CN112329202B - Optimization implementation method of antenna pointing algorithm of circulator by Mars - Google Patents
Optimization implementation method of antenna pointing algorithm of circulator by Mars Download PDFInfo
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Abstract
The invention discloses an optimization implementation method of a pointer algorithm of a Mars vehicle to a circulator antenna, when the antenna points are calculated in the same round of antenna control process, the longitude and latitude heights and the attitude angles of the Mars vehicle are identical in the two calculation processes, so that a plurality of intermediate variables exist, and after the first calculation, the first calculation result can be directly used in the rest control process; in addition, because the installation deviation matrix of the Mars antenna is completely fixed in the whole satellite life period, the method utilizes the characteristic, the conversion matrix from the antenna system to the satellite body system is calculated in advance, the calculation result is stored in the satellite-borne memory, the calculation is not needed when the antenna system to satellite body system conversion matrix is encountered in the calculation process of the antenna pointing, and the matrix data in the memory is directly read, so that the calculation amount of the satellite-borne processor is effectively reduced.
Description
Technical Field
The invention belongs to the technical field of satellite-borne antennas, and particularly relates to an optimization implementation method of a pointer algorithm of a pointer of a Mars vehicle to a circulator antenna.
Background
Mars vehicles are launched in 2020 in China to carry out mars surface inspection detection, and the Mars vehicles are provided with high-gain and narrow-beam directional antennas which can carry out data communication with a Mars circulator. Autonomous pointing of the directional antenna to the circulator is a critical process, directly affecting the reliability and accuracy of data transmission. The process needs to consider the influence of multiple factors such as time, ephemeris, fire surface position, spark attitude, antenna installation errors and the like. In the moon exploration task of goddess Chang E III, engineering personnel put forward a method for planning the pointing direction of a moon circulator by a directional antenna of a moon Mars vehicle, and after the ground planning is finished, an instruction is sent to control the mechanism to move. Compared with a moon spark, the communication delay between the spark and the earth is about 3-23 min, and the quasi-real-time ground teleoperation control can not be performed like the moon spark, so that the directional antenna of the spark can autonomously implement the pointing of the surrounding device on the device, planning algorithms such as ephemeris calculation, mechanism pointing calculation and the like are required to be carried out on the device, and a motion instruction is required to be autonomously generated on the device according to the planning result. Aiming at the pointing requirement of the autonomous pair of the circulator, if a calculation method of a ground computer is directly adopted, the satellite-borne computer has weaker capability, needs to consume longer calculation time and cannot meet the real-time requirement, so that the satellite-borne optimization calculation method of the autonomous execution of the Mars and Mars on the antenna of the circulator is required to be provided.
Disclosure of Invention
Therefore, the invention aims to provide an optimal implementation method for autonomous pointing of the Mars to the Mars circulator by using the method, which can meet the real-time requirement of the antenna pointing under very limited satellite-borne calculation conditions and provide reliable guarantee for data communication between the Mars directional antenna and the Mars circulator.
A star optimization method for pointing a Mars vehicle to a surrounding device antenna comprises the following steps:
step 1, calculating the position of the circulator under a Mars inertial coordinate system:
for the orbit spark surrounding device with large inclination angle and large eccentricity, fitting the number of outward pushing roots on the ground to obtain epoch time t 0 Average root number a of (a) 0 、e 0 、i 0 、Ω 0 、ω 0 、M 0 Rate of change of average root numberAnd second order rate of change of the angle of the point of closest approach +.>The extrapolation formula for kepler root number at time t is as follows:
ΔT＝t-t 0 (1)
a＝a 0 (2)
e＝e 0 (3)
i＝i 0 (4)
wherein ：
p＝a 0 (1-e 0 2 ) (13)
c＝cosi 0 (14)
wherein ,J2 Representing the second order coefficient of the orbit; r is R m Represents the radius of the Mars; mu (mu) m Represents the Mars constant;
the position calculation method of the circulator in the Mars inertial coordinate system according to the Kepler root number is as follows:
s11, calculating delta T:
for time T, the time difference Δt (in julian century) was found with respect to time J2000.0:
ΔT＝(T 0 -T J2000.0 +t/86400)/T cy (15)
in the formula ：T0 The julian calendar book date corresponding to zero time of the on-board computer; t (T) J2000.0 The julian calendar book date corresponding to the moment J2000.0; t (T) cy The number of days corresponding to a julian century;
s12, calculating a close point angle:
E＝M+ee 1 ×sinM+ee 2 ×sin2M+ee 3 ×sin3M (16)
s13, calculating a true near point angle:
s14, calculating the track wheelbase:
s15, calculating position coordinates of the circulator under the circulator track plane coordinate system:
s16, calculating position coordinates of the surrounding device under the Mars inertial coordinate system as follows:
wherein ,representing a transformation matrix rotated about the x-axis; />Representing a transformation matrix rotated about the y-axis; />Representing a transformation matrix rotated about the z-axis;
step 2, calculating Mars orientation parameters:
solving celestial body directional output parameters according to the time (t) and celestial body directional input parameters (A, B, C, D, E and F); wherein alpha is 0 Is the right ascension of the north pole of the celestial body in ICRF; delta 0 Declination in ICRF for celestial north; w is the distance from 0 degree warp to the celestial body equator lifting intersection point:
for time T, reference formula (1) finds the time difference DeltaT relative to the time of J2000.0 1 The following steps are:
α 0 ＝A-B×ΔT 1
δ 0 ＝C-D×ΔT 1 (21)
W＝E+F×ΔT 1 ×T cy
at a given time t, substituting the directional input parameters (A, B, C, D, E and F) of the Mars in the table into the table (21) to calculate the directional parameter alpha of the Mars 0_mars ，δ 0_mars ，W mars ；
Step 3, changing the position coordinates of the surrounding device from a Mars inertial coordinate system to a Mars astronomical reference coordinate system:
wherein ,RR1 ＝R z (-θ 3 )·R y (-θ 2 )·R x (-θ 1 )；
Step 4, transforming the position coordinates of the surrounding device from a Mars astronomical reference coordinate system to a Mars fixedly connected coordinate system:
under the Mars fixed connection coordinate system, the position of the Mars vehicle is as follows:
wherein H represents the height of the position of the Mars vehicle; θ lat Representing the latitude, theta of the position of the Mars lon Longitude indicating the position of the Mars;
and 5, under the Mars fixed connection coordinate system, the position of the surrounding device relative to the Mars vehicle is as follows:
for r d Orthogonalization processing is carried out, and unit vectors from the Mars to the surrounding device are as follows:
step 6, r is calculated d_N The Mars are fixedly connected and converted into the Mars surface northeast coordinate system:
r d_N1 ＝RR 2 ·r d_N (28)
wherein ,RR2 ＝R y (-θ lat )·R z (θ lon )；
Step 7, r is calculated d_N1 The method is characterized in that the method comprises the following steps of converting a Mars surface northeast coordinate system into a Mars surface northeast coordinate system:
r d_N2 ＝RR 3 ·r d_N1 (29)
wherein ,RR3 ＝R y (-90)；
The height angle of the circulator under the north east coordinate system of the Mars surface:
h o ＝-arcsin[r d_N2 (3)] (30)
wherein ,rd_N2 (3) Representing vector r d_N2 A third element of (3);
azimuth angle of the circulator under the north-east coordinate system of the Mars surface:
step 8, r is calculated d_N2 The north east coordinate system of the Mars surface is converted into the following part of the Mars control body:
r eb ＝RR 4 ·r d_N2 (32)
wherein ,RR4 ＝R x (θ roll )·R y (θ pitch )·R z (θ yaw )；
θ roll ，θ pitch ，θ yaw Respectively representing the rolling angle, the pitch angle and the yaw angle of the Mars;
step 9, the height angle of the circulator under the Mars control body coordinate system:
h ob ＝-arcsin[r eb (3)] (33)
wherein ,reb (3) Representing vector r eb A third element of (3);
azimuth angle of the surrounding device under the Mars control body coordinate system:
step 10, calculating a pointing angle:
converting the directional target from a Mars control body coordinate system to a directional antenna biaxial zero coordinate system:
r eb1 ＝R az ·r eb (35)
wherein Raz A rotation matrix from a main body coordinate system to a double-axis zero coordinate system of the directional antenna is controlled for the Mars;
when the directional antenna is in the zero position, the direction vector of the beam center line of the directional antenna is expressed as follows in a biaxial zero position coordinate system of the directional antenna:
the directional antenna has 2 axes of rotation: firstly, rotating around the axis B and then rotating around the axis A; directional antenna rotation θ about B axis B Rotate theta around axis A A The direction vector of the beam center line is expressed as follows in a biaxial zero coordinate system:
directional antenna rotation θ about the A axis A Rotate theta around axis B B The ground pointing should be realized later, so r 1 ＝r eb1 Compare formulas (37) and r eb1 The method comprises the following steps:
-sinθ B ＝r eb1 (1)
and combining with actual situation analysis to obtain:
θ B ＝-arcsin(r eb1 (1)) (38)
preferably, sine and cosine calculations of the attitude angle and the orbit angle used in the single antenna pointing calculation are pre-calculated and stored in the corresponding attitude data structure body and orbit data structure body, and the pre-calculated result is directly used in the subsequent use.
Preferably, all angular values in degrees are converted to radians.
Preferably, in the process of calculating single antenna pointing, function call of matrix multiplication operation is converted into assignment operation.
Preferably, when the antenna is pointed in the same round of antenna control process, the intermediate result saved in the last calculation is utilized: ee 1 、ee 2 、ee 3 、ee 4 and RR1 Calculating the position of the surrounding device; intermediate results saved with the last calculation:calculating the position of the Mars; intermediate results saved with the last calculation: RR (RR) 2 、RR 3 and RR4 Calculating a pair of patrol vectors of the surrounding device; and finally, calculating the antenna pointing direction.
The invention has the following beneficial effects:
when the antenna is pointed and calculated in the same round of antenna control process, the longitude and latitude height and the attitude angle of the Mars are identical in the two calculation processes, so that a plurality of intermediate variables exist, and after the first calculation, the calculation result of the first time can be directly used in the remaining control process.
In addition, because the installation deviation matrix of the Mars antenna is completely fixed in the whole satellite life period, the method utilizes the characteristic, the conversion matrix from the antenna system to the satellite body system is calculated in advance, the calculation result is stored in the satellite-borne memory, the calculation is not needed when the antenna system to satellite body system conversion matrix is encountered in the calculation process of the antenna pointing, and the matrix data in the memory is directly read, so that the calculation amount of the satellite-borne processor is effectively reduced.
Drawings
FIG. 1 is a diagram of a Mars control body coordinate system definition and directional antenna;
FIG. 2 is a calculation flow of single antenna pointing;
FIG. 3 is a flow of adjacent antenna pointing optimization calculation;
fig. 4 is a model of the orientation of the celestial body within the solar system.
Detailed Description
The invention will now be described in detail by way of example with reference to the accompanying drawings.
For convenience of description later, description will be made on relevant conventions of the Mars vehicle and the directional antenna.
As shown in FIG. 1, a Mars control ontology coordinate system OB-XBYBZB is defined: the origin OB is in the spark train structure bottom plate geometric center, and OBXB axle points to locomotive direction, and OBZB axle is perpendicular to the fire face with the bottom plate orientation, and OBYB axle perpendicular to OBXB axle, OBZB axle, and the triaxial constitutes right hand rectangular coordinate system.
The directional antenna is arranged at the tail part of the Mars vehicle and driven by a double-shaft mechanism: the rotating shafts A and B are mutually perpendicular, the shaft A drives the shaft B to rotate when rotating, and the shaft A is not influenced when rotating. Defining a biaxial zero coordinate system OS-XSYSZS of the directional antenna, namely when the directional antenna is in a zero position, an OSXS axis points to a rotating shaft A, OSYS points to a rotating shaft B, and OSZS is determined by a right-hand rule; under ideal installation conditions, the triaxial direction of the biaxial zero coordinate system is parallel to the triaxial direction of the Mars control body system.
It should be noted that: the directional antenna points forward, the solar wing is in a flattened state, and the mast tilts forward so as to avoid the shielding of the directional antenna by the moving mechanism of the vehicle body.
The optimization calculation flow comprises optimization of single antenna pointing calculation and optimization of adjacent satellite time antenna pointing calculation.
1. The optimization method of single antenna pointing calculation comprises the following steps:
the flow of single antenna pointing calculation is shown in fig. 2, and three optimization methods are adopted in the process to improve single calculation efficiency, and the single calculation efficiency is respectively as follows:
a) Pre-calculation method for sine and cosine of angle
The method pre-calculates and stores the sine and cosine calculations of the attitude angle and the orbit angle used by the antenna pointing calculation in the corresponding attitude data structure body and orbit data structure body, directly uses the pre-calculated result in the subsequent use, and effectively reduces the repeated calculation process. This pre-calculation method is fully applicable because both the attitude angle and orbit angle of the Mars are unchanged during the single antenna pointing calculation.
b) Dimension normalization method
All angle values taking the degree as a unit are converted into radians, and all calculation processes are unified into radians. The method can reduce the calculation of dimension conversion when performing sine and cosine call each time, and improve the accuracy of calculation results by reducing the number of floating point number calculation
c) Method for spreading matrix multiplication
The method converts the function call of the matrix multiplication operation into the assignment operation, thereby effectively reducing the calculated amount.
The single antenna pointing flow is shown in fig. 2, and the specific steps include:
step 1, calculating the position of the circulator under a Mars inertial coordinate system:
for the orbit spark surrounding device with large inclination angle and large eccentricity, fitting the number of outward pushing roots on the ground to obtain epoch time t 0 Average root number a of (a) 0 、e 0 、i 0 、Ω 0 、ω 0 、M 0 Rate of change of average root numberAnd second order rate of change of the angle of the point of closest approach +.>The extrapolation formula for kepler root at time t is as follows (angle uses radian):
ΔT＝t-t 0 (1)
a＝a 0 (2)
e＝e 0 (3)
i＝i 0 (4)
wherein ：
p＝a 0 (1-e 0 2 ) (13)
c＝cosi 0 (14)
wherein ,J2 Representing the second order coefficient of the orbit; r is R m Represents the radius of the Mars; mu (mu) m Represents the Mars constant;
the position calculation method of the circulator on the Mars inertial coordinate system according to Kepler coefficients a, e, i, omega and M is as follows:
s11, calculating delta T:
for time T (expressed in seconds relative to the zero time of the on-board computer, the following is the same), the time difference Δt (in julian century) relative to the time J2000.0 is determined:
ΔT＝(T 0 -T J2000.0 +t/86400)/T cy (15)
in the formula ：T0 The julian calendar book date corresponding to zero time of the on-board computer; t (T) J2000.0 The julian calendar book date corresponding to the moment J2000.0; t (T) cy Is the number of days corresponding to a julian century.
S12, calculating a close point angle:
E＝M+ee 1 ×sinM+ee 2 ×sin2M+ee 3 ×sin3M (16)
wherein ,
s13, calculating a true near point angle:
wherein ,
s14, calculating the track wheelbase:
s15, calculating position coordinates of the circulator under the circulator track plane coordinate system:
s16, calculating position coordinates of the surrounding device under the Mars inertial coordinate system as follows:
wherein ,representing a transformation matrix rotated about the x-axis; />Representing a transformation matrix rotated about the y-axis; />Representing a transformation matrix rotated about the z-axis;
step 2, calculating Mars orientation parameters:
inputting parameters (A, B, C, D, E and F) according to the time (t) and the celestial body orientation,solving for celestial body orientation output parameters (alpha) 0 ,δ 0 ,W)。
As shown in fig. 4, α 0 Is the right ascension of the north pole of the celestial body in ICRF; delta 0 Declination in ICRF for celestial north; w is the distance from the 0-degree meridian to the celestial equator lifting intersection point.
For time T, reference (1) can determine the time difference DeltaT relative to the time of J2000.0 1 The following steps are:
wherein: relevant input parameters for Mars are shown in the following table.
| Sequence number | Name definition | Value of |
| 1) | Celestial body barefoot parameter A | 317.68143 |
| 2) | Celestial body barefoot parameter B | 0.1061 |
| 3) | Celestial body declination parameter C | 52.88650 |
| 4) | Celestial body declination parameter D | 0.0609 |
| 5) | Celestial body 0 degree warp distance parameter E | 176.630 |
| 6) | Celestial body 0 degree warp distance parameter F | 350.89198226 |
At a given time t, substituting the directional input parameters (A, B, C, D, E and F) of the Mars in the table into the table (21) to calculate the directional parameter alpha of the Mars 0_mars ，δ 0_mars ，W mars 。
Step 3, changing the position coordinates of the surrounding device from a Mars inertial coordinate system to a Mars astronomical reference coordinate system:
wherein ,RR1 ＝R z (-θ 3 )·R y (-θ 2 )·R x (-θ 1 )；
θ 1 ，θ 2 ，θ 3 The X-axis rotation angles from the ICRF coordinate system to the Mars inertial coordinate system are 37.1135 degrees, and the Y-axis rotation angles from the ICRF coordinate system to the Mars inertial coordinate system are 0 degrees; the Z-axis rotation angle from the ICRF coordinate system to the Mars inertial coordinate system is 47.6814 degrees;
step 4, transforming the position coordinates of the surrounding device from a Mars astronomical reference coordinate system to a Mars fixedly connected coordinate system:
alpha in formula (23) 0_mars ，δ 0_mars ，W mars Derived from equation (21).
Under the Mars fixed connection coordinate system, the position of the Mars vehicle is as follows:
wherein H represents the height of the position of the Mars vehicle; θ lat Representing the latitude, theta of the position of the Mars lon The longitude of the position where the Mars is located.
And 5, under the Mars fixed connection coordinate system, the position of the surrounding device relative to the Mars vehicle is as follows:
the distance between the surrounding device and the spark car is as follows:
the communication code rate may be determined based on the distance.
For r d Orthogonalization processing is carried out, and unit vectors from the Mars to the surrounding device are as follows:
step 6, r is calculated d_N The Mars are fixedly connected and converted into the Mars surface northeast coordinate system:
r d_N1 ＝RR 2 ·r d_N (28)
wherein ,RR2 ＝R y (-θ lat )·R z (θ lon )；
Step 7, r is calculated d_N1 The method is characterized in that the method comprises the following steps of converting a Mars surface northeast coordinate system into a Mars surface northeast coordinate system:
r d_N2 ＝RR 3 ·r d_N1 (29)
wherein ,RR3 ＝R y (-90)；
Height angle (-90 DEG) of circulator under Mars surface north east-west coordinate system<h o <90°)：
h o ＝-arcsin[r d_N2 (3)] (30)
wherein ,rd_N2 (3) Representing vector r d_N2 A third element of (3);
azimuth angle of circulator under north-east coordinate system of Mars surface
Step 8, r is calculated d_N2 The north east coordinate system of the Mars surface is converted into the following part of the Mars control body:
r eb ＝RR 4 ·r d_N2 (32)
wherein ,RR4 ＝R x (θ roll )·R y (θ pitch )·R z (θ yaw )；
θ roll ，θ pitch ，θ yaw Respectively representing the rolling angle, the pitch angle and the yaw angle of the Mars;
step 9, the height angle of the circulator (the height angle of the circulator relative to the top surface of the vehicle body) under the Mars control body coordinate system (-90 DEG)<h ob <90°)：
h ob ＝-arcsin[r eb (3)] (33)
wherein ,reb (3) Representing vector r eb A third element of (3);
azimuth angle of the circulator (azimuth angle of the circulator relative to the direction of the locomotive) under the coordinate system of the Mars control body
Step 10, calculating a pointing angle:
r according to the representation of the pointing object in the Mars control body coordinate system eb Solving for two corners (θ) of a directional antenna A ,θ B )。
Converting the directional target from a Mars control body coordinate system to a directional antenna biaxial zero coordinate system:
r eb1 ＝R az ·r eb (35)
wherein Raz Rotation matrix for controlling body coordinate system to directional antenna double-axis zero coordinate system for Mars vehicle
When the directional antenna is in the null position, the direction vector of the beam center line (electric axis) of the directional antenna is expressed as follows in a biaxial null position coordinate system of the directional antenna:
the directional antenna has 2 axes of rotation: the rotating shaft is firstly rotated around the B shaft (the double-shaft zero position coordinate system +Y shaft in zero position, the A shaft is not driven to rotate when the B shaft rotates), and then rotated around the A shaft (the double-shaft zero position coordinate system +X shaft is pointed, and the B shaft is driven to rotate when the A shaft rotates).
Directional antenna rotation θ about B axis B Rotate theta around axis A A The direction vector of the beam center line is expressed as follows in a biaxial zero coordinate system:
directional antenna rotation θ about the A axis A Rotate theta around axis B B The ground pointing should be realized later, so r 1 ＝r eb1 Compare formulas (37) and r eb1 The method comprises the following steps:
-sinθ B ＝r eb1 (1)(r 1 (1)＝r eb1 (1))
and combining with actual situation analysis to obtain:
θ B ＝-arcsin(r eb1 (1)) (38)
after the solving is completed, judging theta A Whether or not it is [ theta ] A_min ,θ A_max ]Within the range of theta B Whether or not it is [ theta ] B_min ,θ B_max ]The range is as follows:
if the 2 angles are all within the specified range, the solution is considered to be effective;
if any one of the rotation angles is not within the predetermined range, it is regarded as no solution.
2. Optimization of antenna pointing calculation in the same round of antenna control process:
the longitude and latitude height and the attitude angle of the Mars in the two calculation processes are identical in the antenna pointing calculation process in the same round of antenna control process, so that a plurality of intermediate variables exist, and the calculation result of the first time can be directly used in the remaining control process after the first calculation.
In addition, because the installation deviation matrix of the Mars antenna is completely fixed in the whole satellite life period, the method utilizes the characteristic, the conversion matrix from the antenna system to the satellite body system is calculated in advance, the calculation result is stored in the satellite-borne memory, the calculation is not needed when the antenna system to satellite body system conversion matrix is encountered in the calculation process of the antenna pointing, and the matrix data in the memory is directly read, so that the calculation amount of the satellite-borne processor is effectively reduced.
The process utilizes the characteristic that a plurality of same intermediate quantities exist in the adjacent antenna pointing computation, the intermediate quantities of the first antenna pointing computation are saved, and the other antenna pointing in the same round of antenna control process all uses the intermediate quantities to accelerate the computation process, and the computation flow is shown in figure 3.
1. Calculating intermediate results available for the position of the circulator:
2. intermediate results available for Mars space calculation:
3. intermediate results available in the process of calculating the Mars vector by the surrounding device:
| available intermediate results | Storage procedure |
| R y (-θ lat )·R z (θ lon ) | RR 2 ＝R y (-θ lat )·R z (θ lon ) |
| R y (-90) | RR 3 ＝R y (-90) |
| R x (θ roll )·R y (θ pitch )·R z (θ yaw ) | RR 4 ＝R x (θ roll )·R y (θ pitch )·R z (θ yaw ) |
In summary, the above embodiments are only preferred embodiments of the present invention, and are not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (5)
1. The on-board optimization method for the pointing of the Mars to the antenna of the circulator is characterized by comprising the following steps of:
step 1, calculating the position of the circulator under a Mars inertial coordinate system:
for the orbit spark surrounding device with large inclination angle and large eccentricity, fitting the number of outward pushing roots on the ground to obtain epoch time t 0 Average root number a of (a) 0 、e 0 、i 0 、Ω 0 、ω 0 、M 0 Rate of change of average root numberAnd second order rate of change of the angle of the point of closest approach +.>The extrapolation formula for kepler root number at time t is as follows:
ΔT＝t-t 0 (1)
a＝a 0 (2)
e＝e 0 (3)
i＝i 0 (4)
wherein ：
p＝a 0 (1-e 0 2 ) (13)
c＝cosi 0 (14)
wherein ,J2 Representing the second order coefficient of the orbit; r is R m Represents the radius of the Mars; mu (mu) m Represents the Mars constant;
the position calculation method of the circulator in the Mars inertial coordinate system according to the Kepler root number is as follows:
s11, calculating delta T:
for time T, the time difference Δt relative to the time J2000.0 is determined in julian century:
ΔT＝(T 0 -T J2000.0 +t/86400)/T cy (15)
in the formula ：T0 The julian calendar book date corresponding to zero time of the on-board computer; t (T) J2000.0 The julian calendar book date corresponding to the moment J2000.0; t (T) cy The number of days corresponding to a julian century;
s12, calculating a close point angle:
E＝M+ee 1 ×sinM+ee 2 ×sin2M+ee 3 ×sin3M (16)
s13, calculating a true near point angle:
s14, calculating the track wheelbase:
s15, calculating position coordinates of the circulator under the circulator track plane coordinate system:
s16, calculating position coordinates of the surrounding device under the Mars inertial coordinate system as follows:
wherein ,representing a transformation matrix rotated about the x-axis; />Representing a transformation matrix rotated about the y-axis; />Representing a transformation matrix rotated about the z-axis;
step 2, calculating Mars orientation parameters:
solving celestial body directional output parameters according to the time (t) and celestial body directional input parameters (A, B, C, D, E and F); wherein alpha is 0 Is the right ascension of the north pole of the celestial body in ICRF; delta 0 Declination in ICRF for celestial north; w is the distance from 0 degree warp to the celestial body equator lifting intersection point:
for time T, reference formula (1) finds the time difference DeltaT relative to the time of J2000.0 1 The following steps are:
at a given time t, substituting the directional input parameters (A, B, C, D, E and F) of the Mars in the table into the table (21) to calculate the directional parameter alpha of the Mars 0_mars ，δ 0_mars ，W mars ；
Step 3, changing the position coordinates of the surrounding device from a Mars inertial coordinate system to a Mars astronomical reference coordinate system:
wherein ,RR1 ＝R z (-θ 3 )·R y (-θ 2 )·R x (-θ 1 )；
θ 1 ，θ 2 ，θ 3 The X-axis rotation angles ICRF coordinate system to the Mars inertial coordinate system and the Y-axis rotation angles to the Mars inertial coordinate system are respectively represented; the Z-axis rotation angle from the ICRF coordinate system to the Mars inertial coordinate system;
step 4, transforming the position coordinates of the surrounding device from a Mars astronomical reference coordinate system to a Mars fixedly connected coordinate system:
under the Mars fixed connection coordinate system, the position of the Mars vehicle is as follows:
wherein H represents the height of the position of the Mars vehicle; θ lat Representing the latitude, theta of the position of the Mars lon Longitude indicating the position of the Mars;
and 5, under the Mars fixed connection coordinate system, the position of the surrounding device relative to the Mars vehicle is as follows:
for r d Orthogonalization processing is carried out, and unit vectors from the Mars to the surrounding device are as follows:
step 6, r is calculated d_N The Mars are fixedly connected and converted into the Mars surface northeast coordinate system:
r d_N1 ＝RR 2 ·r d_N (28)
wherein ,RR2 ＝R y (-θ lat )·R z (θ lon )；
Step 7, r is calculated d_N1 The method is characterized in that the method comprises the following steps of converting a Mars surface northeast coordinate system into a Mars surface northeast coordinate system:
r d_N2 ＝RR 3 ·r d_N1 (29)
wherein ,RR3 ＝R y (-90)；
The height angle of the circulator under the north east coordinate system of the Mars surface:
h o ＝-arcsin[r d_N2 (3)] (30)
wherein ,rd_N2 (3) Representing vector r d_N2 A third element of (3);
azimuth angle of the circulator under the north-east coordinate system of the Mars surface:
step 8, r is calculated d_N2 The north east coordinate system of the Mars surface is converted into the following part of the Mars control body:
r eb ＝RR 4 ·r d_N2 (32)
wherein ,RR4 ＝R x (θ roll )·R y (θ pitch )·R z (θ yaw )；
θ roll ，θ pitch ，θ yaw Respectively representing the rolling angle, the pitch angle and the yaw angle of the Mars;
step 9, the height angle of the circulator under the Mars control body coordinate system:
h ob ＝-arcsin[r eb (3)] (33)
wherein ,reb (3) Representing vector r eb A third element of (3);
azimuth angle of the surrounding device under the Mars control body coordinate system:
step 10, calculating a pointing angle:
converting the directional target from a Mars control body coordinate system to a directional antenna biaxial zero coordinate system:
r eb1 ＝R az ·r eb (35)
wherein Raz Controlling a body coordinate system to a directional antenna for a Mars vehicleA rotation matrix of a biaxial zero coordinate system;
when the directional antenna is in the zero position, the direction vector of the beam center line of the directional antenna is expressed as follows in a biaxial zero position coordinate system of the directional antenna:
the directional antenna has 2 axes of rotation: firstly, rotating around the axis B and then rotating around the axis A; directional antenna rotation θ about B axis B Rotate theta around axis A A The direction vector of the beam center line is expressed as follows in a biaxial zero coordinate system:
directional antenna rotation θ about the A axis A Rotate theta around axis B B The ground pointing should be realized later, so r 1 ＝r eb1 Compare formulas (37) and r eb1 The method comprises the following steps:
-sinθ B ＝r eb1 (1)
and combining with actual situation analysis to obtain:
θ B ＝-arcsin(r eb1 (1)) (38)
2. the method for optimizing the on-board direction of a Mars vehicle to a circulator antenna according to claim 1, wherein the sine and cosine calculations of the attitude angle and the orbit angle used in the calculation of the single antenna direction are pre-calculated and stored in the corresponding attitude data structure and orbit data structure, and the pre-calculated results are directly used in the subsequent use.
3. A method of optimizing the on-board direction of a Mars vehicle to a circulator antenna according to claim 1, wherein all angular values in degrees are converted into radians.
4. A method of optimizing the on-board orientation of a Mars vehicle to a circulator antenna as claimed in claim 1, wherein function calls of matrix multiplication operations are converted into assignment operations during calculation of a single antenna orientation.
5. The method for optimizing the antenna pointing of a Mars vehicle to a circulator on a satellite as claimed in any one of claims 1-4, wherein, when the antenna pointing is calculated in the same round of antenna control process, the intermediate result saved by the last calculation is used: ee 1 、ee 2 、ee 3 、ee 4 and RR1 Calculating the position of the surrounding device; intermediate results saved with the last calculation: />Calculating the position of the Mars; intermediate results saved with the last calculation: RR (RR) 2 、RR 3 and RR4 Calculating a pair of patrol vectors of the surrounding device; and finally, calculating the antenna pointing direction.
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| CN108955724A (en) * | 2018-04-20 | 2018-12-07 | 南京航空航天大学 | A kind of all-terrain baby three-dimensional orientation automatic correcting method based on vehicle pointing to the south principle |
| CN111427002A (en) * | 2020-03-19 | 2020-07-17 | 上海卫星工程研究所 | Azimuth angle calculation method for ground measurement and control antenna pointing satellite |
| CN111427004A (en) * | 2020-03-19 | 2020-07-17 | 上海卫星工程研究所 | Coordinate conversion method suitable for pointing of ground survey station antenna to satellite |
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| CN108955724A (en) * | 2018-04-20 | 2018-12-07 | 南京航空航天大学 | A kind of all-terrain baby three-dimensional orientation automatic correcting method based on vehicle pointing to the south principle |
| CN111427002A (en) * | 2020-03-19 | 2020-07-17 | 上海卫星工程研究所 | Azimuth angle calculation method for ground measurement and control antenna pointing satellite |
| CN111427004A (en) * | 2020-03-19 | 2020-07-17 | 上海卫星工程研究所 | Coordinate conversion method suitable for pointing of ground survey station antenna to satellite |
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