CN112357121B - A Fast Imaging Method for Satellite In-orbit Based on Preset Attitude - Google Patents

A Fast Imaging Method for Satellite In-orbit Based on Preset Attitude Download PDF

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CN112357121B
CN112357121B CN202011188678.9A CN202011188678A CN112357121B CN 112357121 B CN112357121 B CN 112357121B CN 202011188678 A CN202011188678 A CN 202011188678A CN 112357121 B CN112357121 B CN 112357121B
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吴凡
王峰
曹喜滨
耿云海
邱实
郭金生
奚瑞辰
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Harbin Institute of Technology Shenzhen
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Abstract

本发明公开了一种基于预置姿态的卫星入轨快速成像方法，属于航天领域。所述卫星入轨快速成像方法包括以下步骤：步骤一、利用地球星历和火箭安装方向计算卫星在箭上的初始姿态；步骤二、利用星上陀螺组件进行发射段卫星姿态实时积分定姿；步骤三、星箭分离后，控制卫星快速机动成像。本发明利用地球星历、火箭的安装方向等信息，计算箭上卫星的初始姿态，将姿态计算和控制流程的开始时间提前至卫星箭上加电阶段，充分利用了地面已知信息，简化了入轨后的控制流程；大幅缩短了成像准备时间，提高了卫星的成像响应速度；在仅采用常用配置的条件下，通过软件预置参数的方式提高了卫星成像响应速度，卫星研制硬件成本相比于传统卫星并无提高。

Figure 202011188678

The invention discloses a method for fast imaging of a satellite in orbit based on a preset attitude, and belongs to the field of aerospace. The method for rapidly imaging a satellite into orbit includes the following steps: step 1, calculating the initial attitude of the satellite on the rocket by using the earth ephemeris and the installation direction of the rocket; step 2, using the on-board gyro assembly to perform real-time integral attitude determination of the satellite attitude in the launch section; Step 3: After the satellite and the arrow are separated, control the satellite to quickly maneuver and image. The invention calculates the initial attitude of the satellite on the rocket by using information such as the ephemeris of the earth, the installation direction of the rocket, and advances the start time of the attitude calculation and control process to the power-on stage of the satellite rocket, makes full use of the known information on the ground, and simplifies the The control process after entering orbit; the imaging preparation time is greatly shortened, and the imaging response speed of the satellite is improved; under the condition that only common configuration is used, the satellite imaging response speed is improved by presetting parameters in software, and the cost of satellite development hardware is relatively high. There is no improvement over conventional satellites.

Figure 202011188678

Description

一种基于预置姿态的卫星入轨快速成像方法A Fast Imaging Method for Satellite In-orbit Based on Preset Attitude

技术领域technical field

本发明涉及一种基于预置姿态的卫星入轨快速成像方法，属于航天领域。The invention relates to a method for fast imaging of a satellite in orbit based on a preset attitude, and belongs to the field of aerospace.

背景技术Background technique

传统卫星入轨后的姿态控制过程一般需先后经历对日捕获控制、对日定向到最终建立巡航姿态进行在轨测试等阶段。卫星建立姿态基准后，再开展成像。从卫星入轨到第一次成像的时间一般为1天～7天，即便是以快速响应能力著称的美国TacSat系列卫星，从发射入轨到第一次成像消耗时间也长达约12小时。The attitude control process of traditional satellites after they are in orbit generally needs to go through the stages of acquiring and controlling the sun, orienting to the sun, and finally establishing the cruise attitude for on-orbit testing. After the satellite establishes the attitude reference, the imaging is carried out. The time from the satellite into orbit to the first imaging is generally 1 to 7 days. Even the US TacSat series satellites, which are known for their fast response capabilities, take about 12 hours from the launch into orbit to the first imaging.

这使得现有的卫星入轨成像技术存在控制流程繁琐、成像准备时间长和卫星相应速度慢等问题。This makes the existing satellite orbit imaging technology have problems such as cumbersome control process, long imaging preparation time and slow satellite response speed.

发明内容SUMMARY OF THE INVENTION

本发明的目的是提出一种基于预置姿态的卫星入轨快速成像方法，以解决现有技术张量磁定位方法存在定位盲区，针对定位盲区的误差补偿又不充分，定位精度不够的问题。The purpose of the present invention is to propose a method for fast imaging of satellites in orbit based on a preset attitude, so as to solve the problems that the prior art tensor magnetic positioning method has a positioning blind spot, and the error compensation for the positioning blind spot is insufficient and the positioning accuracy is insufficient.

一种基于预置姿态的卫星入轨快速成像方法，所述卫星入轨快速成像方法包括以下步骤：A method for fast imaging of a satellite in orbit based on a preset attitude, the method for fast imaging of a satellite in orbit comprises the following steps:

步骤一、利用地球星历和火箭安装方向计算卫星在箭上的初始姿态；Step 1. Calculate the initial attitude of the satellite on the rocket by using the earth ephemeris and the installation direction of the rocket;

步骤二、利用星上陀螺组件进行发射段卫星姿态实时积分定姿；Step 2, use the on-board gyro component to perform real-time integration of satellite attitude in the launch section to determine the attitude;

步骤三、星箭分离后，控制卫星快速机动成像。Step 3: After the satellite and the arrow are separated, control the satellite to quickly maneuver and image.

进一步的，定义箭上首次计算时刻为t0、点火时刻为t1、星箭分离时刻为t2和成像时刻为t3，定义t0时刻和t1时刻之间为阶段1，定义t1时刻和t2时刻之间为阶段2，定义t2时刻和t3时刻之间为阶段3，Further, define the first calculation time on the arrow as t 0 , the ignition time as t 1 , the separation time of the star and the arrow as t 2 and the imaging time as t 3 , define the time between t 0 and t 1 as stage 1, and define t 1 The period between time and t 2 is stage 2, and the period between t 2 and t 3 is defined as stage 3,

在步骤一中，具体包括以下步骤：In step 1, the following steps are specifically included:

步骤一一、通过地球星历信息，计算t0时刻地球本体固连坐标系相对于J2000坐标系的姿态矩阵，记为矩阵Rei(t0)；Step 11: Calculate the attitude matrix of the fixed coordinate system of the earth body relative to the J2000 coordinate system at time t 0 through the ephemeris information of the earth, and denote it as matrix Re ei (t 0 );

步骤一二、通过发射点经、纬度信息，计算发射点北东地坐标系相对于地球本体固连坐标系的姿态矩阵，记为矩阵Rde；Step 12, through the longitude and latitude information of the launch point, calculate the attitude matrix of the northeast coordinate system of the launch point relative to the fixed coordinate system of the earth body, and denote it as matrix R de ;

步骤一三、通过火箭射前安装方向信息，计算火箭本体坐标系相对于发射点北东地坐标系的旋转矩阵，记为矩阵Rrd；Step 13: Calculate the rotation matrix of the rocket body coordinate system relative to the northeast coordinate system of the launch point through the installation direction information before the rocket is fired, and denote it as the matrix R rd ;

步骤一四、通过卫星与火箭的相对安装关系，计算得到卫星相对于火箭的姿态矩阵，记为矩阵Rsr；Step 14, through the relative installation relationship of the satellite and the rocket, calculate the attitude matrix of the satellite relative to the rocket, which is denoted as matrix R sr ;

步骤一五、计算初始t0时刻卫星的惯性姿态矩阵：Step 15: Calculate the inertial attitude matrix of the satellite at the initial time t 0 :

Rsi(t0)＝Rsr·Rrd·Rde·Rei(t0)R si (t 0 ) = R sr · R rd · R de · Rei (t 0 )

计算结果Rsi(t0)即为t0时刻卫星的初始姿态。The calculation result R si (t 0 ) is the initial attitude of the satellite at time t 0 .

进一步的，在步骤二中，具体的，t0时刻完成初始姿态计算后，在阶段1和阶段2，通过星上安装的陀螺组件进行积分定姿，根据姿态运动学方程：Further, in step 2, specifically, after the initial attitude calculation is completed at time t 0 , in stages 1 and 2, the gyro components installed on the star are used to perform integral attitude determination, according to the attitude kinematics equation:

Figure BDA0002752156640000021
Figure BDA0002752156640000021

其中，in,

Figure BDA0002752156640000022
Figure BDA0002752156640000022

ωx、ωy和ωz为陀螺测量角速度在卫星本体坐标系下的分量，R(t)为t时刻的姿态矩阵，

Figure BDA0002752156640000023
为t时刻姿态矩阵的变化率，根据此方法，通过积分的方式可以推至t2时刻卫星的姿态。ω x , ω y and ω z are the components of the gyro-measured angular velocity in the satellite body coordinate system, R(t) is the attitude matrix at time t,
Figure BDA0002752156640000023
is the rate of change of the attitude matrix at time t. According to this method, the attitude of the satellite at time t 2 can be derived by means of integration.

进一步的，在步骤三中，具体的，t2时刻星箭分离后，控制卫星以陀螺积分定姿得到的姿态为基准进行姿态机动，直接机动至对成像目标点指向的姿态，通过星敏感器测量得到的高精度绝对姿态对陀螺积分姿态进行修正，得到高精度的姿态确定结果，满足成像要求后，相机按照预定程序完成成像任务。Further, in step 3, specifically, after the star and arrow are separated at time t 2 , the control satellite performs attitude maneuver based on the attitude obtained by the gyro integral attitude determination, and directly maneuvers to the attitude pointing to the imaging target point, and passes the star sensor. The high-precision absolute attitude obtained by the measurement is used to correct the gyro integral attitude, and a high-precision attitude determination result is obtained. After meeting the imaging requirements, the camera completes the imaging task according to the predetermined program.

本发明的主要优点是：本发明创造的优点在于以下几个方面：The main advantage of the present invention is: the advantage created by the present invention lies in the following aspects:

(1)传统卫星的姿态计算和控制流程从星箭分离后开始，而本文提出的方法利用地球星历、火箭的安装方向等信息，计算箭上卫星的初始姿态，将姿态计算和控制流程的开始时间提前至卫星箭上加电阶段，充分利用了地面已知信息，简化了入轨后的控制流程。(1) The attitude calculation and control process of the traditional satellite starts after the separation of the star and the rocket. The method proposed in this paper uses the information such as the earth ephemeris and the installation direction of the rocket to calculate the initial attitude of the satellite on the arrow, and combines the attitude calculation and control process. The start time is advanced to the power-on stage of the satellite rocket, which makes full use of the known information on the ground and simplifies the control process after entering the orbit.

(2)本文提出的方法大幅缩短了成像准备时间，提高了卫星的成像响应速度，将卫星的成像时间由传统的数小时降低至分钟级。(2) The method proposed in this paper greatly shortens the imaging preparation time, improves the satellite imaging response speed, and reduces the satellite imaging time from the traditional hours to minutes.

(3)在仅采用常用配置的条件下，通过软件预置参数的方式提高了卫星成像响应速度，卫星研制硬件成本相比于传统卫星并无提高。(3) Under the condition of only using common configuration, the response speed of satellite imaging is improved by means of software preset parameters, and the hardware cost of satellite development is not increased compared with traditional satellites.

附图说明Description of drawings

图1是本发明的一种基于预置姿态的卫星入轨快速成像方法的方法流程图；Fig. 1 is a method flow chart of the present invention's method for a method for fast imaging of a satellite in orbit based on a preset attitude;

图2是各时刻与阶段关系图；Fig. 2 is the relation diagram of each moment and stage;

图3是步骤三的方法流程图。FIG. 3 is a flow chart of the method of step three.

具体实施方式Detailed ways

下面将结合本发明实施例中的附图对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

一种基于预置姿态的卫星入轨快速成像方法，所述卫星入轨快速成像方法包括以下步骤：A method for fast imaging of a satellite in orbit based on a preset attitude, the method for fast imaging of a satellite in orbit comprises the following steps:

步骤一、利用地球星历和火箭安装方向计算卫星在箭上的初始姿态；Step 1. Calculate the initial attitude of the satellite on the rocket by using the earth ephemeris and the installation direction of the rocket;

步骤二、利用星上陀螺组件进行发射段卫星姿态实时积分定姿；Step 2, use the on-board gyro component to perform real-time integration of satellite attitude in the launch section to determine the attitude;

步骤三、星箭分离后，控制卫星快速机动成像。Step 3: After the satellite and the arrow are separated, control the satellite to quickly maneuver and image.

进一步的，参照图2所示，定义箭上首次计算时刻为t0、点火时刻为t1、星箭分离时刻为t2和成像时刻为t3，定义t0时刻和t1时刻之间为阶段1，定义t1时刻和t2时刻之间为阶段2，定义t2时刻和t3时刻之间为阶段3，Further, referring to Fig. 2 , define the first calculation time on the arrow as t 0 , the ignition time as t 1 , the separation time of the star and the arrow as t 2 and the imaging time as t 3 , and the interval between time t 0 and time t 1 is defined as Stage 1, define stage 2 between time t 1 and time t 2 , and define stage 3 between time t 2 and time t 3 ,

在步骤一中，具体包括以下步骤：In step 1, the following steps are specifically included:

步骤一一、通过地球星历信息，计算t0时刻地球本体固连坐标系相对于J2000坐标系的姿态矩阵，记为矩阵Rei(t0)；Step 11: Calculate the attitude matrix of the fixed coordinate system of the earth body relative to the J2000 coordinate system at time t 0 through the ephemeris information of the earth, and denote it as matrix Re ei (t 0 );

步骤一二、通过发射点经、纬度信息，计算发射点北东地坐标系相对于地球本体固连坐标系的姿态矩阵，记为矩阵Rde；Step 12, through the longitude and latitude information of the launch point, calculate the attitude matrix of the northeast coordinate system of the launch point relative to the fixed coordinate system of the earth body, and denote it as matrix R de ;

步骤一三、通过火箭射前安装方向信息，计算火箭本体坐标系相对于发射点北东地坐标系的旋转矩阵，记为矩阵Rrd；Step 13: Calculate the rotation matrix of the rocket body coordinate system relative to the northeast coordinate system of the launch point through the installation direction information before the rocket is fired, and denote it as the matrix R rd ;

步骤一四、通过卫星与火箭的相对安装关系，计算得到卫星相对于火箭的姿态矩阵，记为矩阵Rsr；Step 14, through the relative installation relationship of the satellite and the rocket, calculate the attitude matrix of the satellite relative to the rocket, which is denoted as matrix R sr ;

步骤一五、计算初始t0时刻卫星的惯性姿态矩阵：Step 15: Calculate the inertial attitude matrix of the satellite at the initial time t 0 :

Rsi(t0)＝Rsr·Rrd·Rde·Rei(t0)R si (t 0 ) = R sr · R rd · R de · Rei (t 0 )

即为t0时刻卫星的初始姿态。is the initial attitude of the satellite at time t 0 .

进一步的，在步骤二中，具体的，t0时刻完成初始姿态计算后，在阶段1和阶段2，通过星上安装的陀螺组件进行积分定姿，根据姿态运动学方程：Further, in step 2, specifically, after the initial attitude calculation is completed at time t 0 , in stages 1 and 2, the gyro components installed on the star are used to perform integral attitude determination, according to the attitude kinematics equation:

Figure BDA0002752156640000041
Figure BDA0002752156640000041

其中，in,

Figure BDA0002752156640000042
Figure BDA0002752156640000042

ωx、ωy和ωz为陀螺测量角速度在卫星本体坐标系下的分量。ω x , ω y and ω z are the components of the gyro-measured angular velocity in the satellite body coordinate system.

根据此方法，递推至t2时刻卫星的姿态。According to this method, it is recursive to the attitude of the satellite at time t2 .

进一步的，在步骤三中，具体的，t2时刻星箭分离后，控制卫星以陀螺积分定姿得到的姿态为基准进行姿态机动，直接机动至对成像目标点指向的姿态，通过星敏感器测量得到的高精度绝对姿态对陀螺积分姿态进行修正，得到高精度的姿态确定结果，满足成像要求后，相机按照预定程序完成成像任务。Further, in step 3, specifically, after the star and arrow are separated at time t 2 , the control satellite performs attitude maneuver based on the attitude obtained by the gyro integral attitude determination, and directly maneuvers to the attitude pointing to the imaging target point, and passes the star sensor. The high-precision absolute attitude obtained by the measurement is used to correct the gyro integral attitude, and a high-precision attitude determination result is obtained. After meeting the imaging requirements, the camera completes the imaging task according to the predetermined program.

Claims (3)

1.一种基于预置姿态的卫星入轨快速成像方法，其特征在于，所述卫星入轨快速成像方法包括以下步骤：1. a method for fast imaging of satellite into orbit based on preset attitude, is characterized in that, described method for fast imaging of satellite in orbit comprises the following steps: 步骤一、利用地球星历和火箭安装方向计算卫星在箭上的初始姿态；Step 1. Calculate the initial attitude of the satellite on the rocket by using the earth ephemeris and the installation direction of the rocket; 步骤二、利用星上陀螺组件进行发射段卫星姿态实时积分定姿；Step 2, use the on-board gyro component to perform real-time integration of satellite attitude in the launch section to determine the attitude; 步骤三、星箭分离后，控制卫星快速机动成像；Step 3. After the star and arrow are separated, control the satellite to quickly maneuver and image; 定义箭上首次计算时刻为t0、点火时刻为t1、星箭分离时刻为t2和成像时刻为t3，定义t0时刻和t1时刻之间为阶段1，定义t1时刻和t2时刻之间为阶段2，定义t2时刻和t3时刻之间为阶段3，Define the first calculation time on the arrow as t 0 , the ignition time as t 1 , the separation time of the star and the arrow as t 2 and the imaging time as t 3 , define the period between t 0 and t 1 as stage 1, and define the time between t 1 and t The period between time 2 and time 2 is stage 2, and the period between time t 2 and time t 3 is defined as stage 3, 在步骤一中，具体包括以下步骤：In step 1, the following steps are specifically included: 步骤一一、通过地球星历信息，计算t0时刻地球本体固连坐标系相对于J2000坐标系的姿态矩阵，记为矩阵Rei(t0)；Step 11: Calculate the attitude matrix of the fixed coordinate system of the earth body relative to the J2000 coordinate system at time t 0 through the ephemeris information of the earth, and denote it as matrix Re ei (t 0 ); 步骤一二、通过发射点经、纬度信息，计算发射点北东地坐标系相对于地球本体固连坐标系的姿态矩阵，记为矩阵Rde；Step 12, through the longitude and latitude information of the launch point, calculate the attitude matrix of the northeast coordinate system of the launch point relative to the fixed coordinate system of the earth body, and denote it as matrix R de ; 步骤一三、通过火箭射前安装方向信息，计算火箭本体坐标系相对于发射点北东地坐标系的旋转矩阵，记为矩阵Rrd；Step 13: Calculate the rotation matrix of the rocket body coordinate system relative to the northeast coordinate system of the launch point through the installation direction information before the rocket is fired, and denote it as the matrix R rd ; 步骤一四、通过卫星与火箭的相对安装关系，计算得到卫星相对于火箭的姿态矩阵，记为矩阵Rsr；Step 14, through the relative installation relationship of the satellite and the rocket, calculate the attitude matrix of the satellite relative to the rocket, which is denoted as matrix R sr ; 步骤一五、计算初始t0时刻卫星的惯性姿态矩阵：Step 15: Calculate the inertial attitude matrix of the satellite at the initial time t 0 : Rsi(t0)＝Rsr·Rrd·Rde·Rei(t0)R si (t 0 ) = R sr · R rd · R de · Rei (t 0 ) 计算结果Rsi(t0)即为t0时刻卫星的初始姿态。The calculation result R si (t 0 ) is the initial attitude of the satellite at time t 0 . 2.根据权利要求1所述的一种基于预置姿态的卫星入轨快速成像方法，其特征在于，在步骤二中，具体的，t0时刻完成初始姿态计算后，在阶段1和阶段2，通过星上安装的陀螺组件进行积分定姿，根据姿态运动学方程：2. a kind of satellite in-orbit fast imaging method based on preset attitude according to claim 1, is characterized in that, in step 2, concretely, after completing initial attitude calculation at time t 0 , in stage 1 and stage 2 , the integral attitude is determined by the gyro component installed on the star, according to the attitude kinematics equation:
Figure FDA0003550906550000011
Figure FDA0003550906550000011
 其中，in,
Figure FDA0003550906550000021
Figure FDA0003550906550000021
 ωx、ωy和ωz为陀螺测量角速度在卫星本体坐标系下的分量，R(t)为t时刻的姿态矩阵，
Figure FDA0003550906550000022
为t时刻姿态矩阵的变化率，根据此方法，通过积分的方式推至t2时刻卫星的姿态。ω x , ω y and ω z are the components of the gyro-measured angular velocity in the satellite body coordinate system, R(t) is the attitude matrix at time t,
Figure FDA0003550906550000022
is the rate of change of the attitude matrix at time t. According to this method, the attitude of the satellite at time t 2 is pushed through integration. 3.根据权利要求2所述的一种基于预置姿态的卫星入轨快速成像方法，其特征在于，在步骤三中，具体的，t2时刻星箭分离后，控制卫星以陀螺积分定姿得到的姿态为基准进行姿态机动，直接机动至对成像目标点指向的姿态，通过星敏感器测量得到的高精度绝对姿态对陀螺积分姿态进行修正，得到高精度的姿态确定结果，满足成像要求后，相机按照预定程序完成成像任务。3. a kind of satellite on-orbit fast imaging method based on preset attitude according to claim 2, is characterized in that, in step 3, concretely, after the separation of star and arrow at time t 2 , the satellite is controlled to determine attitude with gyro integral The obtained attitude is used as the reference to perform attitude maneuvering, directly maneuvering to the attitude pointing to the imaging target point, and correcting the gyro integral attitude through the high-precision absolute attitude measured by the star sensor, and obtaining high-precision attitude determination results. After meeting the imaging requirements , the camera completes the imaging task according to the predetermined procedure.
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