CN112357121A - Satellite orbit-entering rapid imaging method based on preset attitude - Google Patents
Satellite orbit-entering rapid imaging method based on preset attitude Download PDFInfo
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- CN112357121A CN112357121A CN202011188678.9A CN202011188678A CN112357121A CN 112357121 A CN112357121 A CN 112357121A CN 202011188678 A CN202011188678 A CN 202011188678A CN 112357121 A CN112357121 A CN 112357121A
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- 238000003384 imaging method Methods 0.000 title claims abstract description 41
- 238000000034 method Methods 0.000 claims abstract description 17
- 238000009434 installation Methods 0.000 claims abstract description 11
- 230000010354 integration Effects 0.000 claims abstract description 4
- 239000011159 matrix material Substances 0.000 claims description 40
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
- B64G1/244—Spacecraft control systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/66—Arrangements or adaptations of apparatus or instruments, not otherwise provided for
Abstract
The invention discloses a satellite in-orbit rapid imaging method based on a preset attitude, and belongs to the field of spaceflight. The satellite in-orbit rapid imaging method comprises the following steps: step one, calculating an initial attitude of a satellite on an rocket by using an earth ephemeris and a rocket installation direction; step two, utilizing an on-satellite gyroscope component to carry out real-time integration and attitude determination on the satellite attitude of the transmitting section; and step three, controlling the satellite to perform quick maneuvering imaging after the satellite and the arrow are separated. The initial attitude of the satellite on the rocket is calculated by utilizing the information of the ephemeris of the earth, the installation direction of the rocket and the like, the starting time of the attitude calculation and control process is advanced to the power-on stage of the satellite rocket, the known information on the ground is fully utilized, and the control process after the orbit is simplified; the imaging preparation time is greatly shortened, and the imaging response speed of the satellite is improved; under the condition of only adopting common configuration, the satellite imaging response speed is improved in a mode of presetting parameters through software, and the cost of satellite development hardware is not improved compared with that of the traditional satellite.
Description
Technical Field
The invention relates to a satellite in-orbit rapid imaging method based on a preset posture, and belongs to the field of spaceflight.
Background
In the attitude control process after the traditional satellite is in orbit, the phases of in-orbit test and the like are generally required to be sequentially subjected to the in-orbit acquisition control and in-orbit orientation until the cruise attitude is finally established. And after the satellite establishes an attitude reference, imaging is carried out. The time from satellite orbit-in to first imaging is typically 1 to 7 days, and even with the U.S. TacSat series of satellites known for fast response capability, it takes up to about 12 hours from launch orbit-in to first imaging.
The problems that the existing satellite orbit imaging technology is complicated in control flow, long in imaging preparation time, low in satellite corresponding speed and the like exist.
Disclosure of Invention
The invention aims to provide a satellite in-orbit rapid imaging method based on a preset posture, and aims to solve the problems that a tensor magnetic positioning method in the prior art has a positioning blind area, is insufficient in error compensation of the positioning blind area, and is insufficient in positioning precision.
A satellite in-orbit rapid imaging method based on a preset attitude comprises the following steps:
step one, calculating an initial attitude of a satellite on an rocket by using an earth ephemeris and a rocket installation direction;
step two, utilizing an on-satellite gyroscope component to carry out real-time integration and attitude determination on the satellite attitude of the transmitting section;
and step three, controlling the satellite to perform quick maneuvering imaging after the satellite and the arrow are separated.
Further, defining the first calculation time on the arrow as t0Ignition time t1The separation time of the star and the arrow is t2And the imaging time t3Definition of t0Time t and1time of dayIn the interval of phase 1, define t1Time t and2between the moments is stage 2, defining t2Time t and3between the moments in time there is a phase 3,
in the first step, the method specifically comprises the following steps:
step one, calculating t through the ephemeris information of the earth0The attitude matrix of the earth body fixed connection coordinate system relative to the J2000 coordinate system at the moment is recorded as a matrix Rei(t0)；
Step two, calculating an attitude matrix of a north-east ground coordinate system of the transmitting point relative to a fixed coordinate system of the earth body through information of longitude and latitude of the transmitting point, and recording the attitude matrix as a matrix Rde；
Step three, calculating a rotation matrix of the rocket body coordinate system relative to the northeast coordinate system of the launching point through rocket pre-launching installation direction information, and recording the rotation matrix as a matrix Rrd；
Step four, calculating to obtain an attitude matrix of the satellite relative to the rocket through the relative installation relation of the satellite and the rocket, and recording the attitude matrix as a matrix Rsr；
Step one or five, calculating initial t0Inertial attitude matrix of the time satellite:
Rsi(t0)＝Rsr·Rrd·Rde·Rei(t0)
calculation result Rsi(t0) Is t0The initial attitude of the satellite at time.
Further, in the second step, specifically, t0After the initial attitude calculation is finished all the time, in the stage 1 and the stage 2, the integral attitude determination is carried out through a gyro assembly arranged on a satellite, and according to an attitude kinematics equation:
wherein the content of the first and second substances,
ωx、ωyand ωzMeasuring the component of angular velocity under a satellite body coordinate system by a gyroscope, wherein R (t) is an attitude matrix at t moment,
according to the method, the change rate of the attitude matrix at the t moment can be deduced to the t moment in an integral mode2The attitude of the satellite at time.
Further, in step three, specifically, t2And after the time star and the arrow are separated, the satellite is controlled to perform attitude maneuver by taking the attitude obtained by the gyro integral attitude determination as a reference, the satellite is directly maneuvered to the attitude pointing to the imaging target point, the gyro integral attitude is corrected through the high-precision absolute attitude obtained by the measurement of the star sensor, a high-precision attitude determination result is obtained, and after the imaging requirement is met, the camera completes the imaging task according to a preset program.
The main advantages of the invention are: the invention has the following advantages:
(1) the attitude calculation and control process of the traditional satellite starts after separation of a satellite and an rocket, and the method provided by the invention calculates the initial attitude of the satellite on the rocket by utilizing information such as an earth ephemeris and the installation direction of the rocket, and advances the starting time of the attitude calculation and control process to the power-up stage of the satellite, thereby fully utilizing the known information on the ground and simplifying the control process after the satellite enters the orbit.
(2) The method greatly shortens the imaging preparation time, improves the imaging response speed of the satellite, and reduces the imaging time of the satellite from the traditional hours to the minute level.
(3) Under the condition of only adopting common configuration, the satellite imaging response speed is improved in a mode of presetting parameters through software, and the cost of satellite development hardware is not improved compared with that of the traditional satellite.
Drawings
FIG. 1 is a flow chart of a method for satellite in-orbit fast imaging based on preset attitude according to the present invention;
FIG. 2 is a graph of time instants versus phase;
fig. 3 is a flowchart of the method of step three.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. 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.
A satellite in-orbit rapid imaging method based on a preset attitude comprises the following steps:
step one, calculating an initial attitude of a satellite on an rocket by using an earth ephemeris and a rocket installation direction;
step two, utilizing an on-satellite gyroscope component to carry out real-time integration and attitude determination on the satellite attitude of the transmitting section;
and step three, controlling the satellite to perform quick maneuvering imaging after the satellite and the arrow are separated.
Further, referring to FIG. 2, the first calculation time t on the arrow is defined as0Ignition time t1The separation time of the star and the arrow is t2And the imaging time t3Definition of t0Time t and1between the moments is phase 1, defining t1Time t and2between the moments is stage 2, defining t2Time t and3between the moments in time there is a phase 3,
in the first step, the method specifically comprises the following steps:
step one, calculating t through the ephemeris information of the earth0The attitude matrix of the earth body fixed connection coordinate system relative to the J2000 coordinate system at the moment is recorded as a matrix Rei(t0)；
Step two, calculating an attitude matrix of a north-east ground coordinate system of the transmitting point relative to a fixed coordinate system of the earth body through information of longitude and latitude of the transmitting point, and recording the attitude matrix as a matrix Rde；
Step one and step three, installing direction information before launching through a rocketCalculating a rotation matrix of the rocket body coordinate system relative to the northeast coordinate system of the launching point, and recording the rotation matrix as a matrix Rrd；
Step four, calculating to obtain an attitude matrix of the satellite relative to the rocket through the relative installation relation of the satellite and the rocket, and recording the attitude matrix as a matrix Rsr；
Step one or five, calculating initial t0Inertial attitude matrix of the time satellite:
Rsi(t0)＝Rsr·Rrd·Rde·Rei(t0)
is t0The initial attitude of the satellite at time.
Further, in the second step, specifically, t0After the initial attitude calculation is finished all the time, in the stage 1 and the stage 2, the integral attitude determination is carried out through a gyro assembly arranged on a satellite, and according to an attitude kinematics equation:
wherein the content of the first and second substances,
ωx、ωyand ωzAnd measuring the component of the angular velocity of the gyroscope under the satellite body coordinate system.
According to this method, recursion is made to t2The attitude of the satellite at time.
Further, in step three, specifically, t2And after the time star and the arrow are separated, the satellite is controlled to perform attitude maneuver by taking the attitude obtained by the gyro integral attitude determination as a reference, the satellite is directly maneuvered to the attitude pointing to the imaging target point, the gyro integral attitude is corrected through the high-precision absolute attitude obtained by the measurement of the star sensor, a high-precision attitude determination result is obtained, and after the imaging requirement is met, the camera completes the imaging task according to a preset program.
Claims (4)
1. A satellite in-orbit rapid imaging method based on a preset attitude is characterized by comprising the following steps:
step one, calculating an initial attitude of a satellite on an rocket by using an earth ephemeris and a rocket installation direction;
step two, utilizing an on-satellite gyroscope component to carry out real-time integration and attitude determination on the satellite attitude of the transmitting section;
and step three, controlling the satellite to perform quick maneuvering imaging after the satellite and the arrow are separated.
2. The preset-attitude-based satellite orbit-entering rapid imaging method according to claim 1, characterized in that the first calculation time on the arrow is defined as t0Ignition time t1The separation time of the star and the arrow is t2And the imaging time t3Definition of t0Time t and1between the moments is phase 1, defining t1Time t and2between the moments is stage 2, defining t2Time t and3between the moments in time there is a phase 3,
in the first step, the method specifically comprises the following steps:
step one, calculating t through the ephemeris information of the earth0The attitude matrix of the earth body fixed connection coordinate system relative to the J2000 coordinate system at the moment is recorded as a matrix Rei(t0)；
Step two, calculating an attitude matrix of a north-east ground coordinate system of the transmitting point relative to a fixed coordinate system of the earth body through information of longitude and latitude of the transmitting point, and recording the attitude matrix as a matrix Rde；
Step three, calculating a rotation matrix of the rocket body coordinate system relative to the northeast coordinate system of the launching point through rocket pre-launching installation direction information, and recording the rotation matrix as a matrix Rrd；
Step four, calculating to obtain an attitude matrix of the satellite relative to the rocket through the relative installation relation of the satellite and the rocket, and recording the attitude matrix as a matrix Rsr；
Step one or five, calculating initial t0Inertial attitude matrix of the time satellite:
Rsi(t0)＝Rsr·Rrd·Rde·Rei(t0)
calculation result Rsi(t0) Is t0The initial attitude of the satellite at time.
3. A preset-attitude-based satellite-in-orbit fast imaging method according to claim 2, characterized in that in step two, specifically, t0After the initial attitude calculation is finished all the time, in the stage 1 and the stage 2, the integral attitude determination is carried out through a gyro assembly arranged on a satellite, and according to an attitude kinematics equation:
wherein the content of the first and second substances,
ωx、ωyand ωzMeasuring the component of angular velocity under a satellite body coordinate system by a gyroscope, wherein R (t) is an attitude matrix at t moment,
according to the method, the change rate of the attitude matrix at the t moment can be deduced to the t moment in an integral mode2The attitude of the satellite at time.
4. A preset-attitude-based satellite-in-orbit fast imaging method according to claim 3, characterized in that in step three, specifically, t2After the time star and the arrow are separated, the satellite is controlled to perform attitude maneuver by taking the attitude obtained by the gyro integral attitude determination as a reference, the satellite is directly maneuvered to the attitude pointing to the imaging target point, the gyro integral attitude is corrected through the high-precision absolute attitude obtained by the measurement of the star sensor, the high-precision attitude determination result is obtained, and the requirement of imaging is metAfter the calculation, the camera completes the imaging task according to a preset program.
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