CN112960145A - Trajectory planning method and system for remote sensing satellite ground attitude maneuver scanning - Google Patents
Trajectory planning method and system for remote sensing satellite ground attitude maneuver scanning Download PDFInfo
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Abstract
The invention provides a track planning method and a system for maneuvering scanning of a ground attitude of a remote sensing satellite, which relate to the technical field of demonstration of satellite design schemes, and comprise the following steps: step S1: planning a 2D ground scanning track under an earth fixed coordinate system, and converting the 2D ground scanning track into a 3D scanning track under an earth inertia coordinate system; step S2: according to the satellite orbit parameters, carrying out forward-push and backward-push calculation on the scanning arc section of the 3D scanning track to obtain satellite orbit data; step S3: calculating a pointing vector sequence one by one according to time points through satellite orbit data and a 3D scanning track to obtain two pointing angles under an orbit coordinate system; step S4: and sending the two pointing angles to a posture and orbit control system to be used as a target posture to finish closed-loop control. The invention can execute the conversion from the ground scanning track to the pointing angle, provide design input for the design of the attitude control system and complete the attitude closed-loop control.
Description
Technical Field
The invention relates to the technical field of demonstration of satellite design schemes, in particular to a track planning method and system for ground attitude maneuver scanning of a remote sensing satellite.
Background
With the trend of modern situation awareness towards intellectualization, the satellite is required to pass through once and has the capability of completely scanning a target area once or even many times, which brings many technical challenges to the platform design of the satellite. In particular, in order to ensure the comprehensive performance of the load, the ground scanning is often required to be realized by the attitude maneuver of the platform, and the load is fixedly mounted on the platform, which brings strong coupling of the design of the attitude control system, the track and the scanning scheme, and needs to be deeply analyzed to complete the design through multiple iterations. The scanning is realized by the attitude maneuver of the platform, so when the ground scanning track is unreasonable, the attitude control system has a high requirement on the attitude control capability, and the attitude control system is difficult to realize the scanning maneuver. The feasibility of ground scanning is closely related to the pointing vector by the maneuvering of the platform, and the satellite platform finishes ground scanning by tracking the pointing vector, so that the feasibility of the attitude control system can be analyzed by calculating the angle of the pointing vector, and the rationality of ground scanning track planning can be further evaluated. After the angle of the pointing vector is obtained, the angle can be used as a control command for driving the attitude control system to realize expected ground scanning. Therefore, how to solve the problems of the rationality evaluation of the ground scanning track planning and the design input of the attitude control system becomes the technical problem at present.
The Chinese patent publication No. CN102682201A discloses a method for obtaining a satellite real-time ground scanning area, which models the satellite ground scanning area calculation according to the space geometric relationship and provides a real-time ground scanning area calculation method. Different from the method, the method mainly focuses on the calculation of the pointing vector angle in the scanning process, and provides a technical approach for realizing the ground scanning track.
The Chinese invention patent with the publication number of CN104198052A discloses a sea ice density acquisition method based on a marine secondary satellite scanning microwave radiometer, provides an acquisition method for acquiring sea ice density according to first brightness temperature data of a typical characteristic region, and provides a technical approach for acquiring sea ice density of a corresponding monitoring region based on data acquired by a marine secondary satellite. The method focuses on processing load data, and the method focuses on the space geometric relationship between the satellite and a scanning area, and is a technical means for satellite design.
A study on an antenna scanning strategy of an inter-satellite link [ J ] electronic design engineering, 2016,23(20): 92-95' proposes an optimal scanning strategy of a satellite for the satellite aiming at the problem of tracking the spacecraft to accurately capture the target spacecraft in the space rendezvous process, and provides a basis for selecting an antenna scanning mode in the inter-satellite link establishment process. The method mainly designs the scanning strategy among satellites, but the invention focuses on satellite ground scanning, and the related objects, models and methods have great difference with the satellite ground scanning.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a track planning method and system for the remote sensing satellite ground attitude maneuver scanning, which can execute the conversion from a ground scanning track to a pointing angle, provide design input for the design of an attitude control system and complete attitude closed-loop control.
According to the invention, the method and the system for planning the trajectory of the remote sensing satellite ground attitude maneuver scanning are provided, and the scheme is as follows:
in a first aspect, a trajectory planning method for remotely sensing satellite ground attitude maneuver scanning is provided, which includes:
step S1: planning a 2D ground scanning track under an earth fixed coordinate system, and converting the 2D ground scanning track into a 3D scanning track under an earth inertia coordinate system;
step S2: according to the satellite orbit parameters, carrying out forward-push and backward-push calculation on the scanning arc section of the 3D scanning track to obtain satellite orbit data;
step S3: and calculating the pointing vector sequence one by one according to the time points through the satellite orbit data and the 3D scanning track to obtain two pointing angles under the orbit coordinate system.
Step S4: and sending the two pointing angles to a posture and orbit control system to be used as a target posture to finish closed-loop control.
Preferably, the step S1 includes:
according to the earth ellipsoid model, a plane coordinate system is constructed by taking a certain point in a target scanning area as an origin, wherein the plane coordinate system is an earth fixed connection coordinate system and is used for planning a 2D ground scanning track;
converting the 2D ground scanning track of the coordinate system into a 3D scanning track under a geocentric fixed coordinate system;
and converting the 3D scanning track into a geocentric inertial coordinate system according to the planned time sequence and the initial epoch.
Preferably, the step S2 includes:
determining a scanning arc segment under the constraint of elevation according to the time sequence of the scanning track, the initial epoch, the satellite orbit parameters and the target scanning area;
and taking the central point of the arc section as zero time, and adopting a J2 model to perform forward and backward calculation on the orbit to obtain satellite orbit data under a geocentric inertial coordinate system in the scanning process.
Preferably, the step S3 includes:
according to satellite orbit data and 3D scanning track data under the geocentric inertial coordinate system, with time as a retrieval point, calculating a pointing vector of a satellite pointing to the center of a light spot one by one;
constructing an orbit coordinate system by using the satellite orbit data, and establishing a transformation matrix from a geocentric inertial coordinate system to the orbit coordinate system;
and acquiring a data sequence of the pointing vector in an orbit coordinate system by utilizing an expression and conversion matrix of the pointing vector in a geocentric inertial coordinate system, and further calculating to obtain a pitch angle and an azimuth angle of the pointing vector in the coordinate system.
Preferably, the step S4 includes:
setting a satellite rolling angle to be kept unchanged, and converting the two pointing angles into Euler angles or four elements;
sending the converted Euler angles or four elements to an attitude and orbit control system as a target attitude;
and finally, the satellite completes closed-loop control under the drive of the attitude control algorithm.
In a second aspect, there is provided a trajectory planning system for remotely sensing satellite ground attitude maneuver scans, the system comprising:
module M1: planning a 2D ground scanning track under an earth fixed coordinate system, and converting the 2D ground scanning track into a 3D scanning track under an earth inertia coordinate system;
module M2: according to the satellite orbit parameters, carrying out forward-push and backward-push calculation on the scanning arc section of the 3D scanning track to obtain satellite orbit data;
module M3: and calculating the pointing vector sequence one by one according to the time points through the satellite orbit data and the 3D scanning track to obtain two pointing angles under the orbit coordinate system.
Module M4: and sending the two pointing angles to a posture and orbit control system to be used as a target posture to finish closed-loop control.
Preferably, the module M1 includes:
according to the earth ellipsoid model, a plane coordinate system is constructed by taking a certain point in a target scanning area as an origin, wherein the plane coordinate system is an earth fixed connection coordinate system and is used for planning a 2D ground scanning track;
converting the 2D ground scanning track of the coordinate system into a 3D scanning track under a geocentric fixed coordinate system;
and converting the 3D scanning track into a geocentric inertial coordinate system according to the planned time sequence and the initial epoch.
Preferably, the module M2 includes:
determining a scanning arc segment under the constraint of elevation according to the time sequence of the scanning track, the initial epoch, the satellite orbit parameters and the target scanning area;
and taking the central point of the arc section as zero time, and adopting a J2 model to perform forward and backward calculation on the orbit to obtain satellite orbit data under a geocentric inertial coordinate system in the scanning process.
Preferably, the module M3 includes:
according to satellite orbit data and 3D scanning track data under the geocentric inertial coordinate system, with time as a retrieval point, calculating a pointing vector of a satellite pointing to the center of a light spot one by one;
constructing an orbit coordinate system by using the satellite orbit data, and establishing a transformation matrix from a geocentric inertial coordinate system to the orbit coordinate system;
and acquiring a data sequence of the pointing vector in an orbit coordinate system by utilizing an expression and conversion matrix of the pointing vector in a geocentric inertial coordinate system, and further calculating to obtain a pitch angle and an azimuth angle of the pointing vector in the coordinate system.
Preferably, the module M4 includes:
setting a satellite rolling angle to be kept unchanged, and converting the two pointing angles into Euler angles or four elements;
sending the converted Euler angles or four elements to an attitude and orbit control system as a target attitude;
and finally, the satellite completes closed-loop control under the drive of the attitude control algorithm.
Compared with the prior art, the invention has the following beneficial effects:
the conversion from the ground scanning track to the pointing vector can be realized, the pointing angle and the angular velocity information are obtained, the target gesture is provided for gesture closed-loop control, the design input is provided for the gesture control system design, and the gesture closed-loop control is completed.
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Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a schematic flow chart of a trajectory planning method for ground attitude maneuver scanning of a remote sensing satellite;
FIG. 2 is a schematic view of a satellite scanning over the ground;
FIG. 3 is a schematic flow chart of a 3D scanning trajectory in a geocentric inertial coordinate system;
FIG. 4 is a schematic view illustrating a process of calculating satellite orbit data in the geocentric inertial coordinate system;
FIG. 5 is a schematic view of a process for calculating a pitch angle and an azimuth angle of a pointing vector in a track coordinate system;
FIG. 6 is a schematic flow chart of closed-loop control under the calculation of the geocentric inertial coordinate system.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
The embodiment of the invention provides a trajectory planning method for maneuver scanning of a remote sensing satellite in a ground attitude, which comprises the following steps of firstly, in step S1, planning a 2D ground scanning trajectory under a coordinate system fixedly connected with the earth, and converting the 2D ground scanning trajectory into a 3D scanning trajectory under an inertial coordinate system of the earth, wherein the method comprises the following specific steps:
as shown in fig. 1 and 3, step S1-1: according to the earth ellipsoid model, a plane coordinate system is constructed by taking a certain point in a target scanning area as an origin, wherein an X axis points to the east, a Y axis points to the north in a vertical X axis in a local horizontal plane, and the plane coordinate system is fixedly connected with the earth and used for planning a 2D ground scanning track. Step S1-2: and calculating a conversion matrix from the coordinate system to the earth center fixed connection coordinate system according to the longitude and latitude of the origin of the coordinate system established in the step S1-1, and converting the 2D ground scanning track in the step S1-1 to a 3D scanning track under the earth center fixed connection coordinate system by using the conversion matrix. Step S1-3: and calculating a conversion matrix from the geocentric fixed connection coordinate system to the geocentric inertial coordinate system according to the planned time sequence and the initial epoch, and converting the 3D scanning track into the geocentric inertial coordinate system by using the conversion matrix.
After the step S1-1 to the step S1-3, the 3D scanning track of the geocentric inertial coordinate system can be obtained.
As shown in fig. 1 and 4, in step S2, forward and backward calculation is performed on the scanning arc segment of the 3D scanning trajectory according to the satellite orbit parameters, so as to obtain satellite orbit data, specifically:
step S2-1: and determining a scanning arc segment under the elevation angle constraint according to the time sequence of the scanning track, the initial epoch, the satellite orbit parameters and the target scanning area. Step S2-2: and taking the central point of the scanning arc segment in the step S2-1 as zero time, and adopting a J2 model to perform forward calculation on the track. Step S2-3: and taking the central point of the scanning arc segment in the step S2-1 as zero time, and performing backward calculation on the track by adopting a J2 model.
Through the steps S2-1 to S2-3, satellite orbit data in the geocentric inertial coordinate system during the scanning process can be obtained.
As shown in fig. 1 and 5, step S3: through satellite orbit data and a 3D scanning track, a pointing vector sequence is calculated one by one according to time points, and two pointing angles under an orbit coordinate system are obtained, specifically:
step S3-1: and calculating the pointing vectors of the satellite pointing to the center of the light spot one by taking time as a retrieval point according to the satellite orbit data and the 3D scanning track data under the geocentric inertial coordinate system. Step S3-2: and constructing an orbit coordinate system by using the satellite orbit data, and establishing a transformation matrix from the geocentric inertial coordinate system to the orbit coordinate system. Step S3-3: and acquiring a data sequence of the pointing vector in an orbit coordinate system by utilizing an expression and conversion matrix of the pointing vector in a geocentric inertial coordinate system, and further calculating to obtain a pitch angle and an azimuth angle of the pointing vector in the coordinate system.
After the step S3-1 to the step S3-3, the pitch angle and the azimuth angle of the pointing vector in the orbit coordinate system can be obtained.
As shown in fig. 1 and 6, finally, in step S4, two pointing angles are sent to the attitude and orbit control system as target attitude completion closed-loop control, specifically:
setting a rolling angle of a satellite to be kept unchanged, converting two pointing angles into Euler angles or four elements, sending the converted Euler angles or four elements to an attitude and orbit control system as a target attitude, adopting an attitude rotation sequence of 3-1-2, namely yawing-rolling-pitching, setting a rolling angle to be constant to zero, then downloading load pointing direction from the satellite system to project to an orbit coordinate system, establishing a pointing vector under the orbit coordinate system in a simultaneous step S3, establishing an equation set of unknown variables of a yaw angle and a pitch angle, carrying out iterative solution on the equation set to obtain the yaw angle and the pitch angle, sending the three attitude angles to the attitude control system as the target attitude, and finally completing closed-loop control of the satellite under the driving of an attitude control algorithm.
The embodiment of the invention provides a track planning method for maneuvering scanning of a ground attitude of a remote sensing satellite, which can realize the conversion from a ground scanning track to a pointing vector, acquire pointing angle and angular velocity information, provide a target attitude for attitude closed-loop control, provide design input for the design of an attitude control system and complete attitude closed-loop control.
Those skilled in the art will appreciate that, in addition to implementing the system and its various devices, modules, units provided by the present invention as pure computer readable program code, the system and its various devices, modules, units provided by the present invention can be fully implemented by logically programming method steps in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Therefore, the system and various devices, modules and units thereof provided by the invention can be regarded as a hardware component, and the devices, modules and units included in the system for realizing various functions can also be regarded as structures in the hardware component; means, modules, units for performing the various functions may also be regarded as structures within both software modules and hardware components for performing the method.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (10)
1. A trajectory planning method for remotely sensing satellite ground attitude maneuver scanning is characterized by comprising the following steps:
step S1: planning a 2D ground scanning track under an earth fixed coordinate system, and converting the 2D ground scanning track into a 3D scanning track under an earth inertia coordinate system;
step S2: according to the satellite orbit parameters, carrying out forward-push and backward-push calculation on the scanning arc section of the 3D scanning track to obtain satellite orbit data;
step S3: calculating a pointing vector sequence one by one according to time points through satellite orbit data and a 3D scanning track to obtain two pointing angles under an orbit coordinate system;
step S4: and sending the two pointing angles to a posture and orbit control system to be used as a target posture to finish closed-loop control.
2. The method according to claim 1, wherein the step S1 includes:
step S1-1: according to the earth ellipsoid model, a plane coordinate system is constructed by taking a certain point in a target scanning area as an origin, wherein the plane coordinate system is an earth fixed connection coordinate system and is used for planning a 2D ground scanning track;
step S1-2: converting the 2D ground scanning track of the coordinate system into a 3D scanning track under a geocentric fixed coordinate system;
step S1-3: and converting the 3D scanning track into a geocentric inertial coordinate system according to the planned time sequence and the initial epoch.
3. The method according to claim 1, wherein the step S2 includes:
step S2-1: determining a scanning arc segment under the constraint of elevation according to the time sequence of the scanning track, the initial epoch, the satellite orbit parameters and the target scanning area;
step S2-2: and taking the central point of the arc section as zero time, and adopting a J2 model to perform forward and backward calculation on the orbit to obtain satellite orbit data under a geocentric inertial coordinate system in the scanning process.
4. The method according to claim 1, wherein the step S3 includes:
step S3-1: according to satellite orbit data and 3D scanning track data under the geocentric inertial coordinate system, with time as a retrieval point, calculating a pointing vector of a satellite pointing to the center of a light spot one by one;
step S3-2: constructing an orbit coordinate system by using the satellite orbit data, and establishing a transformation matrix from a geocentric inertial coordinate system to the orbit coordinate system;
step S3-3: and acquiring a data sequence of the pointing vector in an orbit coordinate system by utilizing an expression and conversion matrix of the pointing vector in a geocentric inertial coordinate system, and further calculating to obtain a pitch angle and an azimuth angle of the pointing vector in the coordinate system.
5. The method according to claim 1, wherein the step S4 includes:
step S4-1: setting a satellite rolling angle to be kept unchanged, and converting the two pointing angles into Euler angles or four elements;
step S4-2: sending the converted Euler angles or four elements to an attitude and orbit control system as a target attitude;
step S4-3: the satellite completes closed-loop control under the drive of the attitude control algorithm.
6. A trajectory planning system for remotely sensed satellite ground pose maneuver scanning, the system comprising:
module M1: planning a 2D ground scanning track under an earth fixed coordinate system, and converting the 2D ground scanning track into a 3D scanning track under an earth inertia coordinate system;
module M2: according to the satellite orbit parameters, carrying out forward-push and backward-push calculation on the scanning arc section of the 3D scanning track to obtain satellite orbit data;
module M3: calculating a pointing vector sequence one by one according to time points through satellite orbit data and a 3D scanning track to obtain two pointing angles under an orbit coordinate system;
module M4: and sending the two pointing angles to a posture and orbit control system to be used as a target posture to finish closed-loop control.
7. The system according to claim 6, characterized in that said module M1 comprises:
according to the earth ellipsoid model, a plane coordinate system is constructed by taking a certain point in a target scanning area as an origin, wherein the plane coordinate system is an earth fixed connection coordinate system and is used for planning a 2D ground scanning track;
converting the 2D ground scanning track of the coordinate system into a 3D scanning track under a geocentric fixed coordinate system;
and converting the 3D scanning track into a geocentric inertial coordinate system according to the planned time sequence and the initial epoch.
8. The system according to claim 6, characterized in that said module M2 comprises:
determining a scanning arc segment under the constraint of elevation according to the time sequence of the scanning track, the initial epoch, the satellite orbit parameters and the target scanning area;
and taking the central point of the arc section as zero time, and adopting a J2 model to perform forward and backward calculation on the orbit to obtain satellite orbit data under a geocentric inertial coordinate system in the scanning process.
9. The system according to claim 6, characterized in that said module M3 comprises:
according to satellite orbit data and 3D scanning track data under the geocentric inertial coordinate system, with time as a retrieval point, calculating a pointing vector of a satellite pointing to the center of a light spot one by one;
constructing an orbit coordinate system by using the satellite orbit data, and establishing a transformation matrix from a geocentric inertial coordinate system to the orbit coordinate system;
and acquiring a data sequence of the pointing vector in an orbit coordinate system by utilizing an expression and conversion matrix of the pointing vector in a geocentric inertial coordinate system, and further calculating to obtain a pitch angle and an azimuth angle of the pointing vector in the coordinate system.
10. The system according to claim 6, characterized in that said module M4 comprises:
setting a satellite rolling angle to be kept unchanged, and converting the two pointing angles into Euler angles or four elements;
sending the converted Euler angles or four elements to an attitude and orbit control system as a target attitude;
the satellite completes closed-loop control under the drive of the attitude control algorithm.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114297870A (en) * | 2021-12-31 | 2022-04-08 | 北京航天驭星科技有限公司 | Modeling method and system for scanning range of satellite-borne rotary scanning detector |
| CN114297870B (en) * | 2021-12-31 | 2022-09-02 | 北京航天驭星科技有限公司 | Modeling method and system for scanning range of satellite-borne rotary scanning detector |
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