CN112835071B - Method for realizing narrow-view-field load pointing calibration assisted by satellite attitude maneuver - Google Patents
Method for realizing narrow-view-field load pointing calibration assisted by satellite attitude maneuver Download PDFInfo
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- CN112835071B CN112835071B CN202011632355.4A CN202011632355A CN112835071B CN 112835071 B CN112835071 B CN 112835071B CN 202011632355 A CN202011632355 A CN 202011632355A CN 112835071 B CN112835071 B CN 112835071B
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
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Abstract
The invention discloses a method for realizing narrow-view-field load pointing calibration assisted by satellite attitude maneuver, which comprises the following steps: establishing a target staring attitude according to the orbit parameters of the satellite and the target satellite and the theoretical value of the load installation matrix; calculating an Archimedes spiral line from a central point in a plane vertical to a load visual axis in a satellite staring coordinate system, and planning the scanning direction of the load visual axis in real time; calculating the scanning attitude of the satellite relative to a staring coordinate system in real time according to the load visual axis direction planned by the spiral line by taking the normal line of the orbital plane as a reference vector, calculating the target attitude of the satellite relative to the orbital coordinate system by combining the staring attitude, and acquiring the expected angular velocity of the satellite; calculating the deviation of the attitude and the angular speed according to the current attitude and the angular speed of the satellite so as to realize the helical line scanning in the direction of the load signal; after the two parties capture signals, the current attitude is recorded, the actual measurement value of the installation matrix corresponding to the load is resolved by combining the theoretical attitude, and the normal communication of the load with the narrow view field can be realized without the need of spiral scanning again.
Description
Technical Field
The invention relates to the field of aerospace, in particular to a method for realizing narrow-view-field load pointing calibration assisted by satellite attitude maneuver.
Background
Ku wave band and Ka wave band high-speed data transmission antenna installed on the satellite, laser communication load and the like belong to typical narrow field load. The half cone angle of the Ku-band antenna field of view is 0.15 degrees, and the half cone angle of the laser communication load working field of view is 0.1 degrees. In the process of establishing a communication link, a two-dimensional turntable carried by a load controls the direction of a signal, after a visual axis of the load points to the theoretical direction of a target satellite, overlay scanning is carried out from the center of an undetermined area, and after an opposite satellite receives the signal, the pointing deviation is calibrated, so that the communication link is established.
The load starts to carry out overlay scanning from the uncertain area center as a key step for determining whether the link is established successfully or not. A two-dimensional gantry is typically required for payload installation for overlay scanning during the communication link establishment procedure. For a microsatellite provided with a narrow-view-field load, the load two-dimensional turntable generates interference on a satellite body during working, and the pointing stability of a laser load visual axis is further influenced; and the load is often unable to install the two-dimensional revolving stage by whole star weight constraint. Therefore, for a microsatellite with a narrow view field load, a satellite attitude maneuver auxiliary method for realizing the narrow view field load orientation calibration needs to be developed.
Disclosure of Invention
The invention aims to solve the technical problem of how to develop a satellite attitude maneuver assisting method for realizing narrow-view-field pointing calibration for a microsatellite provided with a narrow-view-field load, and provides a satellite attitude maneuver assisting method for realizing narrow-view-field load pointing calibration.
The invention solves the technical problems through the following technical scheme:
a satellite attitude maneuver assisted narrow-field load pointing calibration method comprises the following steps:
according to orbit parameters of the satellite and a target satellite and theoretical values of a load installation attitude matrix, the satellite establishes a staring attitude of the target satellite;
in the plane of the vertical load visual axis in the staring coordinate system of the satellite, starting to perform overlay scanning from the central point of the uncertain area, and calculating the scanning direction of the load visual axis in real time;
taking the normal of the orbital plane of the satellite as a reference vector, calculating the scanning attitude of the satellite relative to the staring coordinate system in real time according to the scanning direction of the load visual axis calculated in real time, calculating the target attitude of the satellite relative to the orbital coordinate system by combining the staring attitude, and acquiring the expected angular velocity of the satellite;
calculating the attitude deviation and the angular speed deviation of the satellite according to the current attitude of the satellite and the expected angular speed, and realizing the signal direction scanning of the narrow-view-field load;
and recording the scanning attitude of the satellite corresponding to the moment when the narrow-view-field load signal is successfully captured in the scanning process, acquiring the measured value of the load installation attitude matrix by combining the staring attitude, and then recalculating the staring attitude to be used as the target attitude of the narrow-view-field load work of the satellite, thereby realizing stable communication among satellites.
Further, the method for performing coverage scanning on the uncertain region comprises an archimedes spiral method or a rectangular spiral method.
Further, the method of acquiring the desired angular velocity is a differential method; a PID controller can be invoked to achieve high precision control and thus signal direction scanning of the narrow field of view load.
Furthermore, the polar diameter and polar angle proportion of the Archimedes spiral is determined by the field half-cone angle of the narrow field load, and the polar angle is calculated at a constant linear speed, so that the full coverage of the field of the narrow field load on a scanning area is ensured.
On the basis of the common knowledge in the field, the above preferred conditions can be combined randomly to obtain the preferred embodiments of the invention.
The positive progress effects of the invention are as follows: the method for realizing laser load scanning and link building by using satellite attitude maneuver assistance does not need to carry out overlay scanning on the laser communication load, so that a two-dimensional turntable is not needed for the load, and the weight of the whole satellite and the complexity of load design are reduced.
Drawings
FIG. 1 is a flowchart of a method in an embodiment of a method for implementing narrow-field load-bearing-direction calibration with assistance of satellite attitude maneuver according to the present invention;
FIG. 2 is a schematic diagram of satellite alignment in an embodiment of a method for achieving narrow-field load-pointing calibration with assistance of satellite attitude maneuver according to the present invention;
FIG. 3 is a schematic diagram of satellite earth-to-earth communication in an embodiment of a method for calibrating narrow-field load orientation with assistance of satellite attitude maneuver according to the present invention;
fig. 4 is a schematic diagram of a narrow-view-field load pointing helix in an embodiment of a method for calibrating narrow-view-field load pointing assisted by satellite attitude maneuver.
Detailed Description
To facilitate an understanding of the present application, the present application will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present application are shown in the drawings. This application may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the present application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
FIG. 1 shows a flow chart of a method according to an embodiment of the invention:
s01: according to orbit parameters of the satellite and a target satellite and theoretical values of a load installation attitude matrix, the satellite establishes a staring attitude of the target satellite;
in one example, let R be as shown in FIG. 1 and FIGS. 2 and 3 s 、R m Defining a load coordinate system O for the position vectors of the satellite and the target in the inertial coordinate system, respectively s X s Y s Z s X of (2) s The axis is parallel to the direction of the load visual axis, and the load-to-target set can be established in a satellite orbit coordinate systemVisual coordinate system (O) r1 X r1 Y r1 Z r1 )：
Z r0 ＝X r0 ×Y r0
Calculating a load gaze coordinate system O r0 X r0 Y r0 Z r0 Relative satellite orbit coordinate system O o X o Y o Z o Converting the matrix:
A r0o ＝[X r0 Y r0 Z r0 ] T
according to a load coordinate system calibrated during a ground test, a matrix A is installed relative to a satellite body coordinate system r0r1 Calculating the satellite gaze coordinate system O r1 X r1 Y r1 Z r1 Relative satellite orbit coordinate system O o X o Y o Z o Converting the matrix:
s02: in a plane perpendicular to a load visual axis in a staring coordinate system of the satellite, starting overlay scanning from a central point of an uncertain region, and calculating the scanning direction of the load visual axis in real time;
in one example, the point spacing of the polar angle between turns is guaranteed to be constant, based on the archimedean spiral as shown in fig. 1 and 2 and 4. The polar angle theta and the polar diameter r of the spiral line are calculated according to the following formula:
r＝aθ
where a determines a helix pitch of 2 π a, which can be determined by the load field half cone angle γ,
v is the set linear velocity, and 0.0006rad/s can be taken as a reference value.
And further calculating a unit vector of the expected visual axis direction of the load:
X r2 ＝[cosr sin r cosθ sin r sinθ]
s03: taking the normal of the orbital plane of the satellite as a reference vector, calculating the scanning attitude of the satellite relative to the staring coordinate system in real time according to the scanning direction of the load visual axis calculated in real time, calculating the target attitude of the satellite relative to the orbital coordinate system by combining the staring attitude, and acquiring the expected angular velocity of the satellite;
in one example, as shown in fig. 1 and 2 and 3, in the gaze coordinate system (O) r1 X r1 Y r1 Z r1 ) Establishing a scanning attitude coordinate system (O) r2 X r2 Y r2 Z r2 )：
X r2 ＝[cosr sinrcosθ sinrsinθ]
Z r2 ＝X r2 ×Y r2
Further calculating a gaze coordinate system O r2 X r2 Y r2 Z r2 Relative gaze coordinate system O r1 X r1 Y r1 Z r1 Is converted into a matrix
Calculating the final expected attitude of the satellite relative to the orbital coordinate system according to the attitude of the staring coordinate system relative to the orbital coordinate system and the scanning attitude of the satellite relative to the staring coordinate systemState matrix A ro ：
A ro ＝A r2r1 A r1o
Calculating expected attitude quaternion q of the satellite relative to the orbit coordinate system in the scanning process by using the attitude transformation matrix or ：
q or ＝dcm2quat(A ro )
After normalization and calibration of the quaternion, the desired angular velocity ω is calculated by a differential formula or ：
Wherein
The method is used for solving the inverse of quaternion,
and
the quaternion expected in the current beat and the last beat respectively, and delta t is an attitude control period.
S04: calculating the attitude deviation and the angular speed deviation of the satellite according to the current attitude of the satellite and the expected angular speed, and realizing the signal direction scanning of the narrow view field load;
in one example, as shown in fig. 1 and 2 and 3, a deviation quaternion q of the satellite from the desired attitude is first calculated rb And deviation of angular velocity
Wherein
Measuring angular velocity for a gyroscope, q ob Is a quaternion of orbital to body system attitude, A bo For the orbital to body system attitude transformation matrix, A br For the target attitude reference to the body system transformation matrix, omega 0 Is the track angular velocity.
During the scanning control period, the angular velocity and the angular acceleration of the star body relative to the orbital system change rapidly, so that the disturbance moment of the angular acceleration item needs to be fed forward in order to realize the high-precision tracking of the attitude of the dynamic target. On the basis of PD control law, feed forward star gyro moment
Moment of flywheel gyro
Disturbance moment of sum angular acceleration term
The final attitude control law is
Wherein, the first and the second end of the pipe are connected with each other,
by
Difference is obtained, q e Is a deviation quaternion q rb Vector part of, M c For controlling the torque command vector, K p Is a matrix of scale coefficients，K d A matrix of differential term coefficients.
S05: and recording the scanning attitude of the satellite corresponding to the successful capturing moment of the narrow-view-field load signal in the scanning process, and combining the staring attitude to obtain the measured value of the load mounting attitude matrix so as to recalculate the staring attitude, wherein the measured value is used as the target attitude of the narrow-view-field load work of the satellite, thereby realizing the stable communication between the satellites.
In one example, as shown in fig. 1 and 2 and 3, the new load mount matrix modifier:
wherein A is ro_f Satellite scanning attitude, A, corresponding to the moment when the load signal is successfully acquired r1o A matrix is transformed for the load gaze coordinate system relative to the orbit coordinate system.
Further recalculate the conversion matrix A of the satellite gaze coordinate system relative to the orbit coordinate system ro ：
A ro ＝A r1r0_n A r1o
q or ＝dcm2quat(A ro )
In the subsequent attitude control process, scanning control is not needed any more, and the narrow-view-field load can be communicated with the target by directly using the target attitude.
While specific embodiments of the invention have been described above, it will be understood by those skilled in the art that this is by way of example only, and that the scope of the invention is defined by the appended claims. Various changes or modifications to these embodiments may be made by those skilled in the art without departing from the principle and spirit of this invention, and these changes and modifications are within the scope of this invention.
Claims (4)
1. A method for realizing narrow-view-field load pointing calibration assisted by satellite attitude maneuver is characterized by comprising the following steps:
according to orbit parameters of the satellite and a target satellite and a theoretical value of a load installation attitude matrix, the satellite establishes a staring attitude of the target satellite;
in the plane of the vertical load visual axis in the staring coordinate system of the satellite, starting to perform overlay scanning from the central point of the uncertain area, and calculating the scanning direction of the load visual axis in real time;
taking the normal of the orbital plane of the satellite as a reference vector, calculating the scanning attitude of the satellite relative to the staring coordinate system in real time according to the scanning direction of the load visual axis calculated in real time, calculating the target attitude of the satellite relative to the orbital coordinate system by combining the staring attitude, and acquiring the expected angular velocity of the satellite;
calculating the attitude deviation and the angular speed deviation of the satellite according to the current attitude of the satellite and the expected angular speed, and realizing the signal direction scanning of the narrow-view-field load;
and recording the scanning attitude of the satellite corresponding to the successful capturing moment of the narrow-view-field load signal in the scanning process, and combining the staring attitude to obtain the measured value of the load mounting attitude matrix so as to recalculate the staring attitude, wherein the measured value is used as the target attitude of the narrow-view-field load work of the satellite, thereby realizing the stable communication between the satellites.
2. The method for calibrating the load bearing orientation in the narrow field of view assisted by satellite attitude maneuver as claimed in claim 1, wherein the method for performing the coverage scan on the uncertain region comprises an archimedean spiral method or a rectangular spiral method.
3. The method for realizing the narrow-field load orientation calibration assisted by satellite attitude maneuver according to claim 2, wherein the method for acquiring the expected angular velocity is a differential method; and calling a PID controller to realize high-precision control so as to realize signal direction scanning of the narrow view field load.
4. The method for satellite attitude maneuver assisted narrow-field load orientation calibration according to claim 3, wherein the ratio of the polar diameter to the polar angle of the Archimedes' spiral is determined by the field half-cone angle of the narrow-field load, and the polar angle is calculated at a constant linear rate to ensure that the field of view of the narrow-field load covers the scanning area completely.
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