of spin load on star with respect to remote sensing satellite platform is represented,Represent star
Corner deviation of the upper spin load with respect to remote sensing satellite platform；
It calculates separately spin load direction on practical star and it is expected that spin load is directed toward in desired orbital coordinate system on star
oo1xo1yo1zo1Under projection zcAnd zd；
Provide that spin load is directed toward the spin load body coordinate system o on the star of measurement on practical starp1xp1yp1zp1Under be projected as
zp1'=[0,0,1]T, then it is expected that spin load is directed toward in desired orbital coordinate system o on staro1xo1yo1zo1Under projection zdAre as follows:
Spin load is directed toward in desired orbital coordinate system o on practical staro1xo1yo1zo1Under projection zcAre as follows:
Wherein,Indicate orbital coordinate system ooxoyozoRelative to desired orbital coordinate system oo1xo1yo1zo1Posture changing square
Battle array,Indicate the orbital coordinate system o of measuremento2xo2yo2zo2Relative to orbital coordinate system ooxoyozoPosture changing matrix,
Indicate the remote sensing satellite platform body system o of measurementb1xb1yb1zb1Orbital coordinate system o relative to measuremento2xo2yo2zo2Posture become
Matrix is changed,Indicate spin load body coordinate system o on the star of measurementp1xp1yp1zp1Remote sensing satellite platform sheet relative to measurement
System ob1xb1yb1zb1Posture changing matrix；
WithExpression it is as follows:
Spin load on practical star, which is obtained, in conjunction with formula (2) to (6) is directed toward the projection z under desired orbital coordinate systemc, solve
Two vector zdAnd zcBetween angle ΔΦ are as follows:
ΔΦ=arccos (zd Tzc) (7)
Wherein: arccos () expression takes arc cosine computing；
The pointing accuracy of spin load on star is estimated using angle ΔΦ.
5. spin load Dynamic Accuracy Analysis and error distribution method on remote sensing satellite star according to claim 4, special
Sign is, the detailed process of the step 4 are as follows:
When not considering attitude error, the remote sensing satellite platform body system o of measurementb1xb1yb1zb1With desired orbital coordinate system
oo1xo1yo1zo1It is overlapped, spin load body coordinate system o on the star of measurementp1xp1yp1zp1With spin load body coordinate system on star
opxpypzpIt is overlapped, spin load body coordinate system o on the star of measurementp1xp1yp1zp1The remote sensing satellite platform body system of relative measurement
ob1xb1yb1zb1There is only axial rotation, the remote sensing satellite platform body system o of measurementb1xb1yb1zb1Opposite geocentric equatorial polar coordinate
The angular speed of oxyz and desired orbital coordinate system oo1xo1yo1zo1The angular speed of opposite geocentric equatorial polar coordinate oxyz is consistent, and
The remote sensing satellite platform body system o of measurementb1xb1yb1zb1The angular speed of opposite geocentric equatorial polar coordinate oxyz is sat in desired track
Mark system oo1xo1yo1zo1Under be projected as [0-ω0 0]T, in which: ω0Indicate orbit angular velocity, then spin load is relatively on star
The angular velocity vector of heart equatorial system of coordinates oxyz is in desired orbital coordinate system oo1xo1yo1zo1Under projection ωd1It indicates are as follows:
Wherein,It indicates to scalarTake time-derivative；
When considering attitude error, angle speed of the spin load with respect to geocentric equatorial polar coordinate oxyz on star is obtained in conjunction with equation (2)
Vector is spent in coordinate system op1xp1yp1zp1The desired value ω of lower projectiondAre as follows:
Wherein,It is pairTransposition,It is pairTransposition,It is pairTransposition,It is pairTransposition；The remote sensing satellite platform body coordinate system o of measurementb1xb1yb1zb1The angular speed of opposite geocentric equatorial polar coordinate oxyz
In coordinate system ob1xb1yb1zb1Under projection ωbAre as follows: ωb=[Δ ωbx -ω0+Δωby Δωbz]T, wherein Δ ωbx、Δ
ωby、ΔωbzThe angular speed error of remote sensing satellite platform body coordinate system is respectively indicated in ob1xb1yb1zb1The x of systemb1、yb1、zb1
It is projected under axis.
Spin load body coordinate system o on the star of measurementp1xp1yp1zp1The remote sensing satellite platform body coordinate system of relative measurement
ob1xb1yb1zb1There are attitude error, need from coordinate system ob1xb1yb1zb1Δ ψ is successively turned over by zyx sequence4、Δθ4、To coordinate system op1xp1yp1zp1, remember that attitude angular rate isThen spin load phase on star
To the angular velocity vector of geocentric equatorial polar coordinate oxyz in coordinate system op1xp1yp1zp1The true value ω of lower projectioncAre as follows:
Intermediate variable C in formula (10)x、CyAnd CzIt respectively indicates are as follows:
Desired value ω is obtained in conjunction with formula (9) and (10)dWith true value ωcDifference Δ ω are as follows:
Δ ω=ωc-ωd (12)
Utilize desired value ωdWith true value ωcDifference Δ ω estimation star on spin load three-axis attitude stabilization precision.
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