CN112874819A - Attitude planning method for mutually establishing laser links after spacecraft orbit entering - Google Patents
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Abstract
The invention discloses an attitude planning method for mutually establishing laser links after spacecraft orbit entering, which comprises at least two spacecrafts, wherein a method for mutually establishing laser links between every two spacecrafts comprises the following steps: step S1: determining all possible positions of a second spacecraft, namely an uncertain region, calculating a half cone angle of the uncertain region, enabling the first spacecraft to perform square spiral line motion, enabling the second spacecraft to capture a laser beam of a first laser emitter A of the first spacecraft, and adjusting a target attitude angle of the second spacecraft to enable an emission beam of the second laser emitter A to be superposed with a connecting line between the first spacecraft and the second spacecraft; the invention determines a calculation method of the spacecraft target attitude angle and the laser emitter included angle, provides a planning method of the spacecraft target attitude angle and the laser emitter included angle, and obviously improves the pointing accuracy of the spacecraft laser emitter.
Description
Technical Field
The invention belongs to the technical field of spaceflight, and particularly relates to an attitude planning method for mutually establishing laser links after spacecraft orbit entering.
Background
In a space samsung system, after three spacecraft are in orbit, each spacecraft in a samsung formation needs to communicate with two other spacecraft. In order to realize large-capacity, high-speed and high-concealment transmission of information among the spacecrafts, a laser link can be established among the formation of the satellites, and the precise formation of the three spacecrafts and the precise pointing of the laser emitter are the basis and guarantee for establishing the laser link.
Due to the influences of factors such as long distance between spacecrafts, various perturbation forces in space environment and the like, the capture of laser signals between the spacecrafts and the attitude planning based on the captured signals are the key points for the successful implementation of the precise pointing of a laser transmitter and the construction of a laser link between the three stars. Only if the space three-star formation laser link is successfully implemented, the laser signal can be ensured to be emitted from one satellite and then accurately received by another satellite, and the laser communication among the spacecrafts is realized.
Aiming at the problems of capturing laser signals and adjusting postures among spacecrafts, the current solution is that the spacecrafts capture laser beams which are subjected to Archimedes spiral scanning, and the actual physical position of an incident laser signal on a CCD (charge coupled device) view field of a laser receiver deviates from an expected reference position based on ground orbit data, so that the building precision of a laser link is reduced, and the information transmission efficiency of the laser communication link is reduced.
Disclosure of Invention
The invention aims to provide an attitude planning method for mutually establishing laser links after spacecraft orbit entering, so as to solve the problem that the information transmission efficiency of a laser communication link is reduced because a laser transmitter cannot accurately point due to navigation errors.
The invention adopts the following technical scheme: an attitude planning method for mutually establishing laser links after spacecraft orbit entering,
the system comprises at least two spacecrafts, wherein each spacecraft is connected with two laser transmitters and two laser receivers, namely a laser transmitter A, a laser transmitter B, a laser receiver A and a laser receiver B, the laser transmitter A and the laser receiver A are coaxially arranged and fixedly connected with the spacecraft, and the laser transmitter B and the laser receiver B are coaxially arranged and hinged with the spacecraft;
the method for mutually establishing the laser links between every two spacecrafts comprises the following steps:
step S1: determining all possible positions of a second spacecraft, namely an uncertain region, calculating a half cone angle of the uncertain region, enabling the first spacecraft to perform square spiral line motion, enabling the second spacecraft to capture a laser beam of a first laser emitter A of the first spacecraft, adjusting a target attitude angle of the second spacecraft to enable an emission beam of the second laser emitter A to coincide with a connecting line between the first spacecraft and the second spacecraft,
step S2: and adjusting the emission beam of the first laser emitter A of the first spacecraft to be coincident with the connecting line between the first spacecraft and the second spacecraft.
Further, the specific method of step S1 is:
determining all possible positions of the second spacecraft, namely an uncertain region according to error factors influencing the pointing direction of the first laser transmitter A, and calculating the half cone angle of the uncertain region, wherein the first laser transmitter A and the first laser receiver A are fixedly connected with the first spacecraft,
the first spacecraft makes a square spiral motion, so that the laser beam of the first laser emitter A scans the uncertain area of the second spacecraft,
the second spacecraft captures the laser beam of the first laser emitter A, calculates the target attitude angle of the second spacecraft according to the real physical position of the light spot on the CCD imaging plane of the second laser receiver A, the second spacecraft is fixedly connected with the second laser emitter A and the second laser receiver A,
and establishing a guidance ratio model by using a fifth-order polynomial, and adjusting a target attitude angle of the second spacecraft to enable an emission beam of the second laser emitter A to be superposed with a connecting line between the first spacecraft and the second spacecraft, so that the accurate pointing of the second laser emitter A is realized.
Further, the specific method of step S2 is:
when the emission beam of the second laser emitter A is superposed with the connecting line between the first spacecraft and the second spacecraft, the second laser emitter A is opened to enable the laser beam of the second laser emitter A to be directed to the first spacecraft,
the first spacecraft captures the laser beam of the second laser emitter A, the target attitude angle of the first spacecraft is calculated according to the real physical position of the light spot on the CCD imaging plane of the first laser receiver A,
and establishing a guidance ratio model by using a fifth-order polynomial, and adjusting a target attitude angle of the first spacecraft to enable an emission beam of the first laser emitter A to coincide with a connecting line between the first spacecraft and the second spacecraft, so that the accurate pointing and laser link building of the first laser emitter A and the second laser emitter A are realized.
Further, before determining the half cone angle of the uncertain region of the second spacecraft in step S1, a coordinate system needs to be established, where the method for establishing the coordinate system is as follows:
choosing the geocentric coordinate system as the inertial coordinate system, the body coordinate system Ox of each spacecraftByBzBIs located at the centroid position, x, of the spacecraftBThe axis being along the direction of the axis of symmetry between the two laser emitters, yBThe axis lying in a plane defined by the axes of the two laser emitters and being perpendicular to xBAxial and pointing at xBDirection of rotation of the shaft by 90 DEG counter-clockwise, zBThe axis is determined by the right hand rule;
coordinate system Ox of two laser transmittersTyTzTIs the midpoint of the beam emission of the laser transmitter, xTThe axis being located on the axis of the beam and pointing in the direction of emission of the beam, zTAxis and zBThe axes coincide, yTThe axis is determined by the right-hand rule,
wherein the laser receiver is positioned at x of the laser transmitterTOn the shaft.
Further, the method for determining the half cone angle of the uncertainty region of the second spacecraft in step S1 is as follows:
calculating to obtain the total pointing error of the first laser emitter A and the half cone angle gamma of the uncertain region according to the navigation error of the second spacecraft, and calculating the radius of the section of the uncertain region by combining the distance L between the two spacecrafts as follows: gamma. L.
Further, in step S1, the method for the first spacecraft to perform the square spiral motion includes:
the attitude angle of the first spacecraft is calculated,
and adjusting the attitude angle of the first spacecraft to enable the first laser emitter A to carry out laser scanning on the uncertain region of the second spacecraft.
Further, when three spacecrafts are set up and a laser link needs to be built, the following steps are also included after steps S1 and S2:
step S3: adjusting the emission beam of a third laser emitter B of the third spacecraft to be superposed with the connecting line between the second spacecraft and the third spacecraft,
step S4: adjusting the emission beam of a second laser emitter B of the second spacecraft to be superposed with the connecting line between the second spacecraft and the third spacecraft,
step S5: adjusting the emission beam of the first laser emitter B of the first spacecraft to be coincident with the connecting line between the first spacecraft and the third spacecraft,
step S6: and adjusting the emission beam of a third laser emitter A of the third spacecraft to be superposed with the connecting line between the first spacecraft and the third spacecraft.
The invention has the beneficial effects that: aiming at the problem that a laser transmitter cannot accurately point due to navigation errors, the invention determines a calculation method of a spacecraft target attitude angle and a laser transmitter included angle, and provides a planning method of the spacecraft target attitude angle and the laser transmitter included angle.
Drawings
FIG. 1 is a schematic plan view of a laser link building for a Samsung formation according to the invention;
FIG. 2 is a schematic plan view of a spacecraft platform of the present invention;
fig. 3 is a schematic diagram of a square spiral scan of the present invention.
Wherein: 1. a first spacecraft; 2. a second spacecraft; 3. a third spacecraft; 4. a first laser emitter A; 5. a first laser emitter B; 6. a second laser emitter A; 7. a second laser emitter B; 8. a third laser emitter A; 9. a third laser emitter B; 10. a first laser receiver A; 11. a first laser receiver B; 12. a second laser receiver A; 13. a second laser receiver B; 14. a third laser receiver A; 15. a third laser receiver B; 16. an uncertainty area.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
The invention discloses an attitude planning method for mutually establishing laser links after the orbit of a spacecraft, which solves the problem of offset by adopting an attitude correction method based on an azimuth vector, and firstly determines the size of a half cone angle of an uncertain region 16 according to error factors influencing the pointing direction of a laser transmitter; secondly, the first spacecraft 1 makes a square spiral motion, and the laser beam scans the uncertain region 16 of the second spacecraft 2; then, the second spacecraft 2 captures the laser beam, calculates a target attitude angle according to the real physical position of the light spot on the CCD imaging plane of the second laser receiver, establishes a guidance ratio model by using a fifth-order polynomial, completes the adjustment of the attitude angle of the second spacecraft 2, and finally enables the laser transmitter to point to the direction of the incident beam, thereby realizing the accurate pointing of the laser transmitter and the establishment of a laser link.
Aiming at the problems of capturing laser signals between spacecrafts and adjusting the attitude, the current solution is that the spacecrafts capture laser beams which are subjected to Archimedes spiral scanning, the real physical position of incident laser signals on a CCD (charge coupled device) view field of a laser receiver deviates from an expected reference position based on ground orbit data, and aiming at the problems, the invention provides a method for capturing the laser beams which are subjected to square spiral motion by the spacecrafts to obtain an azimuth vector, an attitude equation is established according to the azimuth vector, a target value of the attitude angle of the spacecrafts and a target value of the included angle of a laser transmitter are solved, then a guidance ratio model of the attitude angle and the included angle of the laser transmitter is established by using quintic polynomial planning, the adjustment of the attitude angle of the spacecrafts and the included angle of the laser transmitter is completed, and the precise pointing of the laser transmitter and the establishment of a laser.
The invention at least comprises two spacecrafts, wherein each spacecraft is connected with two laser transmitters and two laser receivers, namely a laser transmitter A, a laser transmitter B, a laser receiver A and a laser receiver B, the laser transmitter A and the laser receiver A are coaxially arranged and fixedly connected with the spacecraft, and the laser transmitter B and the laser receiver B are coaxially arranged and hinged with the spacecraft; when two spacecrafts need to build a laser link, as shown in fig. 1, the method comprises the following steps:
step S1: determining all possible positions of the second spacecraft 2, namely the uncertainty area 16, calculating a half cone angle of the uncertainty area 16, enabling the first spacecraft 1 to perform square spiral motion, enabling the second spacecraft 2 to capture the laser beam of the first laser emitter A4 of the first spacecraft 1, and adjusting the target attitude angle of the second spacecraft 2 to enable the emission beam of the second laser emitter A6 to coincide with a connecting line between the first spacecraft 1 and the second spacecraft 2.
Wherein the step S1 includes the steps of:
step 1: based on error factors affecting the pointing direction of the first laser transmitter a4, all possible positions of the second spacecraft 2, i.e. the uncertainty region 16, are determined, and the half-cone angle of the uncertainty region 16 is calculated, wherein the first laser transmitter a4 and the first laser receiver a10 are fixedly connected to the first spacecraft 1.
Before determining the half cone angle of the uncertainty region 16 of the second spacecraft 2, a coordinate system needs to be established, wherein the method for establishing the coordinate system is as follows:
choosing the geocentric coordinate system as the inertial coordinate system, the body coordinate system Ox of each spacecraftByBzBIs located at the centroid position, x, of the spacecraftBThe axis is along the direction of the symmetry axis between the two laser emitters: y isBThe axis lying in a plane defined by the axes of the two laser emitters and being perpendicular to xBAxial and pointing at xBDirection of rotation of the shaft by 90 DEG counter-clockwise, zBThe axis is determined by the right hand rule; coordinate system Ox of two laser transmittersTyTzTIs the midpoint of the beam emission of the laser transmitter, xTThe axis being located on the axis of the beam and pointing in the direction of emission of the beam, zTAxis and zBThe axes coincide, yTThe axis is determined by the right-hand rule, where the laser receiver is located at x of the laser transmitterTOn the shaft.
The method for determining the half cone angle of the uncertainty region 16 of the second spacecraft 2 is as follows:
calculating the total pointing error of the first laser transmitter A4 and the half cone angle gamma of the uncertain region 16 according to the navigation error of the second spacecraft 2, and calculating the radius of the section of the uncertain region 16 by combining the distance L between the two spacecrafts as follows: gamma. L.
Step 2: the first spacecraft 1 performs a square, helical movement, so that the laser beam of the first laser transmitter a4 scans the second spacecraft 2 uncertainty region 16,
the method for the first spacecraft 1 to perform the square spiral motion comprises the following steps:
the attitude angle of the first spacecraft 1 is calculated and adjusted so that the first laser transmitter a4 performs laser scanning on the uncertainty region 16 of the second spacecraft 2.
And step 3: the second spacecraft 2 captures the laser beam of the first laser emitter a4, the target attitude angle of the second spacecraft 2 is calculated according to the real physical position of the light spot on the CCD imaging plane of the second laser receiver a12, and the second spacecraft 2 is fixedly connected with the second laser emitter a6 and the second laser receiver a 12.
And 4, step 4: and establishing a guidance ratio model by using a fifth-order polynomial, and adjusting a target attitude angle of the second spacecraft 2 to ensure that the emission beam of the second laser emitter A6 is superposed with the connecting line between the first spacecraft 1 and the second spacecraft 2, so that the accurate pointing of the second laser emitter A6 is realized.
Step S2: the emission beam of the first laser emitter a4 of the first spacecraft 1 is adjusted to coincide with the line between the first spacecraft 1 and the second spacecraft 2.
And 5: when the emission beam of the second laser transmitter a6 coincides with the line between the first spacecraft 1 and the second spacecraft 2, the second laser transmitter a6 is turned on so that the laser beam of the second laser transmitter a6 is directed at the first spacecraft 1.
Step 6: the first spacecraft 1 captures the laser beam of the second laser transmitter a6, and calculates the target attitude angle of the first spacecraft 1 according to the real physical position of the light spot on the CCD imaging plane of the first laser receiver a 10.
And 7: and establishing a guidance ratio model by using a fifth-order polynomial, and adjusting a target attitude angle of the first spacecraft 1 to enable the emission beam of the first laser emitter A4 to coincide with a connecting line between the first spacecraft 1 and the second spacecraft 2, so that accurate pointing and laser link building of the first laser emitter A4 and the second laser emitter A6 are realized.
When three spacecrafts are provided, the laser link building method of the three spacecrafts further comprises the following steps:
step S3: the emission beam of the third laser emitter B9 of the third spacecraft 3 is adjusted to coincide with the line between the second spacecraft 2 and the third spacecraft,
step S4: the emission beam of the second laser transmitter B7 of the second spacecraft 2 is adjusted to coincide with the line between the second spacecraft 2 and the third spacecraft,
step S5: the emission beam of the first laser emitter B5 of the first spacecraft 1 is adjusted to coincide with the line between the first spacecraft 1 and the third spacecraft,
step S6: the emission beam of the third laser emitter A8 of the third spacecraft 3 is adjusted to coincide with the line between the first spacecraft 1 and the third spacecraft.
Example 1
In the embodiment, three spacecrafts are provided, namely a first spacecraft 1, a second spacecraft 2 and a third spacecraft 3, as shown in fig. 2, each spacecraft is connected with two laser transmitters, namely, the two laser transmitters of the first spacecraft 1 are a first laser transmitter a4 and a first laser transmitter B5, the two laser receivers of the first spacecraft 1 are a first laser receiver a10 and a first laser receiver B11, the two laser transmitters of the second spacecraft 2 are a second laser transmitter a6 and a second laser transmitter B7, the two laser receivers of the second spacecraft 2 are a second laser receiver a12 and a second laser receiver B13, the two laser transmitters of the third spacecraft 3 are a third laser transmitter A8 and a third laser transmitter B9, and the two laser receivers of the third spacecraft 3 are a third laser receiver a14 and a third laser receiver B15.
When three spacecraft are required to build a laser link,
step S1: the emission beam of the second laser transmitter a6 is adjusted to coincide with the line between the first spacecraft 1 and the second spacecraft 2,
step S2: the emission beam of the first laser emitter a4 is adjusted to coincide with the line between the first spacecraft 1 and the second spacecraft 2,
step S3: the emission beam of the third laser emitter B9 is adjusted to coincide with the line between the second spacecraft 2 and the third spacecraft,
step S4: the emission beam of the second laser emitter B7 is adjusted to coincide with the line between the second spacecraft 2 and the third spacecraft,
step S5: the emission beam of the first laser emitter B5 is adjusted to coincide with the line between the first spacecraft 1 and the third spacecraft,
step S6: the emission beam of the third laser emitter A8 is adjusted to coincide with the line between the first spacecraft 1 and the third spacecraft.
In step S1: the total error of the pointing direction of the first laser transmitter a4 is calculated from the navigation error of the second spacecraft 2, all possible positions of the second spacecraft 2, i.e. the uncertainty region 16, are determined, and the half-cone angle of the uncertainty region 16 is calculated.
Step S1-1: establishing a coordinate system
Choosing the geocentric coordinate system as the inertial coordinate system, the body coordinate system Ox of each spacecraftByBzBIs located at the centroid position, x, of the spacecraftBThe axis being along the direction of the axis of symmetry between the two laser emitters, yBThe axis lying in a plane defined by the axes of the two laser emitters and being perpendicular to xBAxial and pointing at xBDirection of rotation of the shaft by 90 DEG counter-clockwise, zBThe axis is determined by the right hand rule; coordinate system Ox of two laser transmittersTyTzTIs the midpoint of the beam emission of the laser transmitter, xTThe axis being located on the axis of the beam and pointing in the direction of emission of the beam, zTAxis and zBThe axes coincide, yTThe axis is determined by the right-hand rule, where the laser receiver is located at x of the laser transmitterTOn the shaft.
Step S1-2: calculating the half cone angle of the uncertainty region 16
Calculating the total pointing error of the first laser transmitter A4 and the half cone angle gamma of the uncertain region 16 according to the navigation error of the second spacecraft 2, and calculating the radius of the section of the uncertain region 16 by combining the distance L between the two spacecrafts as follows: gamma. L.
Step S1-3: scanning the uncertainty region 16
The first spacecraft 1 performs a square helical movement so that the laser beam of the first laser transmitter a4 scans the second spacecraft 2 uncertainty region 16.
The method for the first spacecraft 1 to perform the square spiral motion comprises the following steps:
the attitude angle of the first spacecraft 1 is calculated and adjusted so that the first laser transmitter a4 performs laser scanning on the uncertainty region 16 of the second spacecraft 2.
The laser beam of the first laser transmitter a4 is moved through the square spiral of the first spacecraft 1 to scan the uncertainty region 16 of the second spacecraft 2 as shown in fig. 3.
Arbitrarily take a point (y) on the square spiral of the first spacecraft 1s,zs) Then the coordinates of the first laser emitter A4 are (L, y)s,zs) From this, the in-plane angle α and the out-of-plane angle β of the laser beam directed to the point can be found:
since the first laser emitter a4 of the first spacecraft 1 is fixedly connected to the first spacecraft 1, the laser pointing direction change of the first laser emitter a4 needs to be realized through the planning of the attitude angle of the first spacecraft 1. Setting the current yaw angle psi of the first spacecraft 1 by adopting the Z-Y-X Euler angle1B0Angle of pitch theta1B0To roll overAngle phi1B0Then, the attitude matrix of the first spacecraft 1 is:
R1B0＝Rz(ψ1B0)Ry(θ1B0)Rx(φ1B0)
simultaneously, the attitude of the first spacecraft 1 can be set to change the rear yaw angle psi1B1Angle of pitch theta1B1Angle of roll phi1B1And the body coordinate system of the first spacecraft 1 and the x of the coordinate system of the first laser transmitter a41T1Included angle of axis of
The first spacecraft 1 attitude transformation is preceded and followed by the following relationship:
thus, after transformation, the attitude matrix of the first spacecraft 1 is:
since only the direction of the laser beam is taken into account, phi can be set1B1＝φ1B0And thereby:
wherein:
r is a handlez(ψ1B1),Ry(θ1B1) Substituting to obtain:
the target value of the attitude angle of the body of the first spacecraft 1 when the first laser transmitter a4 is pointed can be obtained according to the above equation:
following point (y)s,zs) The attitude angle of the first spacecraft 1 is changed by changing on the square spiral line, so that the first laser transmitter a4 of the first spacecraft 1 performs square spiral line laser scanning on the uncertain region 16 of the second spacecraft 2.
Step S1-4: the second spacecraft 2 captures the laser beam of the first laser transmitter a4, and calculates the target attitude angle of the second spacecraft 2 according to the real physical position of the light spot on the CCD imaging plane of the second laser receiver a 12.
During the helical scanning of the first spacecraft 1, at a certain moment the laser signal will be received on the CCD of the second laser receiver a12 of the second spacecraft 2. However, due to the existence of the initial alignment deviation, the physical position of the light spot on the CCD deviates from the predicted reference position, an orientation vector can be calculated according to the actual physical position of the center of the light spot, the second spacecraft 2 calculates the target attitude angle of the second spacecraft 2 according to the orientation vector, the alignment deviation is eliminated, and the sight line direction of the second spacecraft is aligned with the direction of the incident laser beam of the first laser emitter a 4.
Setting the pixel coordinates of the light spot on the CCD as (u, v), and obtaining the orientation vector of the first spacecraft 1 under the camera coordinate system corresponding to the second spacecraft 2 according to the pixel coordinates (u, v) of the light spot on the CCD of the second laser receiver a12 of the second spacecraft 2TL21：
Wherein f isTwo laser receivers A12 corresponding to focal length of pinhole camera model, cx、cyThe second laser receiver a12 corresponds to a principal point of the pinhole camera model, i.e., a corner point of the principal optical axis on the physical imaging plane.
According to the orientation vectorTL21The internal angle of face alpha can be calculated2T2Out-of-plane angle beta2T2As follows:
since the second laser transmitter a6 of the second spacecraft 2 is fixedly connected to the second spacecraft 2, there is no degree of freedom, so to eliminate the deviation between the physical position of the spot and the expected reference position, it is necessary to eliminate the deviation by adjusting the posture of the second spacecraft 2. Let the yaw angle ψ of the second spacecraft 2 in the inertial system at this time2B0Angle of pitch theta2B0Angle of roll phi2B0And simultaneously setting a yaw angle psi after the attitude adjustment of the second spacecraft 22B1Angle of pitch theta2B1Angle of roll phi2B1Then, the second spacecraft 2 has the following relationship before and after attitude adjustment:
therefore, an attitude matrix of the second spacecraft 2 after attitude adjustment can be obtained:
therefore, the direction cosine matrix R after the attitude adjustment of the second spacecraft 22B1The target attitude angle of the second spacecraft 2 can be found:
ψ2B1＝Atan2(R2B1(2,1),R2B1(1,1))
φ2B1＝Atan2(R2B1(3,2),R2B1(3,3))
step S1-5: and establishing a guidance ratio model by using a fifth-order polynomial, and adjusting a target attitude angle of the second spacecraft 2 to ensure that the emission beam of the second laser emitter A6 is superposed with the connecting line between the first spacecraft 1 and the second spacecraft 2, so that the accurate pointing of the second laser emitter A6 is realized.
Adjusting the front yaw angle psi according to the second spacecraft 2 attitude2B0Angle of pitch theta2B0Angle of roll phi2B0And attitude adjusted rear yaw angle psi2B1Angle of pitch theta2B1Angle of roll phi2B1Establishing an attitude angle guidance rate model of the second spacecraft 2 by a fifth-order polynomial:
ψ(t)＝a0+a1t+a2t2+a3t3+a4t4+a5t5
θ(t)＝b0+b1t+b2t2+b3t3+b4t4+b5t5
φ(t)＝c0+c1t+c2t2+c3t3+c4t4+c5t5
wherein the guiding time T of the attitude angle is set as 100s, and the guiding rate coefficient a of the attitude angle0、a1、a2、a3、a4、a5From psi (0) to psi2B0、ψ(100)＝ψ2B1、
And (4) determining. In the same way, b0、b1、b2、b3、b4、b5From theta (0) to theta2B0、θ(100)＝θ2B1、
Determination of c0、c1、c2、c3、c4、c5From phi (0) to phi2B0、φ(100)＝φ2B1、
And (4) determining.
And adjusting the attitude angles of the second spacecraft 2 according to the guidance ratio model, and then returning the first spacecraft 1 to the initial attitude before the square spiral line motion.
Step S2: when the emission beam of the second laser transmitter a6 coincides with the line between the first spacecraft 1 and the second spacecraft 2, the second laser transmitter a6 is turned on so that the laser beam of the second laser transmitter a6 is directed at the first spacecraft 1.
After the second spacecraft 2 finishes attitude adjustment, the second laser transmitter A6 is turned on to point to the first spacecraft 1, at this time, a CCD of a first laser receiver A10 of the first spacecraft 1 receives laser signals, but due to initial alignment deviation, the physical position of a light spot on the CCD deviates from an expected reference position, and an azimuth vector between the first spacecraft 1 and the second spacecraft 2 is calculated according to pixel coordinates of the center of the light spotTL12The first spacecraft 1 according to the azimuth vectorTL12Calculating a target attitude angle of the first spacecraft 1 according to the method in the step S1-4, establishing a guidance ratio model of the attitude angle by using a method of quintic polynomial planning according to the method in the step S1-5, completing the adjustment of the attitude angle of the first spacecraft 1, eliminating the deviation between the actual physical position of a light spot on the CCD and an expected reference position, enabling the sight line direction of the first laser emitter A4 to coincide with the connecting line between the first spacecraft 1 and the second spacecraft 2,and the building of a laser link between the first spacecraft 1 and the second spacecraft 2 is realized.
Step S3:
calculating the total pointing error of the second laser transmitter B7 and the half cone angle gamma of the uncertain region 16 according to the navigation error of the third spacecraft 3, and calculating the radius of the section of the uncertain region 16 of the third spacecraft 3 by combining the distance L between the two spacecrafts as follows: γ · L, the second spacecraft 2 performs a square helical movement so that the laser beam of the second laser transmitter B7 scans the third spacecraft 3 uncertainty region 16.
Calculating the total pointing error of the second laser transmitter B7 and the half cone angle gamma of the uncertain region 16 according to the navigation error of the third spacecraft 3, and calculating the radius of the section of the uncertain region 16 by combining the distance L between the two spacecrafts as follows: gamma. L. The laser beam makes a square spiral movement through the second spacecraft 2 according to the method in step S1-3, the uncertainty region 16 where the third spacecraft 3 is located is scanned, as shown in fig. 3, and then the second spacecraft 2 recovers the initial attitude before making the square spiral movement.
The third spacecraft 3 captures the laser beam of the second laser emitter B7, calculates a target attitude angle of the third spacecraft 3 according to the real physical position of the light spot on the CCD imaging plane of the third laser receiver B15, establishes a guidance ratio model using a fifth-order polynomial, and adjusts the attitude angle of the third spacecraft 3 and the included angle between the third laser emitter B9 and the third spacecraft 3, so that the optical axis of the third laser emitter B9 coincides with the connecting line between the second spacecraft 2 and the third spacecraft 3.
In the process of scanning the square spiral line by the second spacecraft 2, the laser signal emitted by the second spacecraft 2 is captured on the CCD imaging plane of the third spacecraft 3 at a certain moment. However, due to the initial alignment deviation, the physical position of the light spot on the CCD is offset from the expected reference position, and the azimuth vector between the second spacecraft 2 and the third spacecraft 3 can be calculated from the position of the center of the light spot on the CCDTL32The third spacecraft 3 according to the azimuth vectorTL32The purpose of the third spacecraft 3 is obtained according to the calculation method in step S1-4And marking an attitude angle, establishing an attitude angle guidance ratio model in the step S1-5 to complete adjustment of the attitude angle, eliminating deviation between the physical position of a light spot on the CCD and an expected reference position, and enabling an incident beam of a third laser transmitter B9 to coincide with a connecting line between the second spacecraft 2 and the third spacecraft 3.
Step S4:
after the attitude adjustment of the third spacecraft 3 is completed, the third laser transmitter B9 is turned on to point to the second spacecraft 2, and at this time, the laser signal emitted by the third laser transmitter B9 will be captured by the CCD of the second laser receiver B13 of the second spacecraft 2. Because the second laser emitter B7 of the second spacecraft 2 has initial alignment deviation, the physical position of the light spot on the CCD is deviated from the expected reference position, and the pixel coordinate of the light spot at this time is set as (u ', v'), so as to obtain the azimuth vector of the third spacecraft 3 in the camera coordinate system corresponding to the second spacecraft 2TL23：
Where f is the focal length of the second laser receiver B13 corresponding to the pinhole camera model, cx、cyThe second laser receiver B13 corresponds to the principal point of the pinhole camera model, i.e., the corner point of the principal optical axis on the physical imaging plane.
According to the current yaw angle ψ of the second spacecraft 22B1Angle of pitch theta2B1Angle of roll phi2B1And included an angle with the second laser receiver B13
The orientation vector L of the second spacecraft 2 under the inertial system can be calculated23：
The second spacecraft 2 has established a laser link with the first spacecraft 1, so that the second laser transmitter a6 of the second spacecraft 2 is directed to the azimuth vector L21：
To implement the building of the laser link between the second spacecraft 2 and the first and third spacecraft 1, 3, the second laser transmitter a6 of the second spacecraft 2 needs to be directed to the azimuth vector L21The second laser emitter B7 needs to point to the azimuth vector L23Therefore, the axes of second laser emitter a6 under the inertial system may be first pointed to satisfy the constraint:
y2T2＝z2T2×x2T2
at this time, the attitude matrix of the second laser transmitter a6 of the second spacecraft 2 under the inertial system is:
R2T2＝[x2T2 y2T2 z2T2]
since the second spacecraft 2 is fixedly connected to the second laser emitter a6, the attitude matrix of the second spacecraft 2 in the inertial system is:
thus, the second laser transmitter a6 pointing azimuth vector L of the second spacecraft 2 is satisfied21Second laser emitter B7 pointed at orientation vector L23The constrained target attitude angles are:
ψ2B2＝Atan2(R2B2(2,1),R2B2(1,1))
φ2B2＝Atan2(R2B2(3,2),R2B2(3,3))
second laser emitter B7 and second spacecraft 2 x2BThe target included angle of the axes is:
according to the attitude angle of the current second spacecraft 2 and the included angle of the second laser transmitter B7: psi2B1、θ2B1、φ2B1、
And the target attitude angle and the included angle of the second laser transmitter B7: psi2B2、θ2B2、φ2B2、α2TAnd establishing an attitude angle guidance rate model and a laser emitter included angle guidance rate model by using a quintic polynomial method in the step S1-5, completing the adjustment of the attitude angle and the adjustment of the included angle of the second laser emitter B7, and realizing the establishment of a laser link between the second spacecraft 2 and the first spacecraft 1 and the third spacecraft 3.
Step S5:
calculating the total pointing error of the third laser emitter A8 and the half cone angle gamma of the uncertain region 16 according to the navigation error of the first spacecraft 1, and calculating the radius of the section of the uncertain region 16 of the first spacecraft 1 by combining the distance L between the two spacecrafts as follows: gamma. L. The laser beam of the third laser transmitter A8 makes a square spiral movement through the third spacecraft 3 according to the method in step S1-3, and scans the uncertainty area 16 where the first spacecraft 1 is located, as shown in fig. 3; then, the third spacecraft 3 resumes the initial attitude before doing the square spiral motion.
During the square spiral scanning of the third spacecraft 3, the laser signal of the third laser transmitter a8 is captured at a certain moment on the CCD of the first laser receiver B11 of the first spacecraft 1. But due to the initial alignment deviation, the physical position of the light spot on the CCDThe position of the first spacecraft 1 deviates from the predicted reference position, and the azimuth vector L between the first spacecraft 3 and the third spacecraft 1 is calculated according to the pixel coordinates of the light spot center13. At the same time, the first laser transmitter a4 of the first spacecraft 1 is pointed at the azimuth vector L12. According to the azimuth vector L12And an orientation vector L13Obtaining a target attitude angle of the first spacecraft 1 according to the method in the step S4: psi1B2、θ1B2、φ1B2And the first laser transmitter B5 of the first spacecraft 1 form an angle alpha1T. Under the condition of keeping the connection of the laser link between the first spacecraft 1 and the second spacecraft 2, an attitude angle guidance rate model and a first laser emitter B5 included angle guidance rate model are established by a method of a fifth-order polynomial in the step S1-5, the adjustment of an attitude angle and the adjustment of an included angle of a first laser emitter B5 are completed, the deviation between the physical position of a light spot on the CCD and a predicted reference position is eliminated, and the emission light beam of the first laser emitter B5 of the first spacecraft 1 is enabled to coincide with the connecting line between the first spacecraft 1 and the third spacecraft 3.
Step S6:
after the first spacecraft 1 finishes the attitude adjustment, the laser beam is turned on to point to the third spacecraft 3, and at this time, the laser signal is received on the CCD of the third laser receiver a14 of the third spacecraft 3. However, due to the initial alignment deviation, the physical position of the light spot on the CCD deviates from the expected reference position. Calculating an orientation vector L between the third spacecraft 3 and the first spacecraft 1 according to the pixel coordinates of the light spot center31. At the same time, the third laser transmitter B9 of the third spacecraft 3 is pointed at the azimuth vector L32. According to the azimuth vector L31And an orientation vector L32Obtaining a target attitude angle of the third spacecraft 3 according to the method in step S4: psi3B2、θ3B2、φ3B2And third laser transmitter B9 of third spacecraft 33T. Under the condition of keeping the connection of the laser link between the third spacecraft 3 and the second spacecraft 2, an attitude angle guidance rate model and a third laser emitter B9 included angle guidance rate model are established by a method of a fifth-order polynomial in the step S1-5, so that the adjustment of the attitude angle of the third spacecraft 3 and the adjustment of the third spacecraft 2 are completedAnd adjusting the included angle of the three laser emitters B9, eliminating the deviation between the physical position of the light spot on the CCD and the expected reference position, enabling the emission light beam of the third laser emitter A8 of the third spacecraft 3 to coincide with the connecting line between the first spacecraft 1 and the third spacecraft 3, and realizing the building of the laser link between the third spacecraft 3 and the first spacecraft 1 and the second spacecraft 2.
The present invention is not limited to the above preferred embodiments, and any modifications, equivalent replacements, improvements, etc. within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. An attitude planning method for mutually establishing laser links after spacecraft orbit entry is characterized in that,
the device comprises at least two spacecrafts, wherein each spacecraft is connected with two laser transmitters and two laser receivers, namely a laser transmitter A, a laser transmitter B, a laser receiver A and a laser receiver B, the laser transmitter A and the laser receiver A are coaxially arranged and fixedly connected with the spacecraft, and the laser transmitter B and the laser receiver B are coaxially arranged and hinged with the spacecraft;
the method for mutually establishing the laser links between every two spacecrafts comprises the following steps:
step S1: determining all possible positions of a second spacecraft (2), namely an uncertain region (16), calculating a half cone angle of the uncertain region (16), enabling the first spacecraft (1) to perform square spiral motion, enabling the second spacecraft (2) to capture a laser beam of a first laser emitter A (4) of the first spacecraft (1), adjusting a target attitude angle of the second spacecraft (2) to enable an emission beam of a second laser emitter A (6) to coincide with a connecting line between the first spacecraft (1) and the second spacecraft (2),
step S2: adjusting the coincidence of the emission beam of the first laser emitter A (4) of the first spacecraft (1) and the connecting line between the first spacecraft (1) and the second spacecraft (2).
2. The attitude planning method for mutually establishing laser links after spacecraft orbit entering according to claim 1, wherein the specific method of step S1 is as follows:
determining all possible positions of the second spacecraft (2), namely an uncertainty area (16), according to error factors influencing the pointing direction of the first laser transmitter A (4), and calculating a half cone angle of the uncertainty area (16), wherein the first laser transmitter A (4) and the first laser receiver A (10) are fixedly connected with the first spacecraft (1),
the first spacecraft (1) performs a square spiral movement, so that the laser beam of the first laser emitter A (4) scans the uncertain region (16) of the second spacecraft (2),
the second spacecraft (2) captures the laser beam of the first laser emitter A (4), the target attitude angle of the second spacecraft (2) is calculated according to the real physical position of the light spot on the CCD imaging plane of the second laser receiver A (12), the second laser emitter A (6) and the second laser receiver A (12) are fixedly connected to the second spacecraft (2),
and establishing a guidance ratio model by using a fifth-order polynomial, and adjusting the target attitude angle of the second spacecraft (2) to enable the emission beam of the second laser emitter A (6) to coincide with the connecting line between the first spacecraft (1) and the second spacecraft (2), so that the accurate pointing of the second laser emitter A (6) is realized.
3. The attitude planning method for mutually establishing the laser link after the spacecraft is in orbit according to claim 2, wherein the specific method of the step S2 is as follows:
when the emission beam of the second laser emitter A (6) is superposed with the connecting line between the first spacecraft (1) and the second spacecraft (2), the second laser emitter A (6) is opened to enable the laser beam of the second laser emitter A (6) to be directed to the first spacecraft (1),
the first spacecraft (1) captures the laser beam of the second laser emitter A (6), calculates the target attitude angle of the first spacecraft (1) according to the real physical position of the light spot on the CCD imaging plane of the first laser receiver A (10),
and establishing a guidance ratio model by using a fifth-order polynomial, and adjusting a target attitude angle of the first spacecraft (1) to enable an emission beam of the first laser emitter A (4) to coincide with a connecting line between the first spacecraft (1) and the second spacecraft (2), so that accurate pointing and laser link building of the first laser emitter A (4) and the second laser emitter A (6) are realized.
4. The attitude planning method for mutually establishing laser links after spacecraft approach according to claim 3, wherein a coordinate system needs to be established before determining the half cone angle of the uncertainty region (16) of the second spacecraft (2) in step S1, wherein the method for establishing the coordinate system is as follows:
choosing the geocentric coordinate system as the inertial coordinate system, the body coordinate system Ox of each spacecraftByBzBIs located at the centroid position, x, of the spacecraftBThe axis being along the direction of the axis of symmetry between the two laser emitters, yBThe axis lying in a plane defined by the axes of the two laser emitters and being perpendicular to xBAxial and pointing at xBDirection of rotation of the shaft by 90 DEG counter-clockwise, zBThe axis is determined by the right hand rule;
coordinate system Ox of two laser transmittersTyTzTIs the midpoint of the beam emission of the laser transmitter, xTThe axis being located on the axis of the beam and pointing in the direction of emission of the beam, zTAxis and zBThe axes coincide, yTThe axis is determined by the right-hand rule,
wherein the laser receiver is positioned at x of the laser transmitterTOn the shaft.
5. A method for attitude planning of a spacecraft mutually establishing laser links after orbit entering according to any of claims 2-4, characterized in that the method for determining the half cone angle of the uncertainty region (16) of the second spacecraft (2) in step S1 is:
calculating the total pointing error of the first laser emitter A (4) and the half cone angle gamma of the uncertain region (16) according to the navigation error of the second spacecraft (2), and calculating the radius of the section of the uncertain region (16) by combining the distance L between the two spacecrafts as follows: gamma. L.
6. The attitude planning method for mutually establishing laser links after spacecraft approach according to claim 5, wherein the method for performing square spiral motion on the first spacecraft (1) in step S1 comprises:
the attitude angle of the first spacecraft (1) is calculated,
the attitude angle of the first spacecraft (1) is adjusted so that the first laser emitter A (4) performs laser scanning on the uncertainty region (16) of the second spacecraft (2).
7. The attitude planning method for mutually establishing laser links after spacecraft orbit entering according to claim 1, wherein when three spacecrafts are set up and the laser links need to be established, the method further comprises the following steps after steps S1 and S2:
step S3: adjusting the emission beam of a third laser emitter B (9) of the third spacecraft (3) to coincide with the connecting line between the second spacecraft (2) and the third spacecraft,
step S4: adjusting the emission beam of a second laser emitter B (7) of the second spacecraft (2) to coincide with a connecting line between the second spacecraft (2) and a third spacecraft,
step S5: adjusting the emission beam of the first laser emitter B (5) of the first spacecraft (1) to be coincident with the connecting line between the first spacecraft (1) and the third spacecraft,
step S6: adjusting the emission beam of a third laser emitter A (8) of the third spacecraft (3) to be superposed with the connecting line between the first spacecraft (1) and the third spacecraft.
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| CN115333605A (en) * | 2022-08-09 | 2022-11-11 | 国科大杭州高等研究院 | High-precision laser capturing and pointing control method used in inter-satellite laser link construction |
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