CN110968910A - Double-sight orthogonal laser radar satellite attitude design method and control system - Google Patents
Double-sight orthogonal laser radar satellite attitude design method and control system Download PDFInfo
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Abstract
A double-sight orthogonal laser radar satellite attitude design method and a control system are provided, the measurement of the double-sight orthogonal laser radar satellite on a wind field can simultaneously measure a plurality of radial velocity vectors, the wind speed uncertainty caused by factors such as satellite flight speed and earth rotation speed during data inversion is reduced, and the wind speed inversion accuracy of a satellite-borne wind measurement laser radar system is effectively improved. The invention provides a double-sight orthogonal laser radar satellite attitude calculation model aiming at the application requirement that double-sight orthogonal observation needs to be formed by laser radar satellite formation, then calculates the relative phase angle of the double-satellite formation by adopting an equation solving method, and solves the attitude parameters of the satellites. Under the condition that any attitude parameter of one satellite is known, the position and the attitude of the other satellite are solved, and a basis is provided for the formation of the dual-line-of-sight orthogonal laser radar satellite and the design and control of the attitude.
Description
Technical Field
The invention relates to a double-line-of-sight orthogonal laser radar satellite formation attitude design method and a control system, in particular to a double-line-of-sight orthogonal laser radar formation satellite formation attitude design method for a space wind field.
Background
When acquiring wind field information of a certain space region, 2 to 3 radial wind vectors in different directions need to be converged in real time. When the laser radar is used for measuring the atmospheric wind field, only 1 radial speed component can be measured in one sight direction, so that multi-angle wind speed measurement needs to be realized by adopting a multi-satellite formation mode. However, multi-angle wind speed measurement is realized by a plurality of satellite formation, which relates to the problems of the simultaneity of a plurality of speed vector data during data resolving, the intersection of a plurality of vectors in the same observation area in real time and the like.
In addition, when the laser radar space intersection mode is adopted for measurement, a proper intersection angle needs to be selected to meet the high-precision requirement during data calculation; meanwhile, the problem of mutual coupling of a plurality of factors such as the satellite orbit, the relative positions of different satellites, the direction of the sight of the satellite and the like needs to be noticed.
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 a double-line-of-sight orthogonal laser radar satellite attitude design method and a control system, provides a double-line-of-sight orthogonal laser radar satellite attitude calculation model, calculates the relative phase angle of double-star formation by adopting an equation solving method, and solves the attitude parameters of stars. Under the condition that the attitude parameter of one satellite is known, the position and the attitude of the other satellite are solved, and a basis is provided for the formation and the attitude design of the double-sight orthogonal laser radar satellite.
The purpose of the invention is realized by the following technical scheme:
a double-sight orthogonal laser radar satellite attitude design method adopts two laser radar satellites of a satellite A and a satellite B, and comprises the following steps:
s1, establishing a double-sight orthogonal laser radar satellite imaging model;
s2, establishing a right-hand coordinate system O-XYZ with the geocentric O as an origin, the geocentric O to the satellite A as a Y axis and the flying speed direction of the satellite A as an X axis; calculating the vector of the satellite A to the shooting point D under an O-XYZ coordinate system according to the attitude angle of the satellite A
S3、
Using space vector for vector of satellite B to shooting point D in O-XYZ coordinate system
Calculating the relative phase angle from the satellite B to the satellite A;
s4, establishing a right-hand coordinate system O-X ' Y ' Z ' with the geocentric O as an origin, the geocentric O to the satellite B as a Y axis and the flying speed direction of the satellite B as an X axis; calculating the relative phase angle according to the method of coordinate transformation and S3, and calculating the coordinates of the shooting point D and the satellite B in the O-X ' Y ' Z ' coordinate system;
and S5, calculating the attitude parameter of the satellite B according to the coordinates of the shooting point D and the satellite B in the O-X ' Y ' Z ' coordinate system.
Preferably, the satellite a and the satellite B fly in formation in the same orbit.
Preferably, the attitude parameter of the satellite B comprises a satellite B sight line equivalent pitch angle thetaBSatellite B satellite sight equivalent side swing angle
Satellite B equivalent pointing angle αB。
Preferably, in S3, the relative phase angle from satellite B to satellite a is calculated by solving the equation.
A double-sight-line orthogonal laser radar satellite attitude control system comprises a double-sight-line orthogonal laser radar satellite imaging modeling module, a coordinate system module and a data calculation module;
the double-sight orthogonal laser radar satellite imaging modeling module is used for establishing a space model comprising a satellite A, a satellite B, a shooting point D and a geocentric O;
the coordinate system module is used for establishing a right-hand coordinate system O-XYZ which takes the geocentric O as an origin, the geocentric O to the satellite A as a Y axis and the flying speed direction of the satellite A as an X axis; a right-hand coordinate system O-X ' Y ' Z ' which takes the geocentric O as an origin, the geocentric O to the satellite B as a Y axis and the flying speed direction of the satellite B as an X axis is established;
the data calculation module is used for calculating the relative phase angle from the satellite B to the satellite A; for calculating the coordinate transformation between the coordinate system O-XYZ and the coordinate system O-X ' Y ' Z ' for calculating the attitude parameters of the satellite B.
Preferably, the data calculation module first calculates a vector from the satellite a to the imaging point D in the O-XYZ coordinate system according to the attitude angle of the satellite a
Then using the space vector
Calculating the relative phase angle from the satellite B to the satellite A;
the vector from the satellite B to the shooting point D is in an O-XYZ coordinate system.
Preferably, the data calculation module calculates a relative phase angle by using an equation solving method, and calculates coordinates of the photographing point D and the satellite B in an O-X ' Y ' Z ' coordinate system by using a coordinate system transformation method; and finally, calculating the attitude parameters of the satellite B.
Preferably, the satellite a and the satellite B fly in formation in the same orbit.
Preferably, the attitude parameter of the satellite B comprises a satellite B sight line equivalent pitch angle thetaBSatellite B satellite sight equivalent side swing angle
Satellite B equivalent pointing angle αB。
Compared with the prior art, the invention has the following beneficial effects:
(1) the method shows that the equivalent sight direction of the laser radar adopts a double-vector orthogonal mode, the wind speed uncertainty caused by factors such as the satellite flight speed and the earth rotation speed during data inversion is small, and the wind speed inversion precision of the satellite-borne wind measurement laser radar system can be effectively improved;
(2) on the basis of establishing an imaging model, the method firstly solves the relative phase angle of the satellite by using an equation solving method, and then further solves the attitude of the satellite. The equation solving mode avoids the complex calculation process caused by the method of space geometric transformation, and can well adapt to the situation that the measured object has elevation;
(3) the method adopts a double-sight orthogonal laser radar satellite imaging model, and the traditional laser radar satellites are all single-sight models and do not relate to the problem of resolving strict space intersection. The double-sight-line orthogonality enables the laser radar to measure two mutually orthogonal speed vectors at the same photographic point, and breaks through the traditional single-axis one-dimensional speed measuring mode.
Drawings
FIG. 1 is a flow chart of the steps of the method of the present invention;
FIG. 2 is a schematic diagram of a double-view orthogonal laser radar satellite attitude calculation model;
FIG. 3 is a model for solving attitude of satellite B;
FIG. 4 is a schematic diagram of verification for achieving dual line-of-sight orthogonality in an STK;
FIG. 5 is a vector of a satellite A lidar sight line in a J2000 coordinate system;
fig. 6 is a vector of a view line of a laser radar of a satellite B in a J2000 coordinate system.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
Example 1:
a double-sight orthogonal laser radar satellite attitude design method adopts two laser radar satellites of a satellite A and a satellite B, wherein the satellite A and the satellite B form a formation to fly in the same orbit, and the method comprises the following steps:
s1, establishing a double-sight orthogonal laser radar satellite imaging model;
s2, establishing a right-hand coordinate system O-XYZ with the geocentric O as an origin, the geocentric O to the satellite A as a Y axis and the flying speed direction of the satellite A as an X axis; calculating the vector of the satellite A to the shooting point D under an O-XYZ coordinate system according to the attitude angle of the satellite A
S3、
The vector from the satellite B to the shooting point D in the O-XYZ coordinate system is determined according to the space vector
Calculating the relative phase angle from the satellite B to the satellite A by using a method for solving an equation;
s4, establishing a right-hand coordinate system O-X ' Y ' Z ' with the geocentric O as an origin, the geocentric O to the satellite B as a Y axis and the flying speed direction of the satellite B as an X axis; calculating the relative phase angle according to the method of coordinate transformation and S3, and calculating the coordinates of the shooting point D and the satellite B in the O-X ' Y ' Z ' coordinate system;
and S5, calculating the attitude parameter of the satellite B according to the coordinates of the shooting point D and the satellite B in the O-X ' Y ' Z ' coordinate system. The attitude parameter of the satellite B comprises a satellite B sight line equivalent pitch angle thetaBSatellite B satellite sight equivalent side swing angle
Satellite B equivalent pointing angle αB。
Example 2:
a double-sight-line orthogonal laser radar satellite attitude control system comprises a double-sight-line orthogonal laser radar satellite imaging modeling module, a coordinate system module and a data calculation module; and the satellite A and the satellite B fly in formation in the same orbit.
The double-sight orthogonal laser radar satellite imaging modeling module is used for establishing a space model comprising a satellite A, a satellite B, a shooting point D and a geocentric O;
the coordinate system module is used for establishing a right-hand coordinate system O-XYZ which takes the geocentric O as an origin, the geocentric O to the satellite A as a Y axis and the flying speed direction of the satellite A as an X axis; a right-hand coordinate system O-X ' Y ' Z ' which takes the geocentric O as an origin, the geocentric O to the satellite B as a Y axis and the flying speed direction of the satellite B as an X axis is established;
the data calculation module is used for calculating the relative phase angle from the satellite B to the satellite A; for calculating the coordinate transformation between the coordinate system O-XYZ and the coordinate system O-X ' Y ' Z ' for calculating the attitude parameters of the satellite B.
Specifically, the data calculation module firstly calculates the vector from the satellite A to the shooting point D under an O-XYZ coordinate system according to the attitude angle of the satellite A
Then using the space vector
Calculating the relative phase angle from the satellite B to the satellite A;
the vector from the satellite B to the shooting point D is in an O-XYZ coordinate system. The data calculation module calculates a relative phase angle by using an equation solving method, and calculates coordinates of a photographing point D and a satellite B in an O-X ' Y ' Z ' coordinate system by using a coordinate system transformation method; and finally, calculating the attitude parameters of the satellite B. The attitude parameter of the satellite B comprises a satellite B sight line equivalent pitch angle thetaBSatellite B satellite sight equivalent side swing angle
Satellite B equivalent pointing angle αB。
Example 3:
fig. 1 is a flowchart of the method of the present embodiment. According to the application requirement that double-sight-line orthogonal observation needs to be formed in laser radar satellite formation, the relative phase angle of the double-satellite formation is obtained by adopting an equation solving method on the basis of establishing a double-sight-line orthogonal laser radar satellite attitude calculation model, and the attitude parameters of the satellites are further obtained through calculation. According to the method, under the condition that the attitude parameter of one satellite is known, the position and the attitude of the other satellite are obtained through solving, and a basis is provided for formation and attitude design of the double-line-of-sight orthogonal laser radar satellite.
① satellite attitude model with two orthogonal lines of sight
The satellite a and the satellite B are two-star formation constellations running in the same orbital plane, and the geocentric angle of the satellite a is later than that of the satellite B by a zeta angle in the flight direction in the orbital plane, as shown in fig. 2. Satellite A at pitch angle theta, yaw angle
Pointing to a laser photography point D, wherein the lower point of an A star is A'; satellite B at pitch angle θBAngle of lateral swing
Point D pointing to the laser photography point, and point B under the star is B'. At a given parameter θ and
when there is a set of zeta, thetaBAnd
so that
② A star sight line pointing parameter calculation
A view angle under star:
angle between plane AOD and orbital plane
The distance from the satellite a to the target point D is:
wherein, the semi-major axis of the satellite orbit is Rs, and the distance from the geocenter O to the target point D is Re.
And establishing a space coordinate system O-XYZ which takes the O point as an origin, OA as a Y axis, an X axis along the satellite velocity direction and a Z axis vertical to the outside of the paper. The coordinates of several points associated with star a are:
③ B star position parameter calculation
The satellites A, B all run on the same orbit, and the coordinates of point B can be assumed to be
The vector BD can thus be expressed as:
space vector
Is provided with
Namely, it is
Solving the equation, the
In the function x (L, α, Rs, η, Re), the track pitch x is positive and thus has
Rs is the satellite orbit height, Re is the distance between the shooting point and the geocentric, and the numerical solution of x can be obtained by substituting the formulas (1) and (2). Geocentric angles ζ corresponding to satellite a and satellite B:
④ B Star attitude parameter calculation
And establishing a new coordinate system O-X ' Y ' Z ' taking the OB as the Y axis, namely, the counterclockwise rotation angle zeta of the original coordinate system O-XYZ around the Z axis. As shown in fig. 3, in which the satellite view is equivalent to the pitch angle θBEquivalent side swing angle of satellite sight
Composition α with two angles of downward viewB. And (3) intersecting the coordinates of the junction D and the new coordinates of the satellite B under the new coordinate system:
distance L from satellite B to imaging point DB：
Satellite sight equivalent pitch angle thetaB:
Satellite sight equivalent side swing angle
Equivalent pointing angle αB:
Application effects of example 3:
taking a laser radar satellite running on a semi-major axis 6774.64km sun synchronous regression orbit as an example, the yaw angle of the satellite A is 35 degrees, and the pitch angle is 45 degrees. The obtained x is 978.3748km, the difference zeta between the earth center angles of the star A and the star B is 8.3035 degrees, and the pitch angle theta of the star B is further calculatedBAngle of-38.3173 DEG and side swing
And setting attitude angles of the A star and the B star in STK software, wherein the fields of view of the laser radar can be completely overlapped as shown in figure 4. The pointing vectors of the A satellite laser radar and the B satellite laser radar are output, the results are respectively shown in the figure 5 and the figure 6, the dot multiplication of the two vectors is 0, namely the two pointing vectors are vertical, and the use requirement of the laser radar double-sight orthogonal observation is met.
Those skilled in the art will appreciate that those matters not described in detail in the present specification are well known in the art.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the present invention, and those skilled in the art can make variations and modifications of the present invention without departing from the spirit and scope of the present invention by using the methods and technical contents disclosed above.
Claims (9)
1. A double-sight orthogonal laser radar satellite attitude design method adopts two laser radar satellites of a satellite A and a satellite B, and is characterized by comprising the following steps:
s1, establishing a double-sight orthogonal laser radar satellite imaging model;
s2, establishing a right-hand coordinate system O-XYZ with the geocentric O as an origin, the geocentric O to the satellite A as a Y axis and the flying speed direction of the satellite A as an X axis; calculating the vector of the satellite A to the shooting point D under an O-XYZ coordinate system according to the attitude angle of the satellite A
S3、
Using space vector for vector of satellite B to shooting point D in O-XYZ coordinate system
Calculating the relative phase angle from the satellite B to the satellite A;
s4, establishing a right-hand coordinate system O-X ' Y ' Z ' with the geocentric O as an origin, the geocentric O to the satellite B as a Y axis and the flying speed direction of the satellite B as an X axis; calculating the relative phase angle according to the method of coordinate transformation and S3, and calculating the coordinates of the shooting point D and the satellite B in the O-X ' Y ' Z ' coordinate system;
and S5, calculating the attitude parameter of the satellite B according to the coordinates of the shooting point D and the satellite B in the O-X ' Y ' Z ' coordinate system.
2. The method of claim 1, wherein the satellite A and the satellite B fly in formation in the same orbit.
3. The method as claimed in claim 1, wherein the attitude parameters of the satellite B include a satellite B view equivalent pitch angle θBSatellite B satellite sight equivalent side pendulumCorner
Satellite B equivalent pointing angle αB。
4. The method for designing the attitude of a dual-line-of-sight orthogonal lidar satellite according to any of claims 1 to 3, wherein in S3, the relative phase angle from satellite B to satellite A is calculated by solving an equation.
5. A double-sight orthogonal laser radar satellite attitude control system is characterized by comprising a double-sight orthogonal laser radar satellite imaging modeling module, a coordinate system module and a data calculation module;
the double-sight orthogonal laser radar satellite imaging modeling module is used for establishing a space model comprising a satellite A, a satellite B, a shooting point D and a geocentric O;
the coordinate system module is used for establishing a right-hand coordinate system O-XYZ which takes the geocentric O as an origin, the geocentric O to the satellite A as a Y axis and the flying speed direction of the satellite A as an X axis; a right-hand coordinate system O-X ' Y ' Z ' which takes the geocentric O as an origin, the geocentric O to the satellite B as a Y axis and the flying speed direction of the satellite B as an X axis is established;
the data calculation module is used for calculating the relative phase angle from the satellite B to the satellite A; for calculating the coordinate transformation between the coordinate system O-XYZ and the coordinate system O-X ' Y ' Z ' for calculating the attitude parameters of the satellite B.
6. The system of claim 5, wherein the data calculation module first calculates a vector from the satellite A to the shot point D in the O-XYZ coordinate system according to the attitude angle of the satellite A
Then using the space vector
Calculating the relative phase angle from the satellite B to the satellite A;
the vector from the satellite B to the shooting point D is in an O-XYZ coordinate system.
7. The system of claim 6, wherein the data calculation module calculates the relative phase angle by using an equation solving method, and calculates coordinates of a photographing point D and a satellite B in an O-X ' Y ' Z ' coordinate system by using a coordinate system transformation method; and finally, calculating the attitude parameters of the satellite B.
8. A dual line-of-sight orthogonal lidar satellite attitude control system according to any of claims 5 to 7, wherein satellite A and satellite B are in formation flight in the same orbit.
9. The system according to any one of claims 5 to 7, wherein the attitude parameter of the satellite B comprises a satellite B view equivalent pitch angle θBSatellite B satellite sight equivalent side swing angle
Satellite B equivalent pointing angle αB。
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