CN111174811B - Space reference calibration method and device for optical satellite pointing measurement system - Google Patents
Space reference calibration method and device for optical satellite pointing measurement system Download PDFInfo
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Abstract
The embodiment of the invention provides a space reference calibration method and a space reference calibration device for an optical satellite pointing measurement system, wherein the method comprises the following steps: resampling the absolute output quantity of the absolute pointing measurement subsystem through the relative output quantity of the relative pointing measurement subsystem to obtain a sampling frequency normalization pointing parameter so as to obtain an internal space reference conversion time sequence parameter of the absolute pointing measurement subsystem; acquiring a space reference conversion time sequence parameter between an absolute pointing measurement subsystem and a relative pointing measurement subsystem according to any space reference absolute pointing parameter sequence parameter and relative output quantity; and constructing a space-time reference conversion model according to the space reference conversion time sequence parameters inside the absolute pointing direction and the space reference conversion time sequence parameters between the absolute pointing direction measurement subsystem and the relative pointing direction measurement subsystem so as to calibrate the space reference of the pointing direction measurement system. The embodiment of the invention lays a foundation for high-efficiency and high-quality imaging and subsequent in-orbit application of the high-resolution optical satellite.
Description
Technical Field
The invention relates to the technical field of design and preprocessing of high-resolution optical remote sensing satellites, in particular to a space reference calibration method and device for an optical satellite pointing measurement system.
Background
In order to realize accurate processing and service, a high-precision orbit measurement system is generally adopted to realize high-precision spatial position acquisition, a high-precision spatial orientation measurement system is adopted to realize high-precision spatial attitude sensing, a high-precision time unification system is adopted to realize time high-precision synchronization among different loads, and a high-precision on-orbit calibration method and a model are adopted to realize high-precision calibration of system error parameters. Wherein, to the remote sensing satellite of 500 ~ 600 kilometers track height, 1 angular second's space pointing error can arouse about 5 meters to earth observation position error, consequently, the perception accuracy of directional measurement system plays the key effect to realizing that optical image is accurate to be handled.
The directional measurement system configured by the optical remote sensing satellite generally comprises subsystems such as a star sensor, a gyroscope, a high-frequency angular displacement and a linear accelerometer, and can be divided into an absolute directional measurement subsystem and a relative directional measurement subsystem according to measurement mechanisms and characteristics, wherein the absolute directional measurement subsystem generally comprises 3-4 star sensors, and the relative directional measurement subsystem generally comprises 3-4 groups of three-axis angular velocity measurement components. However, the star sensor is used as a high-precision absolute pointing measurement load, and when the star sensor observes the sun, the star sensor can automatically stop working for protecting the safety of an internal CCD device; in addition, the change of the space cold and hot environment of the satellite can cause the internal installation relationship of the pointing measurement system and the change of the external space reference. In summary, due to the influence of various external factors, the reference change of the pointing measurement system belongs to a normalized state and is difficult to avoid, so that the spatial reference of the pointing measurement system in the optical satellite is difficult to unify with high precision.
Therefore, there is a need for a method and apparatus for calibrating a spatial reference for an optical satellite pointing measurement system to solve the above problems.
Disclosure of Invention
Aiming at the problems in the prior art, the embodiment of the invention provides a space reference calibration method and a space reference calibration device for an optical satellite pointing measurement system.
In a first aspect, an embodiment of the present invention provides a spatial reference calibration method for an optical satellite pointing measurement system, including:
resampling the absolute output quantity of the absolute pointing measurement subsystem in the optical satellite through the relative output quantity of the relative pointing measurement subsystem in the optical satellite to obtain sampling frequency normalized pointing parameters, wherein the relative pointing measurement subsystem is constructed through a plurality of groups of three-axis angular velocity measurement components, the absolute pointing measurement subsystem is composed of a plurality of star sensors, and the relative output quantity and the absolute output quantity respectively represent an angular increment and the absolute pointing parameters within a preset sampling interval;
acquiring an internal space reference conversion time sequence parameter of the absolute pointing measurement subsystem according to the sampling frequency normalization pointing parameter;
acquiring a space reference conversion time sequence parameter between the absolute pointing measurement subsystem and the relative pointing measurement subsystem according to any space reference absolute pointing parameter sequence of the absolute pointing measurement subsystem and the relative output quantity of the relative pointing measurement subsystem;
and constructing a space-time reference conversion model according to the internal space reference conversion time sequence parameters of the absolute pointing measurement subsystem and the space reference conversion time sequence parameters between the absolute pointing measurement subsystem and the relative pointing measurement subsystem, so as to perform space reference calibration on the pointing measurement system according to the space-time reference conversion model.
Further, the resampling the absolute output quantity of the absolute pointing measurement subsystem in the optical satellite through the relative output quantity of the relative pointing measurement subsystem in the optical satellite to obtain a sampling frequency normalized pointing parameter includes:
based on a spherical linear interpolation method, the relative output quantity of the relative pointing measurement subsystem in the optical satellite is used as a time reference, and the absolute output quantity of the absolute pointing measurement subsystem in the optical satellite is resampled to obtain a sampling frequency normalization pointing parameter.
Further, the formula of the spherical linear interpolation method is as follows:
θ＝cos-1<q1,q2>＝cos-1(q10·q20+q11·q21+q12·q22+q13·q23)；
wherein q is1And q is2Expressing quaternion parameters at both ends of time t, respectively, according to q1And q is2Interpolating the attitude parameters at the time t; theta denotes q1And q is2Angle therebetween, C1(t) and C2(t) indicates the interpolation function q (t) at q1And q is2A component in the direction.
Further, the obtaining of the internal space reference conversion timing sequence parameter of the absolute pointing measurement subsystem according to the sampling frequency normalized pointing parameter includes:
acquiring a space reference type of the absolute pointing measurement subsystem according to a preset combination type of a star sensor in the absolute pointing measurement subsystem;
acquiring a pointing parameter sequence of each space reference type according to the space reference type of the absolute pointing measurement subsystem;
and acquiring a conversion time sequence parameter between each space reference type according to the pointing parameter sequence of each space reference type so as to obtain an internal space reference conversion time sequence parameter of the absolute pointing measurement subsystem.
Further, the obtaining a spatial reference conversion timing parameter between the absolute pointing measurement subsystem and the relative pointing measurement subsystem according to any spatial reference absolute pointing parameter sequence of the absolute pointing measurement subsystem and a relative output quantity of the relative pointing measurement subsystem includes:
relative output dw of the measurement subsystem is pointed relativelyG(i) Conversion to any space in the absolute pointing measurement subsystemRelative output dw corresponding to reference typeSG(i) The formula is as follows:
wherein the content of the first and second substances,
representing the estimated value of the spatial reference transition between the absolute orientation measurement subsystem and the relative orientation measurement subsystem, i representing tiTime of day, RGRepresenting a spatial reference transformation real parameter between the absolute pointing measurement subsystem and the relative pointing measurement subsystem; Δ RGIndicating error estimate, error estimate Δ RGCorresponding first error Euler angle
The relative output dwSG(i) Conversion to corresponding error quaternion parameters dqSG(i) And according to said error quaternion parameter dqSG(i) Obtaining an absolute pointing estimate qSG(i) And the quaternion of error Δ q between the true parameter and the estimated valueSG(i) The formula is as follows:
wherein q iss(0) Indicating an initial value of the output of the pointing parameter, qs(i) Represents tiAbsolute pointing quaternion parameter sequence at time, i ═ 0,1, …, N;
according to the Euler angleAnd quaternion conversion relation, and converting error quaternion delta q between real parameter and estimated valueSG(i) Converted into a second error Euler angle Delta alphaSG(i) The formula is as follows:
according to the second error Euler angle delta alphaSG(i) Relative output volume dwG(i) And a first error Euler angle delta alphaGAnd constructing an indirect adjustment model, wherein the formula is as follows:
Y(i)＝ΔαSG(i)＝f(dwG(i),ΔαG)+ε(i)；
Y(i)＝H·ΔαG；
wherein H represents an observation equation measurement matrix, and epsilon (i) represents an observation residual error;
obtaining a first error Euler angle delta alpha according to a least square criterionGThe formula of the optimal estimated value is as follows:
ΔαG＝(HT·H)-1·HT·Y；
according to the first error Euler angle delta alphaGAnd the space reference conversion time sequence parameter between the absolute pointing measurement subsystem and the relative pointing measurement subsystem is obtained through the optimal estimation value of the absolute pointing measurement subsystem and the indirect adjustment model.
Further, the constructing a space-time reference conversion model according to the internal space reference conversion timing sequence parameter of the absolute pointing measurement subsystem and the space reference conversion timing sequence parameter between the absolute pointing measurement subsystem and the relative pointing measurement subsystem to perform space reference calibration on the pointing measurement system according to the space-time reference conversion model includes:
respectively constructing a corresponding space-time reference conversion model and an observation equation according to the internal space reference conversion time sequence parameter of the absolute pointing measurement subsystem and the space reference conversion time sequence parameter between the absolute pointing measurement subsystem and the relative pointing measurement subsystem, wherein the space-time reference conversion model is as follows:
wherein, ω is0The angular frequency is represented by the angular frequency,
t denotes the signal period, k denotes the number of time steps, τ denotes the time step, M denotes the normal number, aψj,bψj,
aθj,bθjRespectively representing model coefficients to be solved;
the observation equation is:
Z＝ΦXF+VF；
wherein Z represents a space reference conversion parameter sequence calculation value, phi represents a Fourier series model observation matrix, and XFRepresenting the model coefficient a to be solved in the Fourier series modelψj,bψj,
aθj,bθj，VFRepresentation of model residuesA difference;
and carrying out space reference calibration on the pointing measurement system according to the corresponding space-time reference conversion model and the observation equation.
Further, before the space-time reference calibration is performed on the pointing measurement system according to the corresponding space-time reference conversion model and the observation equation, the method further includes:
based on the least square principle, obtaining the optimal estimation value of the model coefficient to be solved according to the Fourier series model observation matrix phi and the space reference conversion parameter sequence calculation value Z
The formula is as follows:
in a second aspect, an embodiment of the present invention provides a spatial reference calibration apparatus for an optical satellite pointing measurement system, including:
the resampling module is used for resampling the absolute output quantity of the absolute pointing measurement subsystem in the optical satellite through the relative output quantity of the relative pointing measurement subsystem in the optical satellite to obtain sampling frequency normalized pointing parameters, wherein the relative pointing measurement subsystem is constructed through a plurality of groups of three-axis angular velocity measurement components, the absolute pointing measurement subsystem is composed of a plurality of star sensors, and the relative output quantity and the absolute output quantity respectively represent an angular increment and an absolute pointing parameter within a preset sampling interval;
the first processing module is used for acquiring an internal space reference conversion time sequence parameter of the absolute pointing measurement subsystem according to the sampling frequency normalized pointing parameter;
the second processing module is used for acquiring a spatial reference conversion time sequence parameter between the absolute pointing measurement subsystem and the relative pointing measurement subsystem according to any spatial reference absolute pointing parameter sequence of the absolute pointing measurement subsystem and the relative output quantity of the relative pointing measurement subsystem;
and the space reference calibration module is used for constructing a space-time reference conversion model according to the internal space reference conversion time sequence parameters of the absolute pointing measurement subsystem and the space reference conversion time sequence parameters between the absolute pointing measurement subsystem and the relative pointing measurement subsystem so as to carry out space reference calibration on the pointing measurement system according to the space-time reference conversion model.
In a third aspect, an embodiment of the present invention provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the steps of the method provided in the first aspect when executing the program.
In a fourth aspect, an embodiment of the present invention provides a non-transitory computer readable storage medium, on which a computer program is stored, which when executed by a processor, implements the steps of the method as provided in the first aspect.
According to the space reference calibration method and device for the optical satellite pointing measurement system, the output quantity of the relative pointing measurement subsystem is used as a reference, sampling frequency normalization is carried out on the output of the absolute pointing measurement subsystem, a space-time reference conversion model is constructed, accurate determination of optical satellite space pointing is achieved, and the problem of variability of optical remote sensing satellite space reference pointing under complex and variable conditions is solved, so that a foundation is laid for efficient and high-quality imaging and subsequent in-orbit application of a high-resolution optical satellite.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
Fig. 1 is a schematic flow chart of a spatial reference calibration method for an optical satellite pointing measurement system according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a spatial reference calibration apparatus for an optical satellite pointing measurement system according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
With the rapid development of earth observation technology, in order to meet the development requirements of current high spatial resolution and high temporal resolution, the configuration type of a relative pointing measurement subsystem configured by an optical remote sensing satellite is diversified compared with the conventional configuration type of the relative pointing measurement subsystem, the relative pointing measurement subsystem mainly comprises a conventional two-floating gyroscope, a conventional three-floating gyroscope, a fiber-optic gyroscope, a high-frequency angular displacement (laser gyroscope), a linear accelerometer and the like, the relative pointing measurement subsystem is different from the working mechanism of an absolute pointing measurement subsystem, and the output of the relative pointing measurement subsystem has continuity and stability. According to the embodiment of the invention, the output quantity (relative output quantity) of the relative pointing measurement subsystem is used as a time reference, and sampling frequency normalization processing is carried out on the output quantity (absolute output quantity) of the absolute pointing measurement subsystem so as to realize subsequent space reference calibration and unification.
Fig. 1 is a schematic flow chart of a spatial reference calibration method for an optical satellite pointing measurement system according to an embodiment of the present invention, and as shown in fig. 1, an embodiment of the present invention provides a spatial reference calibration method for an optical satellite pointing measurement system, including:
In the embodiment of the invention, the continuous output of the relative pointing measurement subsystem is taken as the time reference, and the output of the absolute pointing measurement subsystem is resampled, so that sampling frequency normalization is realized, and the sampling frequency normalized pointing parameter is obtained.
102, acquiring an internal space reference conversion time sequence parameter of the absolute pointing measurement subsystem according to the sampling frequency normalized pointing parameter;
103, acquiring a spatial reference conversion time sequence parameter between the absolute pointing measurement subsystem and the relative pointing measurement subsystem according to any spatial reference absolute pointing parameter sequence of the absolute pointing measurement subsystem and the relative output quantity of the relative pointing measurement subsystem;
and 104, constructing a space-time reference conversion model according to the internal space reference conversion time sequence parameters of the absolute pointing measurement subsystem and the space reference conversion time sequence parameters between the absolute pointing measurement subsystem and the relative pointing measurement subsystem, and performing space reference calibration on the pointing measurement system according to the space-time reference conversion model.
In the embodiment of the invention, a space-time reference conversion model based on the internal space of the absolute pointing measurement subsystem is constructed according to the internal space reference conversion time sequence parameters of the absolute pointing measurement subsystem obtained in the step 102; and constructing a space-time reference conversion model based on the space reference conversion time sequence parameters between the absolute pointing measurement subsystem and the relative pointing measurement subsystem according to the space reference conversion time sequence parameters between the absolute pointing measurement subsystem and the relative pointing measurement subsystem obtained in the step 103, and performing space reference calibration on the optical satellite pointing measurement system according to the two space-time reference conversion models.
According to the space reference calibration method for the optical satellite pointing measurement system, the output quantity of the relative pointing measurement subsystem is used as a reference, sampling frequency normalization is carried out on the output of the absolute pointing measurement subsystem, a space-time reference conversion model is constructed, accurate determination of optical satellite space pointing is achieved, and high-efficiency and high-quality imaging is provided for a high-resolution optical satellite by solving the problem of the variability of optical remote sensing satellite space reference pointing under complex and variable conditions, so that a foundation is laid for subsequent on-orbit application.
On the basis of the above embodiment, resampling the absolute output quantity of the absolute pointing measurement subsystem in the optical satellite through the relative output quantity of the relative pointing measurement subsystem in the optical satellite to obtain a sampling frequency normalized pointing parameter, includes:
based on a spherical linear interpolation method, the relative output quantity of the relative pointing measurement subsystem in the optical satellite is used as a time reference, and the absolute output quantity of the absolute pointing measurement subsystem in the optical satellite is resampled to obtain a sampling frequency normalization pointing parameter.
On the basis of the above embodiment, the formula of the spherical linear interpolation method is as follows:
θ＝cos-1<q1,q2>＝cos-1(q10·q20+q11·q21+q12·q22+q13·q23)；
wherein q is1And q is2Expressing quaternion parameters at both ends of time t, respectively, according to q1And q is2Interpolating the attitude parameters at the time t; theta denotes q1And q is2Angle therebetween, C1(t) and C2(t) is divided intoIndicating the interpolation function q (t) at q1And q is2A component in the direction.
In the embodiment of the invention, an interpolation function q (t) is constructed through a spherical linear interpolation model, and quaternion parameters q at the left end and the right end of the t moment are based on1And q is2And carrying out interpolation calculation on the attitude parameters at the time t. Specifically, in the embodiment of the present invention, the spherical linear interpolation model may keep the unit length of the quaternion unchanged, and use the quaternion parameter q1And q is2The interpolation model interpolates along the shortest arc segment of two points, which are two points on a four-dimensional space unit sphere, and sweeps through a quaternion parameter q at a constant rate1And q is2The angle between them theta. Specifically, in the embodiment of the present invention, the unit quaternion q (t) is located at the connection q1And q is2On the arc of (1), wherein the unit quaternions q (t) and q1The included angle is t 'theta (t' belongs to [0,1 ]]) Unit quaternions q (t) and q2The included angle is (1-t ') theta (t' belongs to [0,1 ]]) Then q (t) ═ C1(t)q1+C2(t)q2And thus, constructing and obtaining a spherical linear interpolation model:
θ＝cos-1<q1,q2>＝cos-1(q10·q20+q11·q21+q12·q22+q13·q23)；
and then according to the spherical linear interpolation model, taking the continuous output of the relative pointing measurement subsystem as a time reference, and resampling the output of the absolute pointing measurement subsystem.
On the basis of the above embodiment, the obtaining an internal space reference conversion timing sequence parameter of the absolute pointing measurement subsystem according to the sampling frequency normalized pointing parameter includes:
acquiring a space reference type of the absolute pointing measurement subsystem according to a preset combination type of a star sensor in the absolute pointing measurement subsystem;
and acquiring the pointing parameter sequence of each space reference type according to the space reference type of the absolute pointing measurement subsystem.
In the embodiment of the invention, the absolute pointing measurement subsystem with three star sensors is used for explanation, and according to the measurement mechanism of the star sensors, the precision of the optical axis spatial pointing is the highest, that is, the spatial pointing stability of the rotation around the X axis and the Y axis is the highest, and the spatial pointing stability of the rotation around the Z axis is the worst. Furthermore, the non-parallel optical axes provided by two or more star sensors point to space vectors, so that a unique space reference coordinate system can be determined, and different space reference coordinate systems can be determined under the conditions of different combinations and quantities. When the star sensor is closed and switched under the influence of external and internal factors, the previously determined space reference of the whole pointing measurement system is further changed, so that in order to realize the uniformity of the space reference of the pointing measurement system, the problem that the internal reference of the absolute pointing measurement subsystem is not uniform due to the switching of the star sensor needs to be solved. The embodiment of the invention obtains the sampling frequency normalization pointing parameters of the three star sensors based on the embodiment, and obtains the internal space reference conversion time sequence parameters of the absolute pointing measurement subsystem.
Further, in the embodiment of the invention, three star sensors are respectively identified as the star sensor A, the star sensor B and the star sensor C, and four space reference types, namely AB, AC, BC and ABC, can be determined according to the space reference definition. Then, optical axis vectors of a plurality of star sensors are respectively represented as V under the inertial system1CIS,V2CIS,……,VnCISRespectively denoted as V in the satellite body coordinate system1Body,V2Body,…,VnBodyThen, the observation equation based on the optical axis vectors of the plurality of star sensors is as follows:
wherein the content of the first and second substances,
an attitude rotation matrix estimate, v, representing the satellite body coordinate system to the inertial coordinate system3×1Representing the optical axis vector observation error of the star sensor, (q)0,q1,q2,q3) Representing an attitude quaternion parameter estimation value, i represents the ith star sensor, and further, constructing an indirect adjustment model with a limiting condition:
q00 2+q01 2+q02 2+q03 2+2q0dq0+2q1dq1+2q2dq2+2q3dq3-1＝0；
wherein Q is0＝[q00 q10 q20 q30]Representing the initial value of the attitude quaternion to be solved. Further, the indirect adjustment model with the limiting conditions obtained in the above way is converted into a standard matrix form:
V＝AX-L；
CX+W＝0；
V＝[vi1 vi2 vi3]T,X＝[dq0 dq1 dq2 dq3]T；
C＝[q0 q1 q2 q3],W＝[q00 2+q01 2+q02 2+q03 2-1]；
wherein V represents the observation equation residual, A represents the observation matrix, X represents the estimation parameter, L represents the observation value, C represents the condition equation observation matrix, and W represents the condition equation residual. Based on the standard matrix form of the indirect adjustment model with the limiting conditions obtained in the embodiment, the standard matrix form is solved through the least square adjustment criterion, so that pointing parameter sequences of different spatial reference types are obtained (namely the pointing parameter sequences of the multi-orbital-ring under different spatial references are obtained).
And acquiring a conversion time sequence parameter between each space reference type according to the pointing parameter sequence of each space reference type so as to obtain an internal space reference conversion time sequence parameter of the absolute pointing measurement subsystem.
In the embodiment of the invention, the pointing parameter sequences of a plurality of orbital rings under different spatial references are obtained through the embodiment, then, the sampling interval is set to be T, the pointing parameter sequences of the plurality of orbital rings under different spatial references are divided into a plurality of short sequences, and the optimal estimation value of the spatial reference conversion parameter of each short sequence is calculated. Further, in the explanation of the three star sensors provided in the above embodiment, it is assumed that the spatial reference pointing parameter series of the star sensor a and the star sensor B (AB space) is p (t)i) (i ═ 1,2, …, N), and the space-based orientation parameter series for star sensor B and star sensor C (BC space) is q (t)i) Then, two combination types of conversion models are constructed:
wherein dq (t)i) Representing the quaternary parameter estimated value; further, the quaternary parameter estimation value dq (t)i) Euler angle parameter expressed as a sequence of rotations about the Z, X and Y axes
The Euler angle parameter represents a conversion parameter from an AB space reference to a BC space reference, and obtains an optimal estimated value of a conversion time sequence parameter between the AB space reference and the BC space reference through the following formula:
then, the optimal estimated value of the conversion timing sequence parameter between different spatial reference types in the absolute pointing measurement subsystem is sequentially calculated through the formula provided by the above embodiment, so as to obtain the internal spatial reference conversion timing sequence parameter of the absolute pointing measurement subsystem.
On the basis of the above embodiment, the obtaining a spatial reference transition timing parameter between the absolute pointing measurement subsystem and the relative pointing measurement subsystem according to any spatial reference absolute pointing parameter sequence of the absolute pointing measurement subsystem and a relative output quantity of the relative pointing measurement subsystem includes:
relative output dw of the measurement subsystem is pointed relativelyG(i) Converting into a relative output dw corresponding to any space reference type in the absolute pointing measurement subsystemSG(i) The formula is as follows:
wherein the content of the first and second substances,
representing the estimated value of the spatial reference transition between the absolute orientation measurement subsystem and the relative orientation measurement subsystem, i representing tiTime of day, RGRepresenting a spatial reference transformation real parameter between the absolute pointing measurement subsystem and the relative pointing measurement subsystem; Δ RGIndicating error estimate, error estimate Δ RGCorresponding first error Euler angle
In the embodiment of the present invention, according to the definition of the spatial reference, when the switching or installation relationship between the absolute pointing measurement subsystem and the relative pointing measurement subsystem changes, the spatial reference of the entire pointing measurement subsystem also changes, so that according to any spatial reference absolute pointing parameter sequence of the absolute pointing measurement subsystem and the output sequence parameter (relative output quantity) of the relative pointing measurement subsystem obtained in the above embodiment, the spatial reference switching timing parameter between the absolute pointing measurement subsystem and the relative pointing measurement subsystem is calculated. Specifically, in the embodiment of the present invention, at [ t ]0,tN]Any space reference t in the absolute pointing measurement subsystem in the time periodiThe absolute pointing quaternion parameter sequence of the time is qs(i)(i＝0,1,…,N)，ti-1Time tiThe relative output quantity of the relative pointing measurement subsystem at a time is represented as:
and converting the relative output quantity into a relative quantity under any space reference in the absolute pointing measurement subsystem to obtain:
the relative output dwSG(i) Conversion to corresponding error quaternion parameters dqSG(i) And according to said error quaternion parameter dqSG(i) Is obtained at [ t1,tN]Absolute bearing estimate q for each time instantSG(i) And the quaternion of error Δ q between the true parameter and the estimated valueSG(i) The formula is as follows:
wherein q iss(0) Indicating an initial value of the output of the pointing parameter, qs(i) Representing any spatial reference tiAbsolute pointing quaternion parameter sequence at time, i ═ 0,1, …, N;
according to the conversion relation between the Euler angle and the quaternion, the error quaternion delta q between the real parameter and the estimated valueSG(i) Converted into a second error Euler angle Delta alphaSG(i) The formula is as follows:
according to the second error Euler angle delta alphaSG(i) Relative output volume dwG(i) And a first error Euler angle delta alphaGConstructing an indirect adjustment model, specifically, comparing the relative output dwG(i) As an argument, y (i) ═ Δ αSG(i) As a dependent variable, the first error Euler angle Delta alphaGAs an estimation parameter, an indirect adjustment model is established, and the formula is as follows:
Y(i)＝ΔαSG(i)＝f(dwG(i),ΔαG)+ε(i)；
Y(i)＝H·ΔαG；
wherein H represents an observation equation measurement matrix, and epsilon (i) represents an observation residual error;
obtaining a first error Euler angle delta alpha according to a least square criterionGThe formula of the optimal estimated value is as follows:
ΔαG＝(HT·H)-1·HT·Y；
according to the first error Euler angle delta alphaGAnd the space reference conversion time sequence parameter between the absolute pointing measurement subsystem and the relative pointing measurement subsystem is obtained through the optimal estimation value of the absolute pointing measurement subsystem and the indirect adjustment model.
On the basis of the above embodiment, the constructing a space-time reference conversion model according to the internal space reference conversion timing sequence parameter of the absolute pointing measurement subsystem and the space reference conversion timing sequence parameter between the absolute pointing measurement subsystem and the relative pointing measurement subsystem to perform space reference calibration on the pointing measurement system according to the space-time reference conversion model includes:
respectively constructing a corresponding space-time reference conversion model and an observation equation according to the internal space reference conversion time sequence parameter of the absolute pointing measurement subsystem and the space reference conversion time sequence parameter between the absolute pointing measurement subsystem and the relative pointing measurement subsystem, wherein the space-time reference conversion model is as follows:
wherein, ω is0The angular frequency is represented by the angular frequency,
t denotes the signal period, k denotes the number of time steps, τ denotes the time step, M denotes the normal number, aψj,bψj,
aθj,bθjRespectively representing the model coefficients to be solved.
In the embodiment of the invention, the space reference conversion time sequence parameter obtained by the embodiment is influenced by various internal and external factors, various periodic changes can occur, and a space-time reference conversion model and the calculation of the model parameter are constructed in order to realize the strict calibration and unification of the space reference of the whole pointing measurement system. Further, in the embodiment of the present invention, the spatial reference transform timing parameter may be regarded as being formed by a plurality of periodic signals, and t is setkThe Euler angle form of the time space reference conversion time sequence parameter is expressed as
Then will bekThe three components are modeled in a Fourier function form, so that a space-time reference conversion model is obtained.
The observation equation is:
Z＝ΦXF+VF；
wherein Z represents a space reference conversion parameter sequence calculation value, phi represents a Fourier series model observation matrix, and XFRepresenting the model coefficient a to be solved in the Fourier series modelψj,bψj,
aθj,bθj，VFRepresenting a model residual;
and carrying out space reference calibration on the pointing measurement system according to the corresponding space-time reference conversion model and the observation equation.
In the embodiment of the invention, a space-time reference conversion model based on the internal space of the absolute pointing measurement subsystem and a space-time reference conversion model based on the space-time reference conversion time sequence parameter between the absolute pointing measurement subsystem and the relative pointing measurement subsystem are respectively constructed, so that the space reference calibration of the optical satellite pointing measurement system is carried out according to the two space-time reference conversion models, and the space reference calibration and the unification of the whole pointing measurement subsystem are realized.
On the basis of the above embodiment, before the space-based calibration of the pointing measurement system according to the corresponding space-time reference conversion model and the observation equation, the method further includes:
based on the least square principle, obtaining the optimal estimation value of the model coefficient to be solved according to the Fourier series model observation matrix phi and the space reference conversion parameter sequence calculation value Z
The formula is as follows:
FIG. 2 is a schematic structural diagram of a spatial reference calibration apparatus for an optical satellite pointing measurement system according to an embodiment of the present invention, as shown in fig. 2, an embodiment of the present invention provides a spatial reference calibration apparatus for an optical satellite pointing measurement system, which includes a resampling module 201, a first processing module 202, a second processing module 203, and a spatial reference calibration module 204, wherein, the resampling module 201 is used to measure the relative output of the subsystem through the relative pointing in the optical satellite, resampling the absolute output quantity of the absolute pointing measurement subsystem in the optical satellite to obtain a sampling frequency normalized pointing parameter, the relative pointing measurement subsystem is constructed by a plurality of groups of three-axis angular velocity measurement components, the absolute pointing measurement subsystem is composed of a plurality of star sensors, the relative output quantity and the absolute output quantity respectively represent an angle increment and an absolute pointing parameter within a preset sampling interval; the first processing module 202 is configured to obtain an internal space reference conversion timing sequence parameter of the absolute pointing measurement subsystem according to the sampling frequency normalized pointing parameter; the second processing module 203 is configured to obtain a spatial reference conversion timing sequence parameter between the absolute pointing measurement subsystem and the relative pointing measurement subsystem according to any spatial reference absolute pointing parameter sequence of the absolute pointing measurement subsystem and a relative output quantity of the relative pointing measurement subsystem; the space reference calibration module 204 is configured to construct a space-time reference conversion model according to the internal space reference conversion timing sequence parameter of the absolute pointing measurement subsystem and the space reference conversion timing sequence parameter between the absolute pointing measurement subsystem and the relative pointing measurement subsystem, so as to perform space reference calibration on the pointing measurement system according to the space-time reference conversion model.
The space reference calibration device for the optical satellite pointing measurement system provided by the embodiment of the invention takes the output quantity of the relative pointing measurement subsystem as a reference, performs sampling frequency normalization on the output of the absolute pointing measurement subsystem, constructs a space-time reference conversion model, realizes accurate determination of the optical satellite space pointing, and lays a foundation for high-efficiency and high-quality imaging and subsequent in-orbit application of a high-resolution optical satellite by solving the problem of the variability of the optical remote sensing satellite space reference pointing under the complicated and variable conditions.
The apparatus provided in the embodiment of the present invention is used for executing the above method embodiments, and for details of the process and the details, reference is made to the above embodiments, which are not described herein again.
Fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the present invention, and referring to fig. 3, the electronic device may include: a processor (processor)301, a communication Interface (communication Interface)302, a memory (memory)303 and a communication bus 304, wherein the processor 301, the communication Interface 302 and the memory 303 complete communication with each other through the communication bus 304. Processor 301 may call logic instructions in memory 303 to perform the following method: resampling the absolute output quantity of the absolute pointing measurement subsystem in the optical satellite through the relative output quantity of the relative pointing measurement subsystem in the optical satellite to obtain sampling frequency normalized pointing parameters, wherein the relative pointing measurement subsystem is constructed through a plurality of groups of three-axis angular velocity measurement components, the absolute pointing measurement subsystem is composed of a plurality of star sensors, and the relative output quantity and the absolute output quantity respectively represent an angular increment and the absolute pointing parameters within a preset sampling interval; acquiring an internal space reference conversion time sequence parameter of the absolute pointing measurement subsystem according to the sampling frequency normalization pointing parameter; acquiring a space reference conversion time sequence parameter between the absolute pointing measurement subsystem and the relative pointing measurement subsystem according to any space reference absolute pointing parameter sequence of the absolute pointing measurement subsystem and the relative output quantity of the relative pointing measurement subsystem; and constructing a space-time reference conversion model according to the internal space reference conversion time sequence parameters of the absolute pointing measurement subsystem and the space reference conversion time sequence parameters between the absolute pointing measurement subsystem and the relative pointing measurement subsystem, so as to perform space reference calibration on the pointing measurement system according to the space-time reference conversion model.
In addition, the logic instructions in the memory 303 may be implemented in the form of software functional units and stored in a computer readable storage medium when the logic instructions are sold or used as independent products. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In another aspect, an embodiment of the present invention further provides a non-transitory computer-readable storage medium, on which a computer program is stored, where the computer program is implemented to perform the spatial reference calibration method for an optical satellite pointing measurement system provided in the foregoing embodiments, for example, the method includes: resampling the absolute output quantity of the absolute pointing measurement subsystem in the optical satellite through the relative output quantity of the relative pointing measurement subsystem in the optical satellite to obtain sampling frequency normalized pointing parameters, wherein the relative pointing measurement subsystem is constructed through a plurality of groups of three-axis angular velocity measurement components, the absolute pointing measurement subsystem is composed of a plurality of star sensors, and the relative output quantity and the absolute output quantity respectively represent an angular increment and the absolute pointing parameters within a preset sampling interval; acquiring an internal space reference conversion time sequence parameter of the absolute pointing measurement subsystem according to the sampling frequency normalization pointing parameter; acquiring a space reference conversion time sequence parameter between the absolute pointing measurement subsystem and the relative pointing measurement subsystem according to any space reference absolute pointing parameter sequence of the absolute pointing measurement subsystem and the relative output quantity of the relative pointing measurement subsystem; and constructing a space-time reference conversion model according to the internal space reference conversion time sequence parameters of the absolute pointing measurement subsystem and the space reference conversion time sequence parameters between the absolute pointing measurement subsystem and the relative pointing measurement subsystem, so as to perform space reference calibration on the pointing measurement system according to the space-time reference conversion model.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (9)
1. A space reference calibration method for an optical satellite pointing measurement system is characterized by comprising the following steps:
resampling the absolute output quantity of the absolute pointing measurement subsystem in the optical satellite through the relative output quantity of the relative pointing measurement subsystem in the optical satellite to obtain sampling frequency normalized pointing parameters, wherein the relative pointing measurement subsystem is constructed through a plurality of groups of three-axis angular velocity measurement components, the absolute pointing measurement subsystem is composed of a plurality of star sensors, and the relative output quantity and the absolute output quantity respectively represent an angular increment and the absolute pointing parameters within a preset sampling interval;
acquiring an internal space reference conversion time sequence parameter of the absolute pointing measurement subsystem according to the sampling frequency normalization pointing parameter;
acquiring a space reference conversion time sequence parameter between the absolute pointing measurement subsystem and the relative pointing measurement subsystem according to any space reference absolute pointing parameter sequence of the absolute pointing measurement subsystem and the relative output quantity of the relative pointing measurement subsystem;
according to the internal space reference conversion time sequence parameter of the absolute pointing measurement subsystem and the space reference conversion time sequence parameter between the absolute pointing measurement subsystem and the relative pointing measurement subsystem, a space-time reference conversion model is constructed so as to carry out space reference calibration on the pointing measurement system according to the space-time reference conversion model; the resampling the absolute output quantity of the absolute pointing measurement subsystem in the optical satellite through the relative output quantity of the relative pointing measurement subsystem in the optical satellite to obtain the sampling frequency normalization pointing parameter includes:
based on a spherical linear interpolation method, the relative output quantity of the relative pointing measurement subsystem in the optical satellite is used as a time reference, and the absolute output quantity of the absolute pointing measurement subsystem in the optical satellite is resampled to obtain a sampling frequency normalization pointing parameter.
2. The method of claim 1, wherein the spherical linear interpolation formula is:
θ＝cos-1<q1,q2>＝cos-1(q10·q20+q11·q21+q12·q22+q13·q23)；
wherein q is1And q is2Expressing quaternion parameters at both ends of time t, respectively, according to q1And q is2Interpolating the attitude parameters at the time t; theta denotes q1And q is2Angle therebetween, C1(t) and C2(t) indicates the interpolation function q (t) at q1And q is2Component in the direction, t' theta denotes q (t) and q1The size of the included angle (1-t') theta represents q (t) and q2The size of the included angle is formed, wherein t' belongs to [0,1 ]]。
3. The method according to claim 1, wherein the obtaining of the internal spatial reference transform timing parameters of the absolute pointing measurement subsystem according to the sampling frequency normalized pointing parameters comprises:
acquiring a space reference type of the absolute pointing measurement subsystem according to a preset combination type of a star sensor in the absolute pointing measurement subsystem;
acquiring a pointing parameter sequence of each space reference type according to the space reference type of the absolute pointing measurement subsystem;
and acquiring a conversion time sequence parameter between each space reference type according to the pointing parameter sequence of each space reference type so as to obtain an internal space reference conversion time sequence parameter of the absolute pointing measurement subsystem.
4. The method according to claim 3, wherein the obtaining of the spatial reference conversion timing sequence parameters between the absolute pointing measurement subsystem and the relative pointing measurement subsystem according to any one of the spatial reference absolute pointing parameter sequences of the absolute pointing measurement subsystem and the relative output of the relative pointing measurement subsystem comprises:
relative output dw of the measurement subsystem is pointed relativelyG(i) Converting into a relative output dw corresponding to any space reference type in the absolute pointing measurement subsystemSG(i) The formula is as follows:
wherein the content of the first and second substances,
representing the estimated value of the spatial reference transition between the absolute orientation measurement subsystem and the relative orientation measurement subsystem, i representing tiTime of day, RGRepresenting a spatial reference transformation real parameter between the absolute pointing measurement subsystem and the relative pointing measurement subsystem; Δ RGIndicating error estimate, error estimate Δ RGCorresponding first error Euler angle
The relative output dwSG(i) Conversion to corresponding error quaternion parameters dqSG(i) And according to said error quaternion parameter dqSG(i) Obtaining an absolute pointing estimate qSG(i) And the quaternion of error Δ q between the true parameter and the estimated valueSG(i) The formula is as follows:
wherein q iss(0) Indicating an initial value of the output of the pointing parameter, qs(i) Represents tiAbsolute pointing quaternion parameter sequence at time, i ═ 0,1, …, N;
according to the conversion relation between the Euler angle and the quaternion, the error quaternion delta q between the real parameter and the estimated valueSG(i) Converted into a second error Euler angle Delta alphaSG(i) The formula is as follows:
according to the second error ohmAngle of pull delta alphaSG(i) Relative output volume dwG(i) And a first error Euler angle delta alphaGAnd constructing an indirect adjustment model, wherein the formula is as follows:
Y(i)＝ΔαSG(i)＝f(dwG(i),ΔαG)+ε(i)；
Y(i)＝H·ΔαG；
wherein H represents an observation equation measurement matrix, and epsilon (i) represents an observation residual error;
obtaining a first error Euler angle delta alpha according to a least square criterionGThe formula of the optimal estimated value is as follows:
ΔαG＝(HT·H)-1·HT·Y；
according to the first error Euler angle delta alphaGAnd the space reference conversion time sequence parameter between the absolute pointing measurement subsystem and the relative pointing measurement subsystem is obtained through the optimal estimation value of the absolute pointing measurement subsystem and the indirect adjustment model.
5. The method according to claim 4, wherein the constructing a space-time reference transformation model according to the internal space reference transformation timing parameters of the absolute pointing measurement subsystem and the space reference transformation timing parameters between the absolute pointing measurement subsystem and the relative pointing measurement subsystem to perform space reference calibration on the pointing measurement system according to the space-time reference transformation model comprises:
respectively constructing a corresponding space-time reference conversion model and an observation equation according to the internal space reference conversion time sequence parameter of the absolute pointing measurement subsystem and the space reference conversion time sequence parameter between the absolute pointing measurement subsystem and the relative pointing measurement subsystem, wherein the space-time reference conversion model is as follows:
wherein, ω is0The angular frequency is represented by the angular frequency,
t denotes the signal period, k denotes the number of time steps, τ denotes the time step, M denotes the normal number, aψj,bψj,
aθj,bθjRespectively representing model coefficients to be solved;
the observation equation is:
Z＝ΦXF+VF；
wherein Z represents a space reference conversion parameter sequence calculation value, phi represents a Fourier series model observation matrix, and XFRepresenting the model coefficient a to be solved in the Fourier series modelψj,bψj,
aθj,bθj，VFRepresenting a model residual;
and carrying out space reference calibration on the pointing measurement system according to the corresponding space-time reference conversion model and the observation equation.
6. The method of claim 5, wherein before the spatial reference calibration of the pointing measurement system according to the corresponding spatio-temporal reference transform model and observation equation, the method further comprises:
based on the least square principle, obtaining the optimal estimation value of the model coefficient to be solved according to the Fourier series model observation matrix phi and the space reference conversion parameter sequence calculation value Z
The formula is as follows:
7. a spatial reference calibration apparatus for an optical satellite pointing measurement system, comprising:
the resampling module is used for resampling the absolute output quantity of the absolute pointing measurement subsystem in the optical satellite through the relative output quantity of the relative pointing measurement subsystem in the optical satellite to obtain sampling frequency normalized pointing parameters, wherein the relative pointing measurement subsystem is constructed through a plurality of groups of three-axis angular velocity measurement components, the absolute pointing measurement subsystem is composed of a plurality of star sensors, and the relative output quantity and the absolute output quantity respectively represent an angular increment and an absolute pointing parameter within a preset sampling interval;
the method for resampling the absolute output quantity of the absolute pointing measurement subsystem in the optical satellite through the relative output quantity of the relative pointing measurement subsystem in the optical satellite to obtain the sampling frequency normalized pointing parameter includes: based on a spherical linear interpolation method, resampling the absolute output quantity of the absolute pointing measurement subsystem in the optical satellite by taking the relative output quantity of the relative pointing measurement subsystem in the optical satellite as a time reference to obtain a sampling frequency normalization pointing parameter;
the first processing module is used for acquiring an internal space reference conversion time sequence parameter of the absolute pointing measurement subsystem according to the sampling frequency normalized pointing parameter;
the second processing module is used for acquiring a spatial reference conversion time sequence parameter between the absolute pointing measurement subsystem and the relative pointing measurement subsystem according to any spatial reference absolute pointing parameter sequence of the absolute pointing measurement subsystem and the relative output quantity of the relative pointing measurement subsystem;
and the space reference calibration module is used for constructing a space-time reference conversion model according to the internal space reference conversion time sequence parameters of the absolute pointing measurement subsystem and the space reference conversion time sequence parameters between the absolute pointing measurement subsystem and the relative pointing measurement subsystem so as to carry out space reference calibration on the pointing measurement system according to the space-time reference conversion model.
8. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the program performs the steps of the method for spatial reference calibration for an optical satellite pointing measurement system as claimed in any one of claims 1 to 6.
9. A non-transitory computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method for spatial reference calibration for an optical satellite pointing measurement system according to any one of claims 1 to 6.
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