CN111897357A - Attitude tracking control method for satellite earth scanning - Google Patents
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Abstract
The invention discloses an attitude tracking control method for satellite earth scanning, which comprises the following steps: describing the geographical longitude and latitude tracks of the scanning points by adopting an Archimedes curve to obtain the scanning tracks of the satellite on the earth surface; acquiring attitude angle track instruction information tracked by a star body by combining the scanning track of the satellite on the earth surface and the current satellite position information; estimating according to the attitude angle track instruction information tracked by the star body to obtain the magnitude of moment and angular momentum; and tracking and controlling the attitude angle of the star body by adopting PD control and feedforward compensation control law according to the magnitude of the moment and the angular momentum and taking the three-axis attitude angle of the star body as a control quantity. The invention realizes the function of scanning the earth surface according to a specific track through maneuvering of the satellite attitude, so that the structure of the satellite is simpler, the volume and the weight of the satellite can be effectively reduced, and the reliability of the system is improved.
Description
Technical Field
The invention relates to a technology for planning a ground surface scanning track of a satellite, generating an attitude reference instruction and tracking and controlling an attitude track, in particular to an attitude tracking and controlling method for satellite ground scanning.
Background
When the satellite passes the top and a specific area is communicated and scanned and detected, a load rotating mechanism such as an antenna or a camera is often needed to realize staring or track a specific track, so that the volume and the weight of the satellite are increased when the satellite scans the ground surface, and the reliability is reduced. However, in a satellite with a small volume or without a rotating mechanism, the attitude maneuver of the star is required to complete the earth-based scanning task of the fixed antenna or the camera on the star.
Disclosure of Invention
The technical problem to be solved by the present invention is to provide a posture tracking control method for satellite ground scanning, aiming at the defects of the prior art, so as to solve the problem that the satellite needs to scan the ground surface by using a rotating mechanism, thereby increasing the volume and weight of the satellite and reducing the reliability.
In order to solve the above problems, the present invention is realized by the following technical scheme:
an attitude tracking control method for satellite earth scanning comprises the following steps: step S1, describing the geographical longitude and latitude track of the scanning point by an Archimedes curve to obtain the scanning track of the satellite on the earth surface; step S2, acquiring attitude angle track instruction information tracked by the star body by combining the scanning track of the satellite on the earth surface and the current satellite position information; step S3, estimating according to the attitude angle track instruction information tracked by the star body to obtain the magnitude of moment and angular momentum; and step S4, tracking and controlling the attitude angle of the star body by adopting PD control and feedforward compensation control law with the three-axis attitude angle of the star body as a control quantity according to the magnitude of the moment and the angular momentum.
Preferably, the scanning track of the satellite on the earth surface is represented by the following formula:
in the formula, λ0A geographic longitude that is a scanning starting point;
the geographical latitude of the starting point of the anchor sweeping; a is a pitch coefficient of the Archimedes curve; phi is the angle of the star body optical axis rotating around the connecting line of the ground starting point and the star body center; the geographic longitude and latitude coordinates of the geographic longitude and latitude track of the scanning point described by the Archimedes curve are
Preferably, the step S2 includes: the geographic longitude and latitude coordinates are compared
Converted into latitude and longitude coordinates of geocentric
The longitude and latitude coordinates of the geocentric
Expressed by the following formula:
in the formula (f)1Eccentricity of elliptical cross section of the meridian of the earth, f1＝(ae-be)/aeWherein a iseIs the equatorial radius, beIs the polar radius of the earth.
Converting the geocentric latitude coordinate (alpha,) into a right ascension and declination coordinate (alpha,) of the satellite, and then expressing the right ascension and declination coordinate (alpha,) by the following formula:
in the formula, t0Is the initial position moment; t is the current operating position moment; g0Is t0The templing greenwich treats fixed star hour angles; omegaeIs the rotational speed of the earth.
Obtaining a position vector r corresponding to the center of the load-on-earth coverage area on the current satellite under the J2000 inertial coordinate system according to the right ascension and declination coordinates (alpha)d＝[rdxrdyrdz]TA position vector r corresponding to the center of the coverage area of the load on the current satellite to the groundd＝[rdxrdyrdz]TExpressed by the following formula:
in the formula, reIs the distance from the center of the scanning area to the geocenter.
The position vector r of the satellite is obtained by orbit recursion or telemetering calculations＝[rsxrsyrsz]T。
Let the unit vector of the satellite-to-target point position vector be rsdThe unit vector rsdExpressed by the following formula:
let the first attitude transformation matrix from the inertial system to the orbital coordinate system be RoiThe first posture conversion matrix RoiExpressed by the following formula:
in the formula, omega is an argument of the near place; f is a true advance point angle; i is the track inclination angle; omega is the red meridian of the ascending crossing point.
Describing the satellite attitude by the Euler angle of 312 rotation sequence with the orbit coordinate system as a reference system, and converting the second attitude of the orbit coordinate system to the Euler angle of 312 rotation sequence into RboSaidSecond attitude transformation matrix RboExpressed by the following formula:
in the formula, theta is a pitch angle;
is a roll angle; psi is the yaw angle.
If the satellite makes the load scan the ground target by attitude maneuver, and the direction of the optical axis of the load under the system is zb＝[0 0 1]TThen, the following formula is satisfied:
and (3) setting the yaw angle psi as 0, and enabling the satellite to scan the target point only by controlling the pitch angle and the roll angle.
note-Roirsd＝[x1y1z1]TThen, the pitch angle θ is expressed by the following equation:
θ＝arcsin(x1)
roll angle
Expressed by the following formula:
preferably, the step S3 includes: according to the equation of the scanning track of the satellite on the earth surface and the pitch angle theta which is arcsin (x)1) Calculating to obtain a pitch angle sequence { thetar(i1)}；i1＝1,2,...n；i1Is the ith1Each control period, wherein n is the number of the planned pitch angles; according to the pitch angle sequence { thetar(i1) Calculating difference to obtain pitch angle velocity sequence
i1N is 1,2,. n; and pitch angular acceleration sequence
i1N is 1,2,. n; star around ybThe moment of inertia of the shaft being Iyy(ii) a The sequence of angular momenta required for rotation is
i1N is 1,2,. n; the torque sequence is as follows
i1＝1,2,...n。
Preferably, the step S4 includes: calculating pitching channel moment TcyThe following were used:
in the formula, kpIs a positive value proportionality coefficient; k is a radical ofdA positive differential coefficient; k is a radical offA positive feedforward compensation term coefficient; thetar(i2) Is a reference pitch angle command;
a reference pitch angle velocity command;
a reference pitch angle acceleration command; thetam(i2) Ith obtained for attitude sensor measurement2The attitude angle of each control cycle,
Ith obtained for attitude sensor measurement2Attitude angular velocity of each control cycle.
According to the pitching channel moment TcyAnd tracking and controlling the attitude angle of the star.
The invention has at least one of the following advantages:
(1) the latitude and longitude tracks of the ground are described by the Archimedes curves, compared with S-shaped scanning, the latitude and longitude tracks are simple to describe, and the track planning process with complex tracks and the reversing at end points can be avoided, so that the satellite attitude is adversely affected.
(2) The satellite uses the star rotation to replace the rotation servo mechanisms such as a pan-tilt and the like to scan the earth surface, so that the mass and the volume of the satellite can be effectively reduced, and the reliability of the system is improved. The method is particularly suitable for a control scheme of the microsatellite for scanning the earth surface.
(3) The composite control of feedforward and PD control is selected to improve the rapidity of star maneuvering and the pointing accuracy during maneuvering compared to conventional steady-state PD or PID control.
Drawings
Fig. 1 is a flowchart of an attitude tracking control method for a satellite to earth surface scanning according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a satellite-to-ground scanning trajectory according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a relative position vector, a relative coordinate system and an attitude angle according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a three-axis attitude angular trajectory and a three-axis attitude angular velocity reference trajectory according to an embodiment of the present invention.
Detailed Description
The following describes in detail an attitude tracking control method for satellite earth scanning according to the present invention with reference to fig. 1 to 4 and the detailed description. The advantages and features of the present invention will become more apparent from the following description. It is to be noted that the drawings are in a very simplified form and are all used in a non-precise scale for the purpose of facilitating and distinctly aiding in the description of the embodiments of the present invention. To make the objects, features and advantages of the present invention comprehensible, reference is made to the accompanying drawings. It should be understood that the structures, ratios, sizes, and the like shown in the drawings and described in the specification are only used for matching with the disclosure of the specification, so as to be understood and read by those skilled in the art, and are not used to limit the implementation conditions of the present invention, so that the present invention has no technical significance, and any structural modification, ratio relationship change or size adjustment should still fall within the scope of the present invention without affecting the efficacy and the achievable purpose of the present invention.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
As shown in fig. 1, the attitude tracking control method for satellite earth scanning provided by this embodiment includes the following steps:
and step S1, describing the geographical longitude and latitude track of the scanning point by adopting an Archimedes curve to obtain the scanning track of the satellite on the earth surface.
Specifically, the scanning track of the satellite on the earth surface is represented by the following formula:
in the formula, λ0A geographic longitude that is a scanning starting point;
the geographical latitude of the starting point of the anchor sweeping; a is a pitch coefficient of the Archimedes curve; phi is the rotation of the star body optical axis around the connection line of the ground starting point and the star body centerThe angle of the transition; the geographic longitude and latitude coordinates of the geographic longitude and latitude track of the scanning point described by the Archimedes curve are
As shown in fig. 2, curve 1 is
As a starting point (starting scan point),
a curve of counterclockwise rotation of the end point (end point scanning point); curve 2 is represented by
As a starting point (starting scan point),
is a curve of the counterclockwise rotation of the end point (end point scan point). The curve 1 and the curve 2 are symmetrically distributed, so that a smoother two-time scanning process is realized.
If the scanning mode that the scanning point moves around the starting point at the equal angular speed on the track is adopted, the planning movement is carried out. Curve 1 can be represented by the following equation:
where ω is the angular velocity of the scan around the origin; t is t1The time to start the scan is timed.
If it is required to scan twice within a certain period of time, curve 2 can be added at the end of curve 1, and curve 2 can be expressed by the following formula:
in the formula, tfThe time at which the curve 1 sweep ends.
And step S2, acquiring attitude angle track instruction information tracked by the star body by combining the scanning track of the satellite on the earth surface and the current satellite position information.
Specifically, the step S2 includes: the geographic longitude and latitude coordinates are compared
Converted into latitude and longitude coordinates of geocentric
The longitude and latitude coordinates of the geocentric
Expressed by the following formula:
in the formula (f)1Eccentricity of elliptical cross section of the meridian of the earth, f1＝(ae-be)/aeWherein a iseIs the equatorial radius, beIs the polar radius of the earth.
Converting the geocentric latitude coordinate (alpha,) into a right ascension and declination coordinate (alpha,) of the satellite, and then expressing the right ascension and declination coordinate (alpha,) by the following formula:
in the formula, t0Is the initial position moment; t is the current operating position moment; g0Is t0The templing greenwich treats fixed star hour angles; omegaeIs the rotational speed of the earth.
Obtaining a position vector r corresponding to the center of the load-on-earth coverage area on the current satellite under the J2000 inertial coordinate system according to the right ascension and declination coordinates (alpha)d＝[rdxrdyrdz]TThe motion trajectory is the designed scanning trajectory of the satellite described by the formula (1) on the ground surface, namely the target point trajectory. The current on-board load is covered to the groundPosition vector r corresponding to center of cover regiond＝[rdxrdyrdz]TExpressed by the following formula:
in the formula, reThe distance from the center of the scanning area to the geocenter; it is known to be normally bright, approximating the radius of the earth.
The position vector r of the satellite is obtained by orbit recursion or telemetering calculations＝[rsxrsyrsz]T。
Let the unit vector of the satellite-to-target point position vector be rsdThe unit vector rsdExpressed by the following formula:
FIG. 3 is a schematic diagram of the relative position vector, the relative coordinate system and the attitude angle, wherein oixiyiziIs a J2000 inertial system, ooxoyozoAs a track coordinate system, ooxbybzbIs a body coordinate system.
Let the first attitude transformation matrix from the inertial system to the orbital coordinate system be RoiThe first posture conversion matrix RoiExpressed by the following formula:
in the formula, omega is an argument of the near place; f is a true advance point angle; i is the track inclination angle; omega is the red meridian of the ascending crossing point.
Describing the satellite attitude by the Euler angle of 312 rotation sequence with the orbit coordinate system as a reference system, and converting the second attitude of the orbit coordinate system to the Euler angle of 312 rotation sequence into RboThe second posture conversion matrix RboExpressed by the following formula:
in the formula, theta is a pitch angle;
is a roll angle; psi is the yaw angle.
If the satellite makes the load scan the ground target by attitude maneuver, and the direction of the optical axis of the load under the system is zb＝[0 0 1]TThen, the following formula is satisfied:
and (3) setting the yaw angle psi as 0, and enabling the satellite to scan the target point only by controlling the pitch angle and the roll angle.
note-Roirsd＝[x1y1z1]TThen, the pitch angle θ is expressed by the following equation:
θ＝arcsin(x1) (11)
roll angle
Expressed by the following formula:
an attitude track formed by the pitch angle theta according to the change of time is a pitch angle instruction; roll angle
The gesture trajectory formed according to the change in time is a roll angle command.
The pitch angle instruction and the roll angle instruction are attitude angle instructions, and a reference joint angle instruction and an angular velocity instruction can be obtained according to the attitude angle instructions.
As shown in fig. 4, three-axis attitude angle and three-axis attitude angular velocity reference trajectories for two scans completed by a certain satellite within 76 seconds. The planning end point of the three-axis attitude angular velocity has sudden change, amplitude limitation can be applied to the three-axis attitude angular velocity planning end point or planning can be started in advance for achieving a better effect, and the corresponding middle section gentle part is intercepted to be a three-axis attitude angular velocity instruction.
And step S3, estimating according to the attitude angle track instruction information tracked by the star body to obtain the magnitude of the moment and the angular momentum.
Specifically, the step S3 includes: according to the equation of the scanning track of the satellite on the earth surface and the pitch angle theta which is arcsin (x)1) Calculating to obtain a pitch angle sequence { thetar(i1)}；i1＝1,2,...n；i1Is the ith1Each control period, wherein n is the number of the planned pitch angles; according to the pitch angle sequence { thetar(i1) Calculating difference to obtain pitch angle velocity sequence
i1N is 1,2,. n; and pitch angular acceleration sequence
i1N is 1,2,. n; star around ybThe moment of inertia of the shaft being Iyy(ii) a The sequence of angular momenta required for rotation is
i1N is 1,2,. n; the torque sequence is as follows
i1＝1,2,...n。
The magnitude of the moment and angular momentum is the range of the moment and angular momentum. The process of obtaining the angular momentum sequence and the moment sequence for the pitch angle is the same as the process of obtaining the angular momentum sequence and the moment sequence for the rolling angle. In the pitch axis y of the satellitebAnd a roll axis xbDirection, a corresponding torque actuator is required. The attitude can be estimated according to the attitude track and the satellite inertia information of the satelliteThe angular momentum required for the maneuver and the range of moments.
The composite control method of flywheel and air injection is adopted in the embodiment. When the required torque is larger than the rated torque of the flywheel, the part exceeding the rated torque value of the flywheel is provided with torque by the jet, and the rest part is provided by the flywheel, so that jet fuel is saved to the maximum extent. The rated angular momentum and the rated torque of the selected torque executing mechanism are larger than the maximum value of the angular momentum and the torque required by the calculated rotation, and a certain margin is left, which is generally about 1.5 times of the calculated value.
And step S4, tracking and controlling the attitude angle of the star body by adopting PD control and feedforward compensation control law with the three-axis attitude angle of the star body as a control quantity according to the magnitude of the moment and the angular momentum.
Due to the rapidity of maneuvering and the high requirement for pointing accuracy during maneuvering, PD or PID control for conventional steady state has not been able to meet maneuvering mission needs. The maneuvering path is known, the attitude maneuvering angle, the angular velocity and the angular acceleration can be obtained through pre-calculation, further the moment required by theoretical control can be obtained, and the moment is applied in a feedforward mode, so that zero-delay control can be realized in theory. However, because the inertia parameters of the star bodies and the attitude errors exist, closed-loop control needs to be applied to correct the control deviation in real time, and the structure of the feedforward + PD control composite controller is selected.
Specifically, the step S4 includes: calculating pitching channel moment TcyThe following were used:
in the formula, kpIs a positive value proportionality coefficient; k is a radical ofdA positive differential coefficient; k is a radical offA positive feedforward compensation term coefficient; thetar(i2) Is a reference pitch angle command;
a reference pitch angle velocity command;
a reference pitch angle acceleration command; thetam(i2) Ith obtained for attitude sensor measurement2The attitude angle of each control cycle,
Ith obtained for attitude sensor measurement2Attitude angular velocity of each control cycle.
According to the pitching channel moment TcyAnd tracking and controlling the attitude angle of the star. The roll channel moment is the same as the solution for the pitch channel moment described above.
In a satellite-to-ground scanning task, a ground scanning track is generally required to be planned to cover a target area, and an attitude track of a satellite relative to an orbit system can be calculated according to a scanning point position vector on the track and a position vector of the satellite. Therefore, the satellite ground scanning problem is converted into the attitude tracking control problem of the satellite. And then designing a control law to realize a scanning task of the satellite on the specified track in the specified area.
In summary, according to the attitude tracking control method for satellite ground scanning provided by this embodiment, the archimedes curve is used to describe the longitude and latitude trajectory of the ground, and compared with S-shaped scanning, the description is simple, and the complicated trajectory planning process and the reversing at the end point can be avoided, so that the attitude of the satellite body is adversely affected. The satellite uses the star rotation to replace the rotation servo mechanisms such as a pan-tilt and the like to scan the earth surface, so that the mass and the volume of the satellite can be effectively reduced, and the reliability of the system is improved. The method is particularly suitable for a control scheme of the microsatellite for scanning the earth surface. The composite control of feedforward and PD control is selected to improve the rapidity of star maneuvering and the pointing accuracy during maneuvering compared to conventional steady-state PD or PID control.
While the present invention has been described in detail with reference to the preferred embodiments, it should be understood that the above description should not be taken as limiting the invention. Various modifications and alterations to this invention will become apparent to those skilled in the art upon reading the foregoing description. Accordingly, the scope of the invention should be determined from the following claims.
Claims (5)
1. An attitude tracking control method for satellite earth scanning is characterized by comprising the following steps:
step S1, describing the geographical longitude and latitude track of the scanning point by an Archimedes curve to obtain the scanning track of the satellite on the earth surface;
step S2, acquiring attitude angle track instruction information tracked by the star body by combining the scanning track of the satellite on the earth surface and the current satellite position information;
step S3, estimating according to the attitude angle track instruction information tracked by the star body to obtain the magnitude of moment and angular momentum;
and step S4, tracking and controlling the attitude angle of the star body by adopting PD control and feedforward compensation control law with the three-axis attitude angle of the star body as a control quantity according to the magnitude of the moment and the angular momentum.
2. The attitude tracking control method for satellite ground scanning according to claim 1, wherein the scanning track of the satellite on the ground surface is expressed by the following formula:
in the formula, λ0A geographic longitude that is a scanning starting point;
the geographical latitude of the starting point of the anchor sweeping; a is a pitch coefficient of the Archimedes curve; phi is the angle of the star body optical axis rotating around the connecting line of the ground starting point and the star body center;
the geographic longitude and latitude coordinates of the geographic longitude and latitude track of the scanning point described by the Archimedes curve are
3. The attitude tracking control method of satellite ground scanning according to claim 1, wherein the step S2 includes:
the geographic longitude and latitude coordinates are compared
Converted into latitude and longitude coordinates of geocentric
The longitude and latitude coordinates of the geocentric
Expressed by the following formula:
in the formula (f)1Eccentricity of elliptical cross section of the meridian of the earth, f1＝(ae-be)/aeWherein a iseIs the equatorial radius, beIs the polar radius of the earth;
converting the geocentric latitude coordinate (alpha,) into a right ascension and declination coordinate (alpha,) of the satellite, and then expressing the right ascension and declination coordinate (alpha,) by the following formula:
in the formula, t0Is the initial position moment; t is the current operating position moment; g0Is t0The templing greenwich treats fixed star hour angles; omegaeThe self-rotation speed of the earth;
obtaining a position vector r corresponding to the center of the load-on-earth coverage area on the current satellite under the J2000 inertial coordinate system according to the right ascension and declination coordinates (alpha)d＝[rdxrdyrdz]TA position vector r corresponding to the center of the coverage area of the load on the current satellite to the groundd＝[rdxrdyrdz]TExpressed by the following formula:
in the formula, reThe distance from the center of the scanning area to the geocenter;
the position vector r of the satellite is obtained by orbit recursion or telemetering calculations＝[rsxrsyrsz]T；
Let the unit vector of the satellite-to-target point position vector be rsdThe unit vector rsdExpressed by the following formula:
let the first attitude transformation matrix from the inertial system to the orbital coordinate system be RoiThe first posture conversion matrix RoiExpressed by the following formula:
in the formula, omega is an argument of the near place; f is a true advance point angle; i is the track inclination angle; omega is the red meridian of the ascending crossing point;
describing the satellite attitude by the Euler angle of 312 rotation sequence with the orbit coordinate system as a reference system, and converting the second attitude of the orbit coordinate system to the Euler angle of 312 rotation sequence into RboThe second posture conversion matrix RboExpressed by the following formula:
in the formula, theta is a pitch angle;
is a roll angle; psi is the yaw angle;
if the satellite passes through the attitudeThe dynamic machine can make the load scan the ground target, and the direction of the optical axis of the load under the system is zb＝[0 01]TThen, the following formula is satisfied:
the yaw angle psi is made to be 0, and the satellite scans the target point only by controlling the pitch angle and the roll angle;
note-Roirsd＝[x1y1z1]TThen, the pitch angle θ is expressed by the following equation:
θ＝arcsin(x1)
roll angle
Expressed by the following formula:
4. the attitude tracking control method of satellite ground scanning according to claim 1, wherein the step S3 includes:
according to the equation of the scanning track of the satellite on the earth surface and the pitch angle theta which is arcsin (x)1) Calculating to obtain a pitch angle sequence { thetar(i1)}；i1＝1,2,...n；
i1Is the ith1Each control period, wherein n is the number of the planned pitch angles;
according to the pitch angle sequence { thetar(i1) Calculating difference to obtain pitch angle velocity sequence
i1N is 1,2,. n; and pitch angular acceleration sequence
i1＝1,2,...n；
Star around ybThe moment of inertia of the shaft being Iyy；
The sequence of angular momenta required for rotation is
i1N is 1,2,. n; the torque sequence is as follows
i1＝1,2,...n。
5. The attitude tracking control method of satellite ground scanning according to claim 1, wherein the step S4 includes: calculating pitching channel moment TcyThe following were used:
in the formula, kpIs a positive value proportionality coefficient; k is a radical ofdA positive differential coefficient; k is a radical offA positive feedforward compensation term coefficient; thetar(i2) Is a reference pitch angle command;
a reference pitch angle velocity command;
a reference pitch angle acceleration command; thetam(i2) Ith obtained for attitude sensor measurement2The attitude angle of each control cycle,
Ith obtained for attitude sensor measurement2Attitude angular velocity for each control cycle;
according to the pitching channel moment TcyPosture of the starAnd tracking and controlling the attitude angle.
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| CN112722329A (en) * | 2020-12-22 | 2021-04-30 | 中国科学院微小卫星创新研究院 | Method and system for controlling condensed scanning attitude of ground remote sensing satellite |
| CN112835071A (en) * | 2020-12-31 | 2021-05-25 | 上海交通大学 | Method for realizing narrow-view-field load pointing calibration assisted by satellite attitude maneuver |
| CN112966366A (en) * | 2021-02-04 | 2021-06-15 | 上海卫星工程研究所 | Track pointing angle calculation method and system for remote sensing satellite ground attitude maneuver scanning |
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