CN112362080A - Spacecraft antenna on-orbit pointing calibration satellite-ground data synchronization deviation determination method - Google Patents
Spacecraft antenna on-orbit pointing calibration satellite-ground data synchronization deviation determination method Download PDFInfo
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Abstract
The invention relates to the technical field of space measurement and control, and provides a method for determining on-orbit pointing calibration satellite-ground data synchronization deviation of a spacecraft antenna, which comprises the following steps: acquiring a scanning angle when the high-gain antenna of the spacecraft points to scanning and power data measured by ground measurement and control equipment when the high-gain antenna points to scanning; wherein, the scanning angle adopts a spacecraft time scale, and the power data adopts a ground time scale; carrying out coarse search on the synchronous deviation of the scanning angle and the power data to obtain a first deviation result; and according to the first deviation result, carrying out fine search on the synchronous deviation of the scanning angle and the power data to obtain the synchronous deviation of the data of the device. The method obtains the high-precision ground data synchronization deviation by utilizing the rough search and the fine search, has strong adaptability and good robustness, and meets the requirement of the on-orbit pointing calibration of the high-gain antenna of the spacecraft on the high-precision ground data synchronization.
Description
Technical Field
The invention relates to the technical field of space measurement and control, in particular to a method for determining on-orbit pointing calibration satellite-ground data synchronization deviation of a spacecraft antenna.
Background
Currently, many spacecrafts are provided with large-caliber and high-gain antennas, and the narrow beam characteristics of the spacecrafts require that the antennas have high-precision on-orbit pointing, which determines the success or failure of the task of measuring and controlling the quality of a communication link. Therefore, after the spacecraft runs in orbit, special pointing calibration is usually required to be carried out on the high-gain antenna of the spacecraft, and pointing errors are actually measured. One of the keys of the pointing calibration is to align the spacecraft scanning angle data and the ground received power data and correctly obtain a change curve of the ground received power to the scanning angle, which is the basis of subsequent data processing. The synchronization error directly causes the system error of the directional calibration, and the two can be regarded as a linear relation, and the proportionality coefficient is the scanning angle rate, for example, in the case of the scanning angle rate of 0.1 °/s, the time synchronization deviation of 1.0s will cause the directional calibration result error of about 0.1 °, which is the same order of magnitude as the half-power beam width of the common high-gain antenna. Therefore, the data synchronization problem of the processor must be carefully solved.
The synchronization of the data on the ground and the spacecraft not only involves the deviation of the time scale of the spacecraft and the time scale of the ground (which can be solved by the correction of the time scale of the spacecraft and the optical line), but also involves the more complicated synchronization error of the data and the time scale: the scan angle information in the telemetry frame may not be collected at the moment on the frame telemetry populator, and the ground station power measurement system may not be closely synchronized to the ground (baseband) time scale. At present, a commonly used method for determining the data synchronization deviation of the device and the ground has strong dependence on prior information, and the reliability and the accuracy cannot be evaluated.
Disclosure of Invention
Based on the above, the embodiment of the invention provides a spacecraft antenna on-orbit pointing calibration ground data synchronization deviation determination method, so as to solve the problems that the traditional method depends on prior information, the reliability is poor, the precision cannot be evaluated, and the like.
According to a first aspect of the embodiments of the present invention, a method for determining a spacecraft data synchronization deviation for on-orbit pointing calibration of a spacecraft antenna is provided, including:
acquiring a scanning angle when a high-gain antenna of a spacecraft points to scanning and power data measured by ground measurement and control equipment when the high-gain antenna points to scanning; the scanning angle adopts a spacecraft time scale, and the power data adopts a ground time scale;
carrying out coarse search on the synchronous deviation of the scanning angle and the power data to obtain a first deviation result;
and according to the first deviation result, carrying out fine search on the synchronous deviation of the scanning angle and the power data to obtain the synchronous deviation of the data of the device.
Optionally, the method for directional scanning of the spacecraft high-gain antenna includes: scanning to a first edge in a first direction by taking a preset point as an origin, scanning to a second edge from the first edge point in a direction opposite to the first direction, and returning to the preset point from the second edge point;
the scanning range of the pointing scanning of the high-gain antenna of the spacecraft covers 1.5-2.0 times of power beam width of the high-gain antenna.
Optionally, the performing a coarse search on the synchronous deviation between the scanning angle and the power to obtain a first deviation result includes:
setting a search step length T of the coarse searchstep1Search range ± nxtstep1The coarse search traverses 2N +1 synchronization deviations, the nth synchronization deviation TnComprises the following steps:
Tn＝(n-N-1)·Tstep1
wherein the value range of N is 1,2, …,2N + 1;
time series { P (i) }, t of the power datag(i) Forward TnObtaining a first sequence, and carrying out linear interpolation on the first sequence to obtain ts(k) Power data P of timen(k)：
Pn(k)＝Interp1[{P(i),tg(i)-Tn},ts(k)]
Wherein, the value range of I is 1,2, …, I is the total time of the ground time scale, inter 1 represents linear interpolation, the source data sequence used for interpolation is in parenthesis, t iss(k) For a scanning angle thetax(k) Time series of { theta }x(k),ts(k) The time scale of } is;
the power data P after the interpolation of the first sequencen(k) Time series theta with the scanning anglex(k) Matching to obtain power data PnFor the scanning angle thetaxThe sequence of variation of (a):
[Pn(k),θx(k)]；
fitting the change sequence to obtain a Root Mean Square (RMS) value R of a residual error after fittingn；
Based on each of said synchronization deviations TnTime scale shifting, linear interpolation, matching and fitting are sequentially carried out to obtain 2N + 1RnWill be the minimum RnCorresponding TnThe first bias result obtained as the coarse search.
Optionally, the time t for interpolations(k) The range of (A) is as follows:
tg(1)-Tn≤ts(k)≤tg(I)-Tn
wherein, tg(1) Is the minimum time, t, of the ground time scaleg(I) The maximum time of the ground time scale.
Optionally, the performing a fine search on the synchronous deviation between the scanning angle and the power data according to the first deviation result to obtain a local data synchronous deviation includes:
setting the search step length T of the fine searchstep2Search range ± mxtstep2The fine search traverses 2M +1 synchronization deviations, wherein the mth synchronization deviation TmComprises the following steps:
Tm＝Tsyn1+(m-M-1)·Tstep2
wherein, the value range of M is 1,2, …,2M +1, Tsyn1Is the first deviation result;
time series { P (i) }, t of the power datag(i) Forward TmObtaining a second sequence, and performing linear interpolation on the second sequence to obtain ts(l) Power data P of timem(l)：
Pm(l)＝Interp1[{P(i),tg(i)-Tm},ts(l)]
Wherein, the value range of I is 1,2, …, I is the total time of the ground time scale, inter 1 represents linear interpolation, the source data sequence used for interpolation is in parenthesis, t iss(l) For a scanning angle thetax(l) Time series of { theta }x(l),ts(l) The time scale of } is;
the power data P after the interpolation of the second sequencem(l) Time series theta with the scanning anglex(l) Matching to obtain power data PmFor the scanning angle thetaxThe sequence of variation of (a):
[Pm(l),θx(l)]
the variant sequences were divided into A, B two groups:
based on the data of the group B, calculating the scanning angle theta of the data of the group A by adopting cubic spline interpolationx(lA) Power data P ofmB(lA) And is recorded as group C data:
PmB(lA)＝Spline[{Pm(lB),θx(lB)},θx(lA)]
wherein, Spline represents the cubic Spline interpolation, and a source data sequence used for interpolation is arranged in a brace;
calculating the RMS value R of the difference value of the group A data and the group C datamAnd the correlation coefficient r of the group A data and the group C datam：
Wherein mean represents the mean value;
based on each instituteSaid synchronization deviation TmSequentially carrying out time scale offset, linear interpolation, matching and cubic spline interpolation to calculate to obtain 2M + 1RmAnd rmWill be the minimum RmCorresponding TmRAnd maximum RmCorresponding TmrAnd carrying out mean value calculation to obtain the device-to-device data synchronization deviation.
Optionally, before the cubic spline interpolation based on the B group data, the method further includes:
filtering the data of the group A and the data of the group B by adopting a Gaussian weight function smoothing method;
corresponding the filtered A group data to a scanning angle thetaxScanning angle theta corresponding to both side boundaries and B group dataxOne or more points of the two side boundaries are culled.
Optionally, the time t for interpolations(l) The range of (A) is as follows:
tg(1)-Tm≤ts(l)≤tg(I)-Tm
wherein, tg(1) Is the minimum time, t, of the ground time scaleg(I) The maximum time of the ground time scale.
According to a second aspect of the embodiments of the present invention, there is provided a device for determining a spacecraft data synchronization deviation for on-orbit pointing calibration of a spacecraft antenna, including:
the data acquisition module is used for acquiring a scanning angle when the high-gain antenna of the spacecraft points to scanning and power data measured by the ground measurement and control equipment when the high-gain antenna points to scanning; the scanning angle adopts a spacecraft time scale, and the power data adopts a ground time scale;
the deviation coarse searching module is used for performing coarse searching on the synchronous deviation of the scanning angle and the power data to obtain a first deviation result;
and the deviation fine searching module is used for carrying out fine searching on the synchronous deviation of the scanning angle and the power data according to the first deviation result to obtain the data synchronous deviation of the device.
According to a third aspect of the embodiments of the present invention, there is provided a device for determining deviation of synchronization between on-orbit pointing and calibrated ground data of a spacecraft antenna, including a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the steps of the method for determining deviation of synchronization between on-orbit pointing and calibrated ground data of a spacecraft antenna according to any one of the methods provided in the first aspect of the embodiments.
A fourth aspect of embodiments of the present invention provides a computer-readable storage medium storing a computer program, which when executed by a processor implements the steps of the method for determining the in-orbit pointing calibration geosynchronous data synchronization deviation of a spacecraft antenna according to any of the methods provided in the first aspect of embodiments.
Compared with the prior art, the spacecraft antenna on-orbit pointing calibration satellite-ground data synchronization deviation determination method has the beneficial effects that:
firstly, acquiring a scanning angle (spacecraft time scale) when a high-gain antenna of a spacecraft points to scanning, and power data (ground time scale) measured by a ground measurement and control device when the high-gain antenna points to scanning; then, carrying out coarse search and fine search on the synchronous deviation of the scanning angle and the power data to obtain the ground data synchronous deviation of the device, and obtaining the ground data synchronous deviation of the high precision device; the method has strong adaptability and good robustness, and meets the requirement of on-orbit pointing calibration of the high-gain antenna of the spacecraft on data synchronization of the high-precision spacecraft.
Drawings
Fig. 1 is a schematic flow chart of an implementation of a spacecraft antenna on-orbit pointing calibration geosynchronous data deviation determination method according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a relevant coordinate system and one-dimensional return-to-zero scanning when the spacecraft high-gain antenna provided by the embodiment of the invention is calibrated in an in-orbit pointing direction;
FIG. 3 is a schematic diagram of a spacecraft high gain antenna gain contour line provided by an embodiment of the invention;
fig. 4 is a schematic diagram of measurement data of a spacecraft high-gain antenna pointing one-dimensional return-to-zero scan provided by an embodiment of the invention;
FIG. 5 is a diagram illustrating a coarse search result of a device-to-ground data synchronization deviation according to an embodiment of the present invention;
FIG. 6 is a diagram illustrating a fine search result of a device-to-ground data synchronization deviation according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of a device for determining a geosynchronous data deviation of an on-orbit pointing calibration of a spacecraft antenna according to an embodiment of the present invention;
fig. 8 is a schematic structural diagram of another spacecraft antenna on-orbit pointing calibration device for determining data synchronization deviation in spacecraft according to an embodiment of the present invention.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced in other embodiments that depart from these specific details.
In order to explain the technical means of the present invention, the following description will be given by way of specific examples.
The method for synchronizing the on-orbit data of the spacecraft is mainly used for obtaining the high-precision on-orbit data synchronization deviation in the on-orbit pointing calibration of the high-gain antenna of the spacecraft, and lays a foundation for high-precision calculation of the on-orbit pointing error of the antenna. Referring to fig. 1, an implementation flow diagram of an embodiment of a method for determining a geosynchronous data deviation of an on-orbit pointing calibration of a spacecraft antenna provided in this embodiment is described in detail as follows:
step S101, acquiring a scanning angle when a spacecraft high-gain antenna is scanned in a pointing manner and power data measured by a ground measurement and control device when the high-gain antenna is scanned in the pointing manner; the scanning angle adopts a spacecraft time scale, and the power data adopts a ground time scale.
Illustratively, as shown in FIG. 2, the scanning coordinate system for scanning by the high gain antenna is O-thetaxθy(origin O is a scanning start point, θ)xAxis thetayAxial high gain antenna in space scanningTwo orthogonal directions). The high gain antenna pattern contour (circle) is schematically shown in fig. 2, and the actual exact pointing direction of the antenna (circle point in the figure) does not coincide with the scanning start point (origin of coordinates) due to pointing errors. If the spacecraft and the ground time scale (corrected by the ground time correction and the light travel time) still have a synchronization error TsynResulting in a lag of the ground power data by T from the scan anglesyn。
Optionally, the method for directional scanning of the spacecraft high-gain antenna includes: and scanning to a first edge in a first direction by taking a preset point as an origin, scanning to a second edge from the first edge point in a direction opposite to the first direction, and returning to the preset point from the second edge point. E.g. along theta, with a predetermined point as the originyScanning is carried out in the axial direction to the maximum point, scanning is carried out from the maximum point to the minimum point downwards, and then the scanning is carried out from the minimum point back to the origin.
The scanning range of the pointing scanning of the high-gain antenna of the spacecraft covers 1.5-2.0 times of power beam width of the high-gain antenna.
Specifically, the method of the present embodiment may include pointing scan, power measurement, and data processing.
Firstly, directional scanning is carried out, namely, reciprocating scanning of high-gain antenna pointing is completed. In practice, the scanned path should have a reciprocating nature, i.e. the path that has been swept should be visited again later. Considering the complexity, symmetry, processing accuracy, etc. of the scanning path comprehensively, this embodiment may adopt "bilateral" one-dimensional return-to-zero scanning, where the path is θ in fig. 2xDots on the axis show: starting from the origin O along the line thetaxThe axis sweeps to the maximum right, then returns to the minimum left, and finally returns to the origin. Wherein, the scanning range covers 1.5 ~ 2.0 times of half power beam width of the high gain antenna (for example, when the half power beam width is ± 0.5 °, the scanning range can be designed to ± 0.8 °).
Meanwhile, the ground measurement and control equipment continuously measures power and marks t on the groundg(i) 1, 2.. the power measurement at time I is p (I); spacecraft time scale t obtained by spacecraft telemetrys(j),j＝1,2,., the scan angle at time J is θx(j)(θyAll ranges are 0). After the data are acquired, a coarse search is carried out on the data synchronization deviation of the device and the ground.
In this embodiment, the sampling intervals of the scanning angle data of the spacecraft and the power data of the ground measurement and control should be matched with the scanning range and the scanning rate, so as to ensure that enough samples are obtained for data processing.
Step S102, carrying out coarse search on the synchronous deviation of the scanning angle and the power data to obtain a first deviation result.
In one embodiment, the performing a coarse search for the synchronization deviation between the scanning angle and the power to obtain a first deviation result includes:
setting a search step length T of the coarse searchstep1Search range ± nxtstep1The coarse search traverses 2N +1 synchronization deviations, wherein the nth synchronization deviation TnComprises the following steps:
Tn＝(n-N-1)·Tstep1。
optionally, the search step length T of this embodimentstep1The value can be in the magnitude of 1.0s, N in the search range is a positive integer, and the value is reasonably set according to the size of the expected synchronization error, wherein N is 1, 2.
Time series { P (i) }, t of the power datag(i) Forward TnObtaining a first sequence, and carrying out linear interpolation on the first sequence to obtain ts(k) Power data P of timen(k)：
Pn(k)＝Interp1[{P(i),tg(i)-Tn},ts(k)]
Where Interp1 represents linear interpolation, the source data sequence used for interpolation is in parenthesis, ts(k) For a scanning angle thetax(k) Time series of { theta }x(k),ts(k) Time scale of.
The power data P after the interpolation of the first sequencen(k) Time series theta with the scanning anglex(k) Matching to obtain power data PnFor the scanning angle thetaxThe sequence of variation of (a):
[Pn(k),θx(k)]；
fitting the change sequence to obtain the RMS value R of the residual error after fittingn。
Illustratively, the present embodiment may fit the variation sequence (power P) using a quadratic functionnAs a function value, scan angle thetaxAs independent variable), RMS value R of the residual after statistical fittingnWherein R isnCan be expressed as:
[an,bn,cn]＝Fit2[Pn(k),θx(k)]
where Fit2 denotes a quadratic function Fit, an、bn、cnTo fit the resulting coefficients of the quadratic, primary, constant terms, RMS means RMS values over the sequence of numbers in parentheses.
Then based on each of said synchronization deviations TnTime scale migration, linear interpolation, matching and fitting are sequentially carried out to obtain 2N +1 RMS values RnWill be the minimum RnCorresponding TnThe first deviation result T obtained as the coarse searchsyn1。
Optionally, the time t for interpolations(k) The range of (A) is as follows:
tg(1)-Tn≤ts(k)≤tg(I)-Tn
wherein, tg(1) Is the minimum time, t, of the ground time scaleg(I) The maximum time of the ground time scale ensures the effectiveness and accuracy of the linear interpolation.
And step S103, carrying out fine search on the synchronous deviation of the scanning angle and the power data according to the first deviation result to obtain the data synchronous deviation of the device.
In one embodiment, the performing a fine search on the synchronization deviation between the scanning angle and the power data according to the first deviation result to obtain a local data synchronization deviation includes:
setting the search step length T of the fine searchstep2Search range ± mxtstep2The fine search traverses 2M +1 synchronization deviations, wherein the mth synchronization deviation TmComprises the following steps:
Tm＝Tsyn1+(m-M-1)·Tstep2
wherein, the value range of M is 1,2, …,2M +1, Tsyn1Is the first deviation result. Optional, fine search step length Tstep2The value of (A) can be in the order of 0.1s or 0.01s, M is a positive integer in the search range, M is multiplied by Tstep2Should be slightly greater than or equal to Tstep1。
Time series { P (i) }, t of the power datag(i) Forward TmObtaining a second sequence, and performing linear interpolation on the second sequence to obtain ts(l) Power data P of timem(l)：
Pm(l)＝Interp1[{P(i),tg(i)-Tm},ts(l)]
Where Interp1 represents linear interpolation, the source data sequence used for interpolation is in parenthesis, ts(l) For a scanning angle thetax(l) Time series of { theta }x(l),ts(l) Time scale of.
The power data P after the interpolation of the second sequencem(l) Time series theta with the scanning anglex(l) Matching to obtain power data PmFor the scanning angle thetaxThe sequence of variation of (a):
[Pm(l),θx(l)]。
the variant sequences were divided into A, B two groups:
optionally, this embodiment may be implemented according to a scanning angle θ during scanning of the high-gain antennaxThe variation sequence is divided into A, B two groups, wherein A is the scanning angle thetaxData of incremental time periods, B group being scanning angle thetaxThe data for the decreasing time period (both side edge point data fall into group B).
Based on the data of the group B, calculating the scanning angle theta of the data of the group A by adopting cubic spline interpolationx(lA) Power data P ofmB(lA) And is recorded as group C data:
PmB(lA)＝Spline[{Pm(lB),θx(lB)},θx(lA)]
where Spline represents the cubic Spline interpolation, and the source data sequence used for interpolation is in parenthesis.
Calculating the RMS value R of the difference value of the group A data and the group C datamAnd the correlation coefficient r of the group A data and the group C datam：
Where mean represents the mean.
Based on each of said synchronization deviations TmSequentially carrying out time scale offset, linear interpolation, matching and cubic spline interpolation to calculate to obtain 2M + 1RmAnd rmWill be the minimum RmCorresponding TmRAnd maximum RmCorresponding TmrThe mean value is calculated to obtainDeviation of synchronization of machine to ground data Tsyn＝(TmR+Tmr)/2。
Optionally, before the cubic spline interpolation based on the B group data, the method may further include:
filtering the data of the group A and the data of the group B by adopting a Gaussian weight function smoothing method; corresponding the filtered A group data to a scanning angle thetaxScanning angle theta corresponding to both side boundaries and B group dataxOne or more points of the two side boundaries are culled.
Specifically, the present embodiment may employ a gaussian weight function smoothing method to filter A, B two sets of data respectively, so as to suppress random errors in power measurement. The coefficients in the smoothing algorithm can be repeatedly adjusted and tested according to actual conditions, so that insufficient or excessive smoothing is avoided. In addition, in order to avoid the boundary effect, the smooth data is optionally eliminated by thetaxOne or more points of the two side boundaries.
Optionally, the time t for interpolations(l) The range of (A) is as follows:
tg(1)-Tm≤ts(l)≤tg(I)-Tm
wherein, tg(1) Is the minimum time, t, of the ground time scaleg(I) The maximum time of the ground time scale.
For example, in combination with an X-band high-gain antenna prototype of a certain spacecraft, relevant data of on-orbit pointing calibration of the spacecraft is generated by simulation according to the one-dimensional return-to-zero scanning method of the embodiment, and a specific implementation manner of the embodiment is further described, specifically as follows:
fig. 3 is a contour diagram of the gain of an X-band high-gain antenna of a certain spacecraft: the beam in the X direction is slightly narrower than the beam in the Y direction, the gain maximum is 44dBi, and the half-power beam width is about ± 0.5 °. Assuming that there is still a 1.68s synchronization error T after passing through the ground timing and line timing correctionssynResulting in a 1.68s lag of the ground power data over the scan angle data.
Step 1: based on the above scene, the high-gain antenna is simulated to carry out thetaxOne in directionReturning to zero for scanning, wherein the scanning range is +/-0.8 degrees, generating a scanning angle time sequence, and adding zero-mean white noise (1.0 sigma is 0.005 degrees) to simulate an angle measurement error; and generating a power time sequence measured by the ground measurement and control equipment based on the scanning path, the antenna directional diagram, the ground synchronization time difference and the link attenuation (200dB), and adding a zero-mean white noise (1.0 sigma is 0.1dB) analog power measurement error.
The generated measurement data is shown in FIG. 4, where the upper graph in FIG. 4 is θxTime series of directional scan angles, 95 data (j ═ 1,2, …,95), corresponding to time scales 13.0s, 14.0s, 15.0s, … …, 107.0 s; the lower graph in fig. 4 is a time series of power measured by the ground measurement and control equipment, and 120 data (i ═ 1,2, …,120) are provided, corresponding to time scales 3.3s, 4.3s, 5.3s, … … s, and 122.3 s.
After the above data is acquired, a coarse search is first performed on the data synchronization deviation of the device.
Step 2: setting search step length T of coarse searchstep10.5s, search range ± 16 × 0.5s, i.e., ± 8 s. The coarse search needs to traverse 33 synchronization deviations, wherein the nth (n ═ 1,2, …,33) synchronization deviation TnComprises the following steps:
Tn＝(n-17)·0.5。
step 3: time series { P (i) }, t of power measurement datag(i) Forward TnObtaining a new sequence, using the new sequence as a data source, and interpolating to obtain ts(j) Power data P at time (13.0s, 14.0s, 15.0s, … …, 107.0s)n(l) In that respect For the search range of the measurement data and the rough search in this embodiment, the interpolation time does not exceed the range of the data source, and the index is represented by j (j is 1,2, …, 95).
Step 4: power data P obtained based on interpolationn(j) At the same time as the scanning angle thetax(j) Matching to obtain power PnFor the scanning angle thetaxThe sequence of changes of (a).
Step 5: fitting the sequence obtained in Step4 by using a quadratic function, and counting the RMS value R of the residual error after fittingn：
[an,bn,cn]＝Fit2[Pn(j),θx(j)]
Step 6: based on each synchronization deviation TnRepeating the calculation from Step3 to Step5 to correspondingly obtain 33 RsnThe results are shown in FIG. 5. As can be seen, the minimum RnCorresponding Tn1.5s, so the coarse search results in a synchronization deviation result Tsyn1It was 1.5 s.
On the basis, performing fine search of data synchronization deviation:
step 7: setting search step length T of fine searchstep20.01s, search range ± 50 × 0.01s, i.e., ± 0.5 s. The fine search needs to traverse 101 synchronization deviations, wherein the mth (m ═ 1,2, …,101) synchronization deviation TmComprises the following steps:
Tm＝1.5+(m-51)·0.01。
step 8: time series { P (i), t) of power datag(i) Forward TmObtaining a new sequence, using the new sequence as a data source, and interpolating to obtain ts(j) Power data P at time (13.0s, 14.0s, 15.0s, … …, 107.0s)m(j)。
In the present embodiment, the interpolation time does not exceed the range of the data source for both the measurement data and the search range of the fine search, and the index is represented by j (j is 1,2, …, 95).
Step 9: power data P obtained based on interpolationm(j) At the same time as the scanning angle thetax(j) Matching to obtain power PmFor the scanning angle thetaxThe sequence of changes of (a). According to theta when the high-gain antenna scansxIn the case of increment or decrement, the sequence is divided into A, B two groups, where A is the scan angle thetaxData for incremental periods, B sets of scan angles θxThe data for the decreasing time period (both side edge point data fall into group B).
Step 10: and A, B, two groups of data are respectively filtered by adopting a Gaussian weight function smoothing method, so that random errors of power measurement are suppressed. Coefficient setting in smoothing algorithms through iterative adjustment and testingA value of 0.03 can achieve a good effect. To avoid boundary effects, the smoothed data is eliminated by theta x2 points on both sides of the border.
Step 11: based on the filtered B group data, the theta of the A group data is calculated by adopting cubic spline interpolationxPower data P at cornermBAnd is recorded as C group data.
Step 12: calculating the RMS value R of the difference for the filtered A group data and the interpolated C group datamAnd a correlation coefficient rm。
Step 13: based on each synchronization deviation TmRepeating the calculation from Step8 to Step12 to correspondingly obtain 101 RsmAnd rmThe results are shown in FIG. 6, where it can be seen that the minimum R ismCorresponding TmR1.68s, max rmCorresponding TmrIs 1.67s, so that the data synchronization deviation of the receiver is Tsyn＝(1.68+1.67)/2s。
In the embodiment, a one-dimensional return-to-zero scanning scheme and coarse search and fine search of synchronous deviation are used to obtain the satellite-ground data synchronous deviation determination result of the high-gain antenna spacecraft antenna in-orbit pointing calibration, wherein the deviation determination result is 1.675s and is 0.005s different from a theoretical value of 1.68s, the algorithm is stable, and a high-precision estimation result is obtained.
According to the method for determining the in-orbit pointing calibration satellite-ground data synchronization deviation of the spacecraft antenna, the one-dimensional return-to-zero scanning mode is adopted, based on the fact that power data at the same scanning angle are the same, coarse search of the synchronization deviation is conducted by taking residual error after quadratic function fitting as an index, fine search of the synchronization deviation is conducted by taking correlation coefficient and power difference as indexes, and finally high-precision satellite-ground data synchronization deviation is obtained.
It should be understood by those skilled in the art that the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.
Corresponding to the method for determining the on-orbit pointing calibration geostationary data deviation of the spacecraft antenna in the above embodiments, the present embodiment provides a device for determining the on-orbit pointing calibration geostationary data deviation of the spacecraft antenna. Specifically, refer to fig. 7, which is a schematic structural diagram of the device-ground data synchronization deviation determining apparatus for the on-orbit pointing calibration of the antenna of the spacecraft in this embodiment. For convenience of explanation, only the portions related to the present embodiment are shown.
The spacecraft antenna on-orbit pointing calibration satellite-ground data synchronization deviation determination device mainly comprises: a data acquisition module 110, an offset coarse search module 120, and an offset fine search module 130.
The data acquisition module 110 is configured to acquire a scanning angle when the high-gain antenna of the spacecraft is pointed for scanning, and power data measured by the ground measurement and control device when the high-gain antenna is pointed for scanning; the scanning angle adopts a spacecraft time scale, and the power data adopts a ground time scale.
The deviation coarse search module 120 is configured to perform a coarse search on the synchronous deviation between the scanning angle and the power data to obtain a first deviation result.
The deviation fine searching module 130 is configured to perform fine search on the synchronous deviation between the scanning angle and the power data according to the first deviation result, so as to obtain a ground data synchronous deviation.
Firstly, acquiring a scanning angle when a high-gain antenna of the spacecraft points to scanning and power data measured by a ground measurement and control device when the high-gain antenna points to scanning, wherein the scanning angle adopts a spacecraft time scale, and the power data adopts a ground time scale; and then, coarse searching and fine searching are carried out on the synchronous deviation of the scanning angle and the power data to obtain the high-precision ground data synchronous deviation.
The embodiment also provides a schematic diagram of a device 100 for determining the synchronization deviation of the on-orbit pointing calibration satellite-ground data of the spacecraft antenna. As shown in fig. 8, the spacecraft antenna in-orbit pointing calibration geosynchronous data deviation determining apparatus 100 of this embodiment includes: a processor 140, a memory 150 and a computer program 151 stored in said memory 150 and executable on said processor 140, for example a program of a method for determining a deviation of synchronization of data of a spacecraft antenna in an on-orbit pointing orientation calibration.
The processor 140, when executing the computer program 151 on the memory 150, implements the steps in the above-mentioned method for determining the deviation of synchronization between on-orbit pointing orientation and ground data of the spacecraft antenna, such as the steps 101 to 103 shown in fig. 1. Alternatively, the processor 140, when executing the computer program 151, implements the functions of each module/unit in the above-described device embodiments, for example, the functions of the modules 110 to 130 shown in fig. 7.
Illustratively, the computer program 151 may be partitioned into one or more modules/units that are stored in the memory 150 and executed by the processor 140 to implement the present invention. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution process of the computer program 151 in the device 100 for determining the deviation of data synchronization of the spacecraft antenna in the in-orbit pointing direction calibration. For example, the computer program 151 may be divided into the data acquisition module 110, the bias coarse search module 120, and the bias fine search module 130, and each module has the following specific functions:
the data acquisition module 110 is configured to acquire a scanning angle when the high-gain antenna of the spacecraft is pointed for scanning, and power data measured by the ground measurement and control device when the high-gain antenna is pointed for scanning; the scanning angle adopts a spacecraft time scale, and the power data adopts a ground time scale.
The deviation coarse search module 120 is configured to perform a coarse search on the synchronous deviation between the scanning angle and the power data to obtain a first deviation result.
The deviation fine searching module 130 is configured to perform fine search on the synchronous deviation between the scanning angle and the power data according to the first deviation result, so as to obtain a ground data synchronous deviation.
The device 100 for determining the deviation of synchronization between on-orbit pointing of the spacecraft antenna and the calibrated spacecraft data may include, but is not limited to, a processor 140 and a memory 150. Those skilled in the art will appreciate that fig. 8 is merely an example of the device 100 for determining deviation of data synchronization of on-orbit pointing of spacecraft antenna, and does not constitute a limitation to the device 100 for determining deviation of data synchronization of on-orbit pointing of spacecraft antenna, and may include more or less components than those shown, or combine some components, or different components, for example, the device 100 for determining deviation of on-orbit pointing of spacecraft antenna may further include input and output devices, network access devices, buses, and the like.
The Processor 140 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 150 may be an internal storage unit of the spacecraft antenna on-orbit pointing calibration ground data synchronization deviation determination apparatus 100, such as a hard disk or a memory of the ground data synchronization apparatus 100. The memory 150 may also be an external storage device of the device for determining the on-orbit pointing calibration of the spacecraft antenna based on the data synchronization deviation of the spacecraft antenna, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash Card (Flash Card) and the like provided on the device for determining the on-orbit pointing calibration of the spacecraft antenna based on the data synchronization device 100. Further, the memory 150 may also include both an internal storage unit and an external storage device of the spacecraft antenna in-orbit pointing calibration ground data synchronization deviation determination apparatus 100. The memory 150 is used for storing the computer program and other programs and data required by the spacecraft antenna on-orbit pointing calibration geosynchronous data deviation determination apparatus 100. The memory 150 may also be used to temporarily store data that has been output or is to be output.
It will be clear to those skilled in the art that, for convenience and simplicity of description, the foregoing functional units and models are merely illustrated as being divided, and in practical applications, the foregoing functional allocations may be performed by different functional units and modules as needed, that is, the internal structure of the device may be divided into different functional units or modules to perform all or part of the above described functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method embodiments may be implemented. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain other components which may be suitably increased or decreased as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media which may not include electrical carrier signals and telecommunications signals in accordance with legislation and patent practice.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.
Claims (10)
1. A spacecraft antenna on-orbit pointing calibration satellite-ground data synchronization deviation determination method is characterized by comprising the following steps:
acquiring a scanning angle when a high-gain antenna of a spacecraft points to scanning and power data measured by ground measurement and control equipment when the high-gain antenna points to scanning; the scanning angle adopts a spacecraft time scale, and the power data adopts a ground time scale;
carrying out coarse search on the synchronous deviation of the scanning angle and the power data to obtain a first deviation result;
and according to the first deviation result, carrying out fine search on the synchronous deviation of the scanning angle and the power data to obtain the synchronous deviation of the data of the device.
2. A spacecraft antenna in-orbit pointing calibration geosynchronous data deviation determination method according to claim 1,
the method for directional scanning of the high-gain antenna of the spacecraft comprises the following steps: scanning to a first edge in a first direction by taking a preset point as an origin, scanning to a second edge from the first edge point in a direction opposite to the first direction, and returning to the preset point from the second edge point;
the scanning range of the pointing scanning of the high-gain antenna of the spacecraft covers 1.5-2.0 times of power beam width of the high-gain antenna.
3. A method for determining spacecraft data synchronization bias for on-orbit pointing calibration of a spacecraft antenna as recited in claim 1, wherein said performing a coarse search for synchronization bias of said scan angle and said power to obtain a first bias result comprises:
setting a search step length T of the coarse searchstep1Search range ± nxtstep1The coarse search traverses 2N +1 synchronization deviations, the nth synchronization deviation TnComprises the following steps:
Tn＝(n-N-1)·Tstep1
wherein the value range of N is 1,2, …,2N + 1;
time series { P (i) }, t of the power datag(i) Forward TnObtaining a first sequence, and carrying out linear interpolation on the first sequence to obtain ts(k) Power data P of timen(k)：
Pn(k)＝Interp1[{P(i),tg(i)-Tn},ts(k)]
Wherein, the value range of I is 1,2, …, I is the total time of the ground time scale, inter 1 represents linear interpolation, the source data sequence used for interpolation is in parenthesis, t iss(k) For a scanning angle thetax(k) Time series of { theta }x(k),ts(k) The time scale of } is;
the power data P after the interpolation of the first sequencen(k) Time series theta with the scanning anglex(k) Matching to obtain power data PnFor the scanning angle thetaxThe sequence of variation of (a):
[Pn(k),θx(k)]；
fitting the change sequence to obtain the RMS value R of the residual error after fittingn；
Based on each of said synchronization deviations TnTime scale shifting, linear interpolation, matching and fitting are sequentially carried out to obtain 2N + 1RnWill be the minimum RnCorresponding TnThe first bias result obtained as the coarse search.
4. A spacecraft antenna in-orbit pointing calibration geosynchronous data deviation determination method according to claim 3, wherein the time t for interpolations(k) The range of (A) is as follows:
tg(1)-Tn≤ts(k)≤tg(I)-Tn
wherein, tg(1) Is the minimum time, t, of the ground time scaleg(I) The maximum time of the ground time scale.
5. A method for determining on-orbit pointing calibration satellite-ground data synchronization deviation of a spacecraft antenna according to claim 1, wherein the fine search for the synchronization deviation of the scanning angle and the power data according to the first deviation result to obtain satellite-ground data synchronization deviation comprises:
setting the search step length T of the fine searchstep2Search range ± mxtstep2The fine search traverses 2M +1 synchronization deviations, wherein the mth synchronization deviation TmComprises the following steps:
Tm＝Tsyn1+(m-M-1)·Tstep2
wherein, the value range of M is 1,2, …,2M +1, Tsyn1Is the first deviation result;
time series { P (i) }, t of the power datag(i) Forward TmObtaining a second sequence, and performing linear interpolation on the second sequence to obtain ts(l) Power data P of timem(l)：
Pm(l)＝Interp1[{P(i),tg(i)-Tm},ts(l)]
Wherein, the value range of I is 1,2, …, I is the total time of the ground time scale, inter 1 represents linear interpolation, the source data sequence used for interpolation is in parenthesis, t iss(l) For a scanning angle thetax(l) Time series of { theta }x(l),ts(l) The time scale of } is;
the power data P after the interpolation of the second sequencem(l) Time series theta with the scanning anglex(l) Matching to obtain power data PmFor the scanning angle thetaxThe sequence of variation of (a):
[Pm(l),θx(l)]
the variant sequences were divided into A, B two groups:
based on the data of the group B, calculating the scanning angle theta of the data of the group A by adopting cubic spline interpolationx(lA) Power data P ofmB(lA) And is recorded as group C data:
PmB(lA)＝Spline[{Pm(lB),θx(lB)},θx(lA)]
wherein, Spline represents the cubic Spline interpolation, and a source data sequence used for interpolation is arranged in a brace;
calculating the RMS value R of the difference value of the group A data and the group C datamAnd the correlation coefficient r of the group A data and the group C datam：
Wherein mean represents the mean value;
based on each of said synchronization deviations TmSequentially carrying out time scale offset, linear interpolation, matching and cubic spline interpolation to calculate to obtain 2M + 1RmAnd rmWill be the minimum RmCorresponding TmRAnd maximum RmCorresponding TmrAnd carrying out mean value calculation to obtain the device-to-device data synchronization deviation.
6. A spacecraft antenna in-orbit pointing calibration geosynchronous data deviation determination method according to claim 5, further comprising, before performing cubic spline interpolation based on the B-group data:
filtering the data of the group A and the data of the group B by adopting a Gaussian weight function smoothing method;
corresponding the filtered A group data to a scanning angle thetaxScanning angle theta corresponding to both side boundaries and B group dataxOne or more points of the two side boundaries are culled.
7. A spacecraft antenna in-orbit pointing calibration geosynchronous data deviation determination method according to claim 5, wherein the time t for interpolations(l) The range of (A) is as follows:
tg(1)-Tm≤ts(l)≤tg(I)-Tm
wherein, tg(1) Is the minimum time, t, of the ground time scaleg(I) The maximum time of the ground time scale.
8. A spacecraft antenna on-orbit pointing calibration device for determining data synchronization deviation is characterized by comprising the following components:
the data acquisition module is used for acquiring a scanning angle when the high-gain antenna of the spacecraft points to scanning and power data measured by the ground measurement and control equipment when the high-gain antenna points to scanning; the scanning angle adopts a spacecraft time scale, and the power data adopts a ground time scale;
the deviation coarse searching module is used for performing coarse searching on the synchronous deviation of the scanning angle and the power data to obtain a first deviation result;
and the deviation fine searching module is used for carrying out fine searching on the synchronous deviation of the scanning angle and the power data according to the first deviation result to obtain the data synchronous deviation of the device.
9. A spacecraft antenna in-orbit pointing calibrated ground data synchronization deviation determination apparatus, comprising a memory, a processor and a computer program stored in the memory and operable on the processor, wherein the processor when executing the computer program implements the steps of the spacecraft antenna in-orbit pointing calibrated ground data synchronization deviation determination method according to any of claims 1 to 7.
10. A computer-readable storage medium storing a computer program, wherein the computer program, when executed by a processor, implements the steps of the method for determining the in-orbit pointing nominal geosynchronous data synchronization deviation of a spacecraft antenna according to any of claims 1 to 7.
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